CN117075614A - Universal chassis system for breeding inspection robot - Google Patents
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- CN117075614A CN117075614A CN202311244451.5A CN202311244451A CN117075614A CN 117075614 A CN117075614 A CN 117075614A CN 202311244451 A CN202311244451 A CN 202311244451A CN 117075614 A CN117075614 A CN 117075614A
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Abstract
The application discloses a universal chassis system for a breeding inspection robot, which comprises the following components: the acquisition module is used for acquiring pavement image information and farm environment information; the analysis module is connected with the acquisition module and used for analyzing and processing pavement image information and farm environment information and storing the analyzed and processed data; the driving module is connected with the analysis module and used for driving and controlling the movement of the inspection robot; the cruising module is connected with the driving module and is used for autonomously planning a routing inspection path and automatically navigating according to the routing inspection path; the power module is connected with the driving module and used for providing power for the driving module; and the inspection module is connected with the cruising module and used for monitoring environmental parameters of the farm in real time, and timely alarming and informing related personnel to process when abnormal conditions are detected. The application can improve the intelligent level of the cultivation industry, lighten the burden of manual labor and improve the production efficiency and the management level of the cultivation environment.
Description
Technical Field
The application belongs to the technical field of livestock breeding, and particularly relates to a universal chassis system for a breeding inspection robot.
Background
In the livestock and poultry raising process, the body temperature, the behaviors and the postures of animals need to be monitored in real time, and the characteristics can reflect the health condition of the animals and whether the environment is suitable for normal growth of the animals. With the continuous development of the cultivation industry, large-scale cultivation has become a current main cultivation form, and in order to improve management efficiency and reduce labor cost, the requirements for modern and automatic monitoring have become more urgent.
For a large-scale farm, the traditional mode of manually inspecting all the livestock and poultry houses requires a great deal of manual labor, has lower efficiency, and cannot adapt to the current development situation; the video monitoring is adopted to replace the traditional manual inspection mode in large-scale farms more and more, the video monitoring saves certain labor cost, but a large number of cameras are required to be installed to ensure a large enough monitoring range, the existing inspection robot is single in function, the structure is fixed, the inspection robot cannot be comprehensively suitable for various livestock and poultry cultivation processes, and the use effect of the robot is greatly reduced.
Disclosure of Invention
The application aims to provide a livestock and poultry breeding inspection robot which has wide application range, can realize an autonomous navigation mode and has a disinfection function.
In order to achieve the above object, the present application provides the following solutions: a universal chassis system for a farming inspection robot, comprising:
the acquisition module is used for acquiring pavement image information and farm environment information;
the analysis module is connected with the acquisition module and used for analyzing and processing the pavement image information and the farm environment information and storing the analyzed and processed data;
the driving module is connected with the analysis module and used for driving and controlling the movement of the inspection robot;
the cruising module is connected with the driving module and is used for autonomously planning a routing inspection path and automatically navigating according to the routing inspection path;
the power module is connected with the driving module and used for providing power for the driving module;
and the inspection module is connected with the cruising module and is used for monitoring environmental parameters of the farm in real time, and timely alarming and informing related personnel to process when abnormal conditions are detected.
Preferably, the acquisition module comprises a first acquisition unit and a second acquisition unit;
the first acquisition unit is used for collecting pavement images of the farm through a camera;
the second acquisition unit is used for acquiring environmental parameters in the livestock and poultry house through sensors which are arranged at different positions and different types in the livestock and poultry house.
Preferably, the analysis module comprises a detection and identification unit, an image segmentation unit, a feature extraction unit and a feature fusion unit;
the detection and identification unit is used for identifying objects in the image through the trained convolutional neural network model and marking and classifying the objects;
the image segmentation unit is used for dividing an image into a plurality of areas and then analyzing and processing each area;
the feature extraction unit is used for extracting key features of the image and generating corresponding feature descriptors;
the feature fusion unit is used for aligning and matching the enhancement of the plurality of images with the improved image after noise reduction, then performing cross-image or multi-view analysis, and identifying the same areas in different images so as to correspond the plurality of images in space.
