CN104020766A - Wireless remote control sow test vehicle and control method thereof - Google Patents
Wireless remote control sow test vehicle and control method thereof Download PDFInfo
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- CN104020766A CN104020766A CN201410247389.XA CN201410247389A CN104020766A CN 104020766 A CN104020766 A CN 104020766A CN 201410247389 A CN201410247389 A CN 201410247389A CN 104020766 A CN104020766 A CN 104020766A
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Abstract
The invention discloses a wireless remote control sow test vehicle and a control method thereof. The sow test vehicle comprises a plurality of wheels, a frame and a main controller. The wheels are driven by a motor. The main controller is connected with the motor. A plurality of movement doors for service boars to get in and get out are formed in the frame. A wireless transceiving device for receiving movement control signals is arranged in the main controller. A front bottom plate and a rear bottom plate which are hinged to each other are arranged at the bottom of the frame. A front top plate and a rear top plate which are hinged to each other are arranged on the top of the frame. The sow test vehicle further comprises a position sensing device or guide wheel for judging whether the vehicle needs to change the direction or not currently, a position limiting device for limiting the positions of the service boars in the frame, a lateral lying prevention device for preventing the pigs from lying on the left side and the right side, and the like. The control method includes the steps that a control signal is sent to the main controller in a wireless mode, and the rotating speed and rotating direction of the wheels are adjusted by the main controller through the motor according to the control signal. The wireless remote control sow test vehicle has the advantages of being simple in structure, small in turning radius, stable in working and the like.
Description
Technical field
The present invention relates to moving vehicle research field, particularly a kind of wireless remote control sow teasing vehicle and control method thereof.
Background technology
Current domestic most pig farms, when breeding, be all to adopt traditional mode substantially, allow the direct mating of herd boar and sow, but in large-scale pig farm, general sow has thousands of heads, the inefficiency of breeding by this way, needs a large amount of man power and materials, and breeding success ratio is not high.When reality is bred, also there is the test-tube mode of employing, if but be only directly to utilize artificial insemination to sow breeding, owing to not considering whether sow oestruses, whether be applicable to fertilization, the problem the such as whether condition of fertilization is ripe, the success ratio that can cause breeding in same practical operation is not high.Experiment shows that sow can smell herd boar hormone taste with it, when sow is when smelling hormone taste with it of herd boar, carries out artificial insemination simultaneously and can greatly improve success rate of breeding.Current common way is, staff arrives in herd boar in front of the sow that oestruses, and then sow is carried out to artificial insemination, but has increased like this cost of labor, and herd boar can not always accurately be parked in the front of the sow that oestruses simultaneously.
Notification number is that the Chinese utility model patent of CN201256583Y discloses a kind of sow teasing vehicle, this examination feelings car is used for luring feelings, use while looking into feelings and pregnancy check, can reduce labour's expenditure, controlling herd boar moves, but there is following defect in this examination feelings car: (1) needs the artificial driving indoor scene at this car to operate, cannot realize remote control and control, increase workman's labour intensity; (2) on this examination feelings car, be only provided with a fixedly vehicle frame, have no idea to avoid herd boar sleeping at frame inside, be unfavorable for below the breeding with sow; (3) baffle plate of car frame side is all fixing fence, and bottom is also fixing base plate, and therefore when placing, volume is very large, takes up room large, while travelling on narrow and small passageway, pig farm, turns to inconvenience simultaneously.
Therefore, how under the narrow and small specific environment in pig farm, by narrow and small aisle space, pig farm, herd boar is transported in front of the sow that oestruses; Herd boar and sow pass on and join but can allow sow smell smell with it of herd boar and see that herd boar even touches herd boar, then by manually sow insemination being realized to breeding, and then improve sow pregnancy rate; How to solve these contradictions, this is problem demanding prompt solution.