Preferably, the driving module comprises an electric driver, wheels and a chassis;
the electric driver comprises a direct current motor or a stepping motor, a transmission system and a driving shaft, and realizes the forward, backward and steering of the inspection robot by controlling the rotating speed and the direction of the direct current motor or the stepping motor;
the transmission system is used for transmitting power output by the engine to each wheel and comprises a transmission shaft, a differential mechanism and a transmission gear;
the driving shaft is respectively connected with the transmission system and wheels and is used for transmitting power and torque.
Preferably, the cruising module comprises a navigation unit and an obstacle avoidance unit;
the navigation unit is used for scanning the surrounding environment through the laser radar sensor and sensing the distance and the position of the robot and the obstacle in real time;
the obstacle avoidance unit is used for automatically avoiding obstacles by using a Di Jie Style algorithm and intelligently planning the shortest path or the optimal path.
Preferably, the navigation unit comprises an indoor navigation unit and an outdoor navigation unit;
the indoor navigation unit senses the surrounding environment by using a camera and a computer vision technology, performs target detection, obstacle recognition and path planning, judges the position and the surrounding environment of the inspection robot by analyzing image and video data, and adjusts the inspection path accordingly;
the outdoor navigation unit acquires own position information by using a global positioning system and performs autonomous navigation and positioning in an outdoor environment through an integrated GPS technology.
Preferably, the power module comprises a charging unit and a battery unit;
the charging unit is used for automatically searching a charging seat when the electric quantity of the inspection robot is reduced to a first preset threshold value in the task execution process, and charging the charging seat by aligning the charging unit to the charging seat until the electric quantity is restored to a second preset threshold value, and then continuing the task;
the battery unit is used for returning to the area of the charging station for battery replacement when the inspection robot works for a long time.
Preferably, the inspection module comprises an environment monitoring unit, an early warning unit, a remote monitoring unit,
The environment monitoring unit is used for monitoring environment parameters of the farm in real time through the sensor and finding out abnormal conditions in time;
the early warning unit is used for receiving and processing the environmental parameter data collected by the environmental monitoring unit, and automatically sending out an audible and visual alarm signal to inform related personnel to process when the environmental parameter data exceeds a set range;
the remote monitoring unit is used for a livestock farm manager to remotely monitor the environment conditions in the livestock and poultry house through mobile phone application or a computer, check the data of the sensor and the inspection robot in real time, grasp the change of the environment in the livestock and poultry house, and make corresponding adjustment and decision.
Preferably, the remote monitoring unit comprises a health inspection unit and a disinfection and sterilization unit;
the health inspection unit is used for identifying the data collected by the inspection robot through an image identification technology, detecting the health condition of livestock and poultry, and alarming and recording abnormal conditions in time;
the disinfection and sterilization unit is used for automatically starting disinfection equipment after alarming and performing disinfection treatment on the farm.
Compared with the prior art, the application has the following advantages and technical effects:
according to the application, each region of the farm is patrolled by the patrolling robot capable of moving autonomously, region patrolling and anomaly detection are performed by the image recognition and environment sensing technology, manual patrolling and monitoring can be replaced, the working efficiency is improved, the labor cost is reduced, and a large amount of data can be collected and transmitted in real time.
The inspection robot has autonomous navigation and obstacle avoidance functions, can automatically avoid obstacles, avoid collision, and perform inspection according to a preset path, thereby improving the working efficiency and the precision.
The automatic charging and battery changing function can ensure the continuous working time and task continuity of the inspection robot. The inspection robot can timely supplement electric quantity, and downtime or task interruption caused by electric quantity exhaustion is avoided, so that the efficiency and reliability of the robot in inspection tasks are improved.
The application has the health inspection and disinfection and sterilization system, and can monitor, inspect and sterilize the livestock and poultry environment so as to ensure the health and production quality of the livestock and poultry, improve the management level and production efficiency of the farm, reduce the disease transmission and loss and ensure the health and production quality of the livestock and poultry. Through an automatic and intelligent means, the system can monitor and treat problems in the breeding environment in time, and the sustainable development and the breeding quality of livestock and poultry breeding are improved.
The application can realize real-time monitoring, abnormal early warning and remote management of the livestock and poultry housing environment, is beneficial to improving the efficiency and quality of livestock and poultry production, reduces the risk of diseases and reduces the workload of manual inspection. Meanwhile, the automatic inspection system can help a farm manager to better know the change trend of the environment of the livestock and poultry house, optimize the cultivation management strategy and improve the cultivation benefit.
The inspection robot disclosed by the application can quickly and accurately navigate and execute the inspection task, and can autonomously plan and execute the inspection path without manual control.
The application can improve the intelligent level of the cultivation industry, lighten the burden of manual labor and improve the production efficiency and the management level of the cultivation environment.
The breeding inspection robot can monitor the condition of a farm in real time, perform disease early warning, improve the animal breeding environment level and reduce the manpower labor and resource waste.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic diagram of a system structure according to an embodiment of the present application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
As shown in fig. 1, the universal chassis system for the breeding inspection robot provided by the application comprises,
the acquisition module is used for acquiring pavement image information and farm environment information;
the analysis module is connected with the acquisition module and used for analyzing and processing the pavement image information and the farm environment information and storing the analyzed and processed data;
the driving module is connected with the analysis module and used for driving and controlling the movement of the inspection robot;
the cruising module is connected with the driving module and is used for autonomously planning a routing inspection path and automatically navigating according to the routing inspection path;
the power module is connected with the driving module and used for providing power for the driving module;
and the inspection module is connected with the cruising module and is used for monitoring environmental parameters of the farm in real time, and timely alarming and informing related personnel to process when abnormal conditions are detected.
Further optimizing the scheme, the acquisition module comprises a first acquisition unit and a second acquisition unit;
the first acquisition unit is used for collecting pavement images of the farm through a camera;
specifically, a plurality of high-resolution cameras are mounted around a chassis of the inspection robot, for example, the inspection robot is mounted at the front, rear, side and other positions of a vehicle. The cameras continuously shoot the pavement images and send the pavement images to the analysis module for processing and analysis.
Prior to inspection, road surface scanning is performed by specialized vehicles to acquire and construct high-precision maps of corresponding farms, including the use of lidars, cameras and other sensors to obtain geometric and topological information of the road surface. Registering the acquired data with an image acquired by the inspection robot chassis in real time, thereby providing an accurate automatic driving road surface image.
The high-resolution camera installed on the chassis of the inspection robot is used for collecting road surface images around the vehicle in real time and continuously collecting and updating data, so that accurate and real-time road surface image information of a farm can be obtained, the perception, planning and decision-making of the inspection robot are supported, and the intelligent inspection function is realized.
The second acquisition unit is used for acquiring environmental parameters in the livestock and poultry house through sensors which are arranged at different positions and different types in the livestock and poultry house.
Environmental parameters, animal behaviors, equipment states and the like in the farm are monitored in real time through the sensors. Wherein the sensor comprises a sensor body, a sensor body and a sensor body, wherein the sensor comprises,
temperature sensor: temperature is an important parameter in the breeding environment and has a direct effect on the health and productivity of animals. In the embodiment, the temperature sensor is arranged at a key position in the farm, such as the interior of a livestock house, drinking water equipment, a feed warehouse and the like, and the temperature sensor monitors the environmental temperature change in real time to ensure that the temperature is in a proper range.
Humidity sensor: humidity is another important factor affecting the cultivation environment. Humidity sensors are used to monitor the humidity level of the farm and assist the farm manager in adjusting humidity to accommodate the needs of the animal. Particularly in poultry farming, humidity control is critical to air quality and disease control within the poultry house.
Ammonia gas sensor: ammonia is one of the common harmful gases in farms, and high concentrations of ammonia can negatively impact animal health. The ammonia gas sensor is arranged to monitor the ammonia gas concentration in the farm in real time, and measures are taken in time to ventilate or reduce ammonia gas generation once the ammonia gas concentration exceeds a safety threshold.
Illumination sensor: illumination is an important factor affecting animal biological clock and seasonal behaviour. According to the application, the light intensity and the illumination time of the farm are monitored through the illumination sensor, so that the illumination condition can be reasonably adjusted, and the growth and egg laying performance of animals are promoted.
Animal behavior monitoring sensor: the behavior of animals, such as activity, feeding amount, feeding frequency and the like, is monitored by using a camera and an image recognition technology. By monitoring and analyzing animal behaviors, the health state and behavior habit of the animal are evaluated, and the abnormality is found in time and measures are taken.