Summary of the invention
Fundamental purpose of the present invention is that the shortcoming that overcomes prior art is with not enough, a kind of wireless remote control sow teasing vehicle is provided, this examination feelings car is without pilot steering, can in catwalk space, pig farm, move flexibly and turn to, and can anti-skidding, anti-ly lie on one's side and adjust the position of herd boar in dolly, realized the contact between herd boar and sow, thereby improved sow pregnancy rate, have simple in structure, radius of turn is little, steady operation and other merits.
Another object of the present invention is to provide a kind of control method based on above-mentioned wireless remote control sow teasing vehicle, and the method is easy to operate, can make to try feelings car and freely turn in the narrow space of passageway, pig farm.
Object of the present invention realizes by following technical scheme: a kind of wireless remote control sow teasing vehicle, comprise several wheels, vehicle frame and master controller, described wheel is driven by motor, and master controller is connected with motor, has several for the dodge gate of herd boar turnover on vehicle frame; Described master controller comprises for receiving the wireless transmitter of motion control signal; Described bottom of frame comprises noseplate and the rear base plate being hinged, and vehicle frame top comprises front top plate and the rear top board being hinged.Adopt such scheme can pass through the movement of wireless remote control sow teasing vehicle, bottom of frame all adopts articulated manner to be connected with top simultaneously, can reduce radius of turn, is more conducive to the workplace narrow on pig farm and moves.
Concrete, described wheel comprises 3, is respectively front-wheel, left rear wheel and off hind wheel, and wherein front-wheel is universal wheel, and left rear wheel and off hind wheel are driven by revolver motor and right turbin generator respectively, and revolver motor is connected with master controller respectively with right turbin generator.
Further, described motor adopts the brush direct current motor with worm type of reduction gearing or planetary reduction gear, and reducer output shaft becomes 90 degree or 0 degree angle with motor output shaft.
As a kind of optimal way, described left rear wheel is connected with the main shaft of revolver motor by left coupling arrangement, left coupling arrangement comprises coupling spindle, screw and key, two keyways and two threaded holes are set on coupling spindle, coupling spindle is connected with revolver motor main shaft, revolver main shaft respectively by key, the position by screw retainingf key in keyway; Off hind wheel is connected with the main shaft of right turbin generator by right coupling arrangement, and the structure of right coupling arrangement is identical with left coupling arrangement.Adopt this relatively simple for structure, convenient realization.
As another kind of optimal way, described left rear wheel is connected with the main shaft of revolver motor by left coupling arrangement, and left coupling arrangement adopts clutch coupling, and off hind wheel is connected with the main shaft of right turbin generator by right coupling arrangement, and right coupling arrangement also adopts clutch coupling.Adopt this structure when power shortage or motor break down, to cut off clutch coupling, then realize manual drive, thus the flexible conversion of practical function.
Preferably, described bottom of frame arranges several for current position induction device or the angle sheave whether touching with swinery or enclosure wall of sense vehicle, and position induction device is connected with master controller respectively, or controls examination feelings car direction by angle sheave guiding.Thereby can make workman more convenient when carrying out remote control.
As a kind of preferred version, described angle sheave is fixed on bottom of frame by coupling shaft, and position induction device adopts location sensitive sensor.When described angle sheave is encountered barrier, can cause pressure to change, this pressure variation be uploaded to master controller and can judge whether current sow teasing vehicle needs to turn to.Or when angle sheave is encountered barrier, whether examination feelings car is controlled in guiding needs to turn to.
Further, described angle sheave specifically comprises left angle sheave, right angle sheave, left back angle sheave, right back angle sheave, left front angle sheave and right front angle sheave.Thereby can test the current barrier that whether runs into from six direction, realize the adjustment to dolly mobile route.
Preferably, described vehicle frame side is provided with several for limiting the position device for limiting of herd boar position in vehicle frame.
Further, described position device for limiting comprises left adjustment slide cartridge and the right adjustment slide cartridge being arranged on vehicle frame side, the axis of above-mentioned two slide cartridges is all perpendicular to frame panel, and two slide cartridges are fixedly connected with vehicle frame by coupling shaft respectively, and two slide cartridges position on coupling shaft is adjustable.By thereby two slide cartridge positions are regulated to the position that can limit herd boar fore-and-aft direction in vehicle frame.