In addition to this embodiment, monitoring of water quality is particularly important for aquafarms. Therefore, the water quality sensor can be also arranged for monitoring parameters such as dissolved oxygen, temperature, PH value, ammonia nitrogen and the like in water, timely finding out abnormal conditions of water quality, and adopting corresponding treatment measures to ensure healthy growth of aquatic animals.
By collecting and analyzing the sensor data, the application ensures that a farm manager can acquire information of the culture environment in time, make corresponding adjustment and decision, and ensure the health and the culture benefit of animals.
The analysis module comprises a detection and identification unit, an image segmentation unit, a feature extraction unit and a feature fusion unit;
the detection and identification unit is used for identifying objects in the image through the trained convolutional neural network model and marking and classifying the objects;
the convolutional neural network model is a LeNet-5 model and comprises two convolutional layers and three full-connection layers.
The spatial features of the image are extracted based on the convolution layer, and the spatial features are composed of a plurality of convolution kernels (or filters), and each convolution kernel performs convolution operation on the input image to generate a corresponding feature map. Each feature map captures different features, such as edges, textures, etc. The image is subjected to multi-channel feature extraction by a combination of a plurality of convolution kernels.
And connecting the feature map output by the pooling layer with the output category based on the full connection layer, and classifying the feature map by weight learning. Each neuron of the fully connected layer is connected to all neurons of the previous layer, each connection having a trainable weight. And learning complex relations among the features through the full connection layer, and classifying the features category by category.
In addition to this, a ReLU activation function, a max pooling layer, and a Softmax layer are included. Nonlinear characteristics are introduced on the output of the convolution layer through the ReLU activation function, so that the nonlinear fitting capacity of the model is improved. The dimension of the feature map is reduced through the maximum pooling layer, main features in the image are extracted, and certain translation and scale invariance are achieved. The Softmax layer is used to convert the score of the full connection layer output into a probability distribution representing the probability of each category. The Softmax function indexes the scores for each category and normalizes them so that their sum equals 1. Through the Softmax layer, the model may output confidence or probability for different categories.
The image segmentation unit is used for dividing an image into a plurality of areas and then analyzing and processing each area; the image segmentation method of the embodiment comprises semantic segmentation and instance segmentation. Each pixel in the image is classified by semantic segmentation, and each target instance in the image is separated and labeled by instance segmentation.
The feature extraction unit is used for extracting key features of the image and generating corresponding feature descriptors; the feature descriptors include at least edges, corner points, textures, etc. that can represent key information in the image.
The feature fusion unit is used for aligning and matching the enhancement of the plurality of images with the improved image after noise reduction, then performing cross-image or multi-view analysis, and identifying the same areas in different images so as to correspond the plurality of images in space.
Further optimizing the scheme, the driving module comprises an electric driver, wheels and a chassis;
the electric driver comprises a direct current motor or a stepping motor, a transmission system and a driving shaft, and realizes the forward, backward and steering of the inspection robot by controlling the rotating speed and the direction of the direct current motor or the stepping motor;
the transmission system is used for transmitting power output by the engine to each wheel and comprises a transmission shaft, a differential mechanism and a transmission gear;
the driving shaft is respectively connected with the transmission system and wheels and is used for transmitting power and torque.
Further optimizing the scheme, wherein the cruising module comprises a navigation unit and an obstacle avoidance unit;
the navigation unit is used for scanning the surrounding environment through the laser radar sensor and sensing the distance and the position of the robot and the obstacle in real time;
the obstacle avoidance unit is used for automatically avoiding obstacles by using a Di Jie Style algorithm and intelligently planning the shortest path or the optimal path.
The navigation unit comprises an indoor navigation unit and an outdoor navigation unit;
the indoor navigation unit senses the surrounding environment by using a camera and a computer vision technology, performs target detection, obstacle recognition and path planning, judges the position and the surrounding environment of the inspection robot by analyzing image and video data, and adjusts the inspection path accordingly;
the outdoor navigation unit acquires own position information by using a global positioning system and performs autonomous navigation and positioning in an outdoor environment through an integrated GPS technology.
Further optimizing scheme, the power module comprises a charging unit and a battery unit;
the charging unit is used for automatically searching a charging seat when the electric quantity of the inspection robot is reduced to a first preset threshold value in the task execution process, and charging the charging seat by aligning the charging unit to the charging seat until the electric quantity is restored to a second preset threshold value, and then continuing the task;
the battery unit is used for returning to the area of the charging station for battery replacement when the inspection robot works for a long time.
The design of the automatic charging and battery replacing functions aims at ensuring the continuous working time and task continuity of the inspection robot. The robot can timely supplement electric quantity, and downtime or task interruption caused by electric quantity exhaustion is avoided, so that the efficiency and reliability of the robot in the inspection task are improved.
Further optimizing scheme, the inspection module comprises an environment monitoring unit, an early warning unit, a remote monitoring unit,
The environment monitoring unit is used for monitoring environment parameters of the farm in real time through the sensor and finding out abnormal conditions in time;
the early warning unit is used for receiving and processing the environmental parameter data collected by the environmental monitoring unit, and automatically sending out an audible and visual alarm signal to inform related personnel to process when the environmental parameter data exceeds a set range;
the remote monitoring unit is used for a livestock farm manager to remotely monitor the environment conditions in the livestock and poultry house through mobile phone application or a computer, check the data of the sensor and the inspection robot in real time, grasp the change of the environment in the livestock and poultry house, and make corresponding adjustment and decision.
Further optimizing the scheme, the remote monitoring unit comprises a health inspection unit and a disinfection and sterilization unit;
the health inspection unit is used for identifying the data collected by the inspection robot through an image identification technology, detecting the health conditions of livestock and poultry, such as body temperature, behavior habit and the like, and alarming and recording abnormal conditions in time;
the disinfection and sterilization unit is used for automatically starting disinfection equipment after alarming to disinfect the farm,
wherein, the disinfection equipment comprises a spray sterilizer, an ultraviolet sterilizer and the like, and can disinfect the air and the surface of the livestock and poultry farm. The disinfectant comprises disinfectant liquid, disinfectant tablet, etc., and is used for killing pathogenic microorganisms such as bacteria, viruses and parasites.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (9)
1. The universal chassis system for the breeding inspection robot is characterized by comprising:
the acquisition module is used for acquiring pavement image information and farm environment information;
the analysis module is connected with the acquisition module and used for analyzing and processing the pavement image information and the farm environment information and storing the analyzed and processed data;
the driving module is connected with the analysis module and used for driving and controlling the movement of the inspection robot;
the cruising module is connected with the driving module and is used for autonomously planning a routing inspection path and automatically navigating according to the routing inspection path;
the power module is connected with the driving module and used for providing power for the driving module;
and the inspection module is connected with the cruising module and is used for monitoring environmental parameters of the farm in real time, and timely alarming and informing related personnel to process when abnormal conditions are detected.
2. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the acquisition module comprises a first acquisition unit and a second acquisition unit;
the first acquisition unit is used for collecting pavement images of the farm through a camera;
the second acquisition unit is used for acquiring environmental parameters in the livestock and poultry house through sensors which are arranged at different positions and different types in the livestock and poultry house.
3. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the analysis module comprises a detection and identification unit, an image segmentation unit, a feature extraction unit and a feature fusion unit;
the detection and identification unit is used for identifying objects in the image through the trained convolutional neural network model and marking and classifying the objects;
the image segmentation unit is used for dividing an image into a plurality of areas and then analyzing and processing each area;
the feature extraction unit is used for extracting key features of the image and generating corresponding feature descriptors;
the feature fusion unit is used for aligning and matching the enhancement of the plurality of images with the improved image after noise reduction, then performing cross-image or multi-view analysis, and identifying the same areas in different images so as to correspond the plurality of images in space.
4. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the driving module comprises an electric driver, wheels and a chassis;
the electric driver comprises a direct current motor or a stepping motor, a transmission system and a driving shaft, and realizes the forward, backward and steering of the inspection robot by controlling the rotating speed and the direction of the direct current motor or the stepping motor;
the transmission system is used for transmitting power output by the engine to each wheel and comprises a transmission shaft, a differential mechanism and a transmission gear;
the driving shaft is respectively connected with the transmission system and wheels and is used for transmitting power and torque.
5. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the cruising module comprises a navigation unit and an obstacle avoidance unit;
the navigation unit is used for scanning the surrounding environment through the laser radar sensor and sensing the distance and the position of the robot and the obstacle in real time;
the obstacle avoidance unit is used for automatically avoiding obstacles by using a Di Jie Style algorithm and intelligently planning the shortest path or the optimal path.