Preferably, described vehicle frame side is provided with the anti-device of lying on one's side for preventing that pig from lying on one's side to vehicle frame left and right directions.
Further, the described anti-device of lying on one's side comprises iron chains and abutment ring, and abutment ring one end is connected with vehicle frame side door, and the other end is connected with iron chains, and the length of iron chains is adjustable.By adjusting position and the length of iron chains in car, thereby can limit the position of pig left and right directions in vehicle frame, prevent that it from lying on one's side.
Preferably, described noseplate and rear base plate all adopt checkered plate.Thereby prevent that pig from slipping in vehicle frame.
Concrete, described noseplate is connected by the first articulated mounting with rear base plate, the structure of the first articulated mounting is as follows: comprise rotation axis, a connecting link and a screw, rotation axis is provided with a through hole and a threaded hole, noseplate and rear base plate hinged are on rotation axis, through hole is arranged on noseplate and below, rear base plate hinged position, and connecting link is through this through hole, and screw is fixed connecting link through threaded hole; Front top plate is connected by the second articulated mounting with rear top board, and the structure of the second articulated mounting is identical with the first articulated mounting.
A control method based on above-mentioned wireless remote control sow teasing vehicle, transmits control signal to master controller by wireless mode, and master controller is regulated the rotating speed of wheel and turned to by motor according to control signal; Position induction device on sow teasing vehicle is responded to current Vehicle Driving Cycle position simultaneously, judge whether to turn to, if need to turn to, send signal to master controller, master controller carries out differential driving according to the gait of march of sow teasing vehicle and angle of turn to motor; Or directly by angle sheave, guide current front part of vehicle to turn to, and then drive turning to of trailing wheel by the articulated mounting of vehicle front and rear part; Or master controller sends to operating personnel by signal by wireless mode, operating personnel turn to control by manual type.
Concrete, the step of motor being carried out to differential driving according to the gait of march of sow teasing vehicle and angle of turn is: if right turbin generator rotating speed is greater than the rotating speed of revolver motor, or right turbin generator main story, revolver motor reversion, sow teasing vehicle turns left; Otherwise, if revolver motor rotating speed is greater than the rotating speed of right turbin generator, or revolver motor main story, right turbin generator reversion, sow teasing vehicle is turned right.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention, in conjunction with the feature of insemination of sows working environment, adopts the mode of wireless remote control to control sow teasing vehicle, does not need onboard setting operation personnel's steering position again, thereby can reduce the volume of sow teasing vehicle, saves placement space.
2, in the present invention in conjunction with the environmental baseline on pig farm, before and after adopting, the mode of top board and base plate hinged is connected, and can realize the space limited on pig farm and realize and turning to flexibly, adopt articulated mounting, not only simple in structure, can fine adaptation pig farm moist, dirty and messy environment, and be difficult for breaking down.
3, in the present invention in conjunction with the environmental baseline on pig farm, front and rear part adopts angle sheave, when barriers such as angle sheave and swinery or enclosure walls, touches, vehicle changes travel direction at once; Or by location sensitive sensor sensing barrier and information is passed to master controller.Automatically control vehicle heading; Or direct Remote Control Vehicle travel direction, to adapt to the passageway that pig farm is narrow or 90 degree take a sudden turn.
4, the present invention, in conjunction with the feature of insemination of sows working environment, is provided with several dodge gates on vehicle frame, can realize the contact between herd boar and sow; Meanwhile, in conjunction with features such as herd boar disposition, adopt anti-skidding, the anti-device of lying on one's side and adjusting herd boar position in dolly, improved sow pregnancy rate.
Accompanying drawing explanation
Fig. 1 is the schematic appearance of apparatus of the present invention;
Fig. 2 is the rear view of apparatus of the present invention;
Fig. 3 is the structural representation of rotation axis in the first articulated mounting in apparatus of the present invention;
Fig. 4 is the wiring layout of rotation axis and connecting link in the first articulated mounting in apparatus of the present invention;
Fig. 5 is the assembling schematic diagram of the first articulated mounting and bottom plate in front in apparatus of the present invention;
Fig. 6 is the structural representation of right coupling arrangement in apparatus of the present invention.
Wherein: 1-vehicle frame; 2-noseplate; 3-rear base plate; The 4-the first articulated mounting; 5-off hind wheel; 6-left rear wheel; 7-right turbin generator; 8-revolver motor; 9-right coupling arrangement; 10-left coupling arrangement; 11-front-wheel; 12-right front angle sheave; 13-right adjustment slide cartridge; 14-left adjustment slide cartridge; 15-right back angle sheave; 16-battery carrier; The 17-the second articulated mounting; 18-front top plate; 19-rear top board; 20-left angle sheave; 21-front anti-sleeping chain is pullover; The sleeping chain of 22-rear defence is pullover; 23-left back angle sheave; 24-right angle sheave; 25-left front angle sheave; 26-dwang; The 27-the first articulated mounting threaded hole; The 28-the first articulated mounting through hole; 29-right coupling arrangement the first threaded hole; The 30-the first keyway; 31-right coupling arrangement the second threaded hole; The 32-the second keyway.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
As illustrated in fig. 1 and 2, the present embodiment provides a kind of concrete wireless remote control sow teasing vehicle, it comprises that vehicle frame 1, wheel, master controller (are arranged on vehicle frame top board, include wireless transmitter, not shown) and battery (be arranged in the battery carrier 16 on vehicle frame top board, not shown), vehicle frame comprises left front car door, right front car door, left front side door, left back side door, right front side door, right back side door, left back door, right-rear-door, four main car frame bars, bottom of frame comprises noseplate 2 and rear base plate 3, before and after realizing, connects between the two by the first articulated mounting 4.Vehicle frame top comprises front top plate 18 and rear top board 19, before and after realizing, connects between the two by the second articulated mounting 17.The first articulated mounting 4 comprises rotation axis, a connecting link and a screw, wherein the structure of rotation axis as shown in Figure 3, comprise a through hole 28 and a threaded hole 27, as shown in Figure 4, connecting link 26 is through this through hole 28, at threaded hole 27 places, pass through a screw fixed connecting rod 28, in order to limit the movement of connecting link 26 in through hole 28.Fig. 5 is the first articulated mounting of having assembled and the structural relation schematic diagram of bottom plate in front, on noseplate and rear base plate, all have hole, noseplate and rear base plate superpose mutually, by rotation axis, realize hinged, through hole 28 is located at noseplate and below, rear base plate hinged position, connecting link contacts with bottom plate in front respectively to share the load from base plate, thereby makes bottom plate in front load sharing on connecting link, alleviates the stressed of rotation axis.The mechanism of the second articulated mounting 17 is identical with the structure of the first articulated mounting 4.
Wheel is arranged on the bottom of vehicle frame, wheel comprises front-wheel 11, off hind wheel 5, left rear wheel 6, wherein front-wheel 11 is universal wheel, and left rear wheel 6 and off hind wheel 5 are driven by revolver motor 8 and right turbin generator 7 respectively, and revolver motor 8 is connected with master controller respectively with right turbin generator 7.In the present embodiment, revolver motor 8 and right turbin generator 7 all adopt the brush direct current motor with worm type of reduction gearing, and reducer output shaft becomes 90 degree angles with motor output shaft.In the present embodiment, off hind wheel 5 is connected with the main shaft of right turbin generator 7 by right coupling arrangement 9, the structure of right coupling arrangement 9 as shown in Figure 6, concrete connected mode is: by key, connect, electric machine main shaft is connected with the first keyway 30 on right coupling arrangement 9, by connecting key, Wheel shaft is connected with the second keyway 32 on right coupling arrangement 9; After having assembled, at the first threaded hole 29, the second threaded hole 31 places, be mounted with screw respectively, so just can prevent that key from sliding in keyway; By right coupling arrangement 9, realized like this connection of off hind wheel 5 and right motor 7; Left rear wheel and left motor adopt identical connected mode.
By Fig. 1,2, bottom of frame is provided with 6 for the current angle sheave that whether runs into barrier of sense vehicle, and all angle sheaves are connected with master controller respectively.Be specially right front angle sheave 12, left front angle sheave 25, right angle sheave 24, left angle sheave 20, right back angle sheave 15, left back angle sheave 23, each angle sheave is fixed on bottom of frame by coupling shaft respectively.In actual applications, can also realize detection by setting position induction pick-up equally.
In wireless remote control sow teasing vehicle, also in vehicle frame side, be provided with 2 for limiting the position device for limiting of herd boar position in vehicle frame, specifically comprise left adjustment slide cartridge 14 and right adjustment slide cartridge 13, two slide cartridges are fixedly connected with vehicle frame by coupling shaft respectively, and two slide cartridges position on coupling shaft is adjustable.By adjusting the position of slide cartridge 13,14 on vehicle frame 1, can realize the restriction to herd boar position in car
In addition, in wireless remote control sow teasing vehicle, also in vehicle frame side, be provided with the anti-device of lying on one's side for preventing that pig from lying on one's side to vehicle frame left and right directions, specifically comprise iron chains and abutment ring, in figure, anti-sleeping chain is pullover 21,22, and chain can adopt the iron chains of selling on open market, and abutment ring one end is connected with vehicle frame side door, the other end is connected with iron chains, and the length of iron chains is adjustable.In figure, anti-sleeping chain is when concrete use, can be according to the size of concrete herd boar, adjust as pullover 21, the rear welding position of anti-skidding sleeping chain pullover 22 in vehicle frame 1 of front the chain of preventing crouching and the degree of tightness of iron chains self in figure, to reach, can prevent that herd boar from lying on one's side in dolly.
When herd boar is into the car time, in order to prevent herd boar astasia or slip in car, noseplate 2 and rear base plate 3 surfaces are the base plates with anti-skid design, have increased like this degree of roughness of base plate, and herd boar is just difficult for slipping like this.Or, when herd boar, see sow and be, when excited, cause slipping injured, be so just necessary to adopt anti-skid design base plate.
Described in the present embodiment, wireless remote control sow teasing vehicle, when reality is used, adopts control method below:
(1) operating personnel transmit control signal to master controller by wireless mode.
(2) master controller is received after control signal, and the rotating speed of revolver motor and right turbin generator is regulated with turning to, and operates control sow teasing vehicle advance according to operating personnel.
(3) in traveling process, once sow teasing vehicle runs into barrier (such as swinery in pig farm etc.), the angle sheave on vehicle (12,15,20,23,24,25) will send control signals to master controller, and explanation need to turn to.
(4) master controller can have two kinds of mode of operations after receiving control signal, and a kind of is that master controller carries out differential driving according to the gait of march of sow teasing vehicle and angle of turn to motor automatically.Another kind is that master controller sends to operating personnel by signal by wireless mode, and operating personnel are turned to and controlled or to master controller, turn to control by wireless mode emissioning controling signal by manual type.
The step of motor being carried out to differential driving is: if right turbin generator rotating speed is greater than the rotating speed of revolver motor, or right turbin generator main story, revolver motor reversion, sow teasing vehicle turns left; Otherwise, if revolver motor rotating speed is greater than the rotating speed of right turbin generator, or revolver motor main story, right turbin generator reversion, sow teasing vehicle is turned right.
The present embodiment adopts wireless remote control mode to control dolly and advances, turns to and start and stop, adopts Voltage stabilizing module to carry out power supply voltage stabilizing, adopts current limliting module to carry out current protection, and according to dolly gait of march and angle of turn, motor is carried out to differential driving.Thereby accurately realize the controlled in wireless to dolly.
Embodiment 2
The present embodiment except following characteristics other structures with embodiment 1: described left rear wheel is connected with the main shaft of revolver motor by left coupling arrangement, left coupling arrangement adopts clutch coupling, off hind wheel is connected with the main shaft of right turbin generator by right coupling arrangement, and right coupling arrangement also adopts clutch coupling.Adopt this structure when power shortage or motor break down, to cut off clutch coupling, then realize manual drive, thus the flexible conversion of practical function.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (10)
1. a wireless remote control sow teasing vehicle, is characterized in that, comprises several wheels, vehicle frame and master controller, and described wheel is driven by motor, and master controller is connected with motor, has several for the dodge gate of herd boar turnover on vehicle frame; Described master controller comprises for receiving the wireless transmitter of motion control signal; Described bottom of frame comprises noseplate and the rear base plate being hinged, and vehicle frame top comprises front top plate and the rear top board being hinged.
2. wireless remote control sow teasing vehicle according to claim 1, it is characterized in that, described wheel comprises 3, be respectively front-wheel, left rear wheel and off hind wheel, wherein front-wheel is universal wheel, left rear wheel and off hind wheel are driven by revolver motor and right turbin generator respectively, and revolver motor is connected with master controller respectively with right turbin generator.
3. wireless remote control sow teasing vehicle according to claim 2, it is characterized in that, described left rear wheel is connected with the main shaft of revolver motor by left coupling arrangement, left coupling arrangement comprises coupling spindle, screw and key, two keyways and two threaded holes are set on coupling spindle, coupling spindle is connected with revolver motor main shaft, revolver main shaft respectively by key, the position by screw retainingf key in keyway; Off hind wheel is connected with the main shaft of right turbin generator by right coupling arrangement, and the structure of right coupling arrangement is identical with left coupling arrangement.
4. wireless remote control sow teasing vehicle according to claim 2, it is characterized in that, described left rear wheel is connected with the main shaft of revolver motor by left coupling arrangement, left coupling arrangement adopts clutch coupling, off hind wheel is connected with the main shaft of right turbin generator by right coupling arrangement, and right coupling arrangement also adopts clutch coupling.
5. wireless remote control sow teasing vehicle according to claim 1, it is characterized in that, described bottom of frame arranges several for responding to position induction device or the angle sheave whether touching when vehicle in front and swinery or enclosure wall, position induction device is connected with master controller, and angle sheave is used for guiding control examination feelings car direction; Described angle sheave is fixed on bottom of frame by coupling shaft, and position induction device adopts location sensitive sensor.
6. wireless remote control sow teasing vehicle according to claim 1, is characterized in that, described vehicle frame side is provided with several for limiting the position device for limiting of herd boar position in vehicle frame;
Described vehicle frame side is provided with the anti-device of lying on one's side for preventing that pig from lying on one's side to vehicle frame left and right directions.
7. wireless remote control sow teasing vehicle according to claim 6, it is characterized in that, described position device for limiting comprises left adjustment slide cartridge and the right adjustment slide cartridge being arranged on vehicle frame side, the axis of above-mentioned two slide cartridges is all perpendicular to frame panel, two slide cartridges are fixedly connected with vehicle frame by coupling shaft respectively, and two slide cartridges position on coupling shaft is adjustable;
The described anti-device of lying on one's side comprises iron chains and abutment ring, and abutment ring one end is connected with vehicle frame side door, and the other end is connected with iron chains, and the length of iron chains is adjustable.
8. wireless remote control sow teasing vehicle according to claim 1, is characterized in that, described motor adopts the brush direct current motor with worm type of reduction gearing or planetary reduction gear, and reducer output shaft becomes 90 degree or 0 degree angle with motor output shaft;
Described noseplate and rear base plate all adopt checkered plate.
9. wireless remote control sow teasing vehicle according to claim 1, it is characterized in that, described noseplate is connected by the first articulated mounting with rear base plate, the structure of the first articulated mounting is as follows: comprise rotation axis, a connecting link and a screw, rotation axis is provided with a through hole and a threaded hole, and noseplate and rear base plate hinged are on rotation axis, and through hole is arranged on noseplate and below, rear base plate hinged position, connecting link is through this through hole, and screw is fixed connecting link through threaded