6. The universal chassis system for a farming inspection robot according to claim 5, wherein,
the navigation unit comprises an indoor navigation unit and an outdoor navigation unit;
the indoor navigation unit senses the surrounding environment by using a camera and a computer vision technology, performs target detection, obstacle recognition and path planning, judges the position and the surrounding environment of the inspection robot by analyzing image and video data, and adjusts the inspection path accordingly;
the outdoor navigation unit acquires own position information by using a global positioning system and performs autonomous navigation and positioning in an outdoor environment through an integrated GPS technology.
7. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the power supply module comprises a charging unit and a battery unit;
the charging unit is used for automatically searching a charging seat when the electric quantity of the inspection robot is reduced to a first preset threshold value in the task execution process, and charging the charging seat by aligning the charging unit to the charging seat until the electric quantity is restored to a second preset threshold value, and then continuing the task;
the battery unit is used for returning to the area of the charging station for battery replacement when the inspection robot works for a long time.
8. The universal chassis system for a farming inspection robot according to claim 1, wherein,
the inspection module comprises an environment monitoring unit, an early warning unit, a remote monitoring unit,
The environment monitoring unit is used for monitoring environment parameters of the farm in real time through the sensor and finding out abnormal conditions in time;
the early warning unit is used for receiving and processing the environmental parameter data collected by the environmental monitoring unit, and automatically sending out an audible and visual alarm signal to inform related personnel to process when the environmental parameter data exceeds a set range;
the remote monitoring unit is used for a livestock farm manager to remotely monitor the environment conditions in the livestock and poultry house through mobile phone application or a computer, check the data of the sensor and the inspection robot in real time, grasp the change of the environment in the livestock and poultry house, and make corresponding adjustment and decision.
9. The universal chassis system for a farming inspection robot according to claim 8, wherein,
the remote monitoring unit comprises a health inspection unit and a disinfection and sterilization unit;
the health inspection unit is used for identifying the data collected by the inspection robot through an image identification technology, detecting the health condition of livestock and poultry, and alarming and recording abnormal conditions in time;
the disinfection and sterilization unit is used for automatically starting disinfection equipment after alarming and performing disinfection treatment on the farm.
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| CN109374069A (en) * | 2018-12-18 | 2019-02-22 | 华南农业大学 | The spatial distribution monitoring system and monitoring method of the instant environmental information of livestock and poultry farm |
| CN109460029A (en) * | 2018-11-29 | 2019-03-12 | 华南农业大学 | Livestock and poultry cultivation place inspection mobile platform and its control method |
| CN112212917A (en) * | 2020-09-28 | 2021-01-12 | 华南农业大学 | Automatic mobile inspection system and method applied to livestock and poultry farm |
| US20220147053A1 (en) * | 2019-03-27 | 2022-05-12 | Zhejiang University | Robot with perception capability of livestock and poultry information and mapping approach based on autonomous navigation |
| CN218607430U (en) * | 2021-08-26 | 2023-03-14 | 北京市农林科学院智能装备技术研究中心 | Livestock and poultry breeding inspection epidemic prevention system |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040024490A1 (en) * | 2002-04-16 | 2004-02-05 | Mclurkin James | System amd methods for adaptive control of robotic devices |
| CN109460029A (en) * | 2018-11-29 | 2019-03-12 | 华南农业大学 | Livestock and poultry cultivation place inspection mobile platform and its control method |
| CN109374069A (en) * | 2018-12-18 | 2019-02-22 | 华南农业大学 | The spatial distribution monitoring system and monitoring method of the instant environmental information of livestock and poultry farm |
| US20220147053A1 (en) * | 2019-03-27 | 2022-05-12 | Zhejiang University | Robot with perception capability of livestock and poultry information and mapping approach based on autonomous navigation |
| CN112212917A (en) * | 2020-09-28 | 2021-01-12 | 华南农业大学 | Automatic mobile inspection system and method applied to livestock and poultry farm |
| CN218607430U (en) * | 2021-08-26 | 2023-03-14 | 北京市农林科学院智能装备技术研究中心 | Livestock and poultry breeding inspection epidemic prevention system |
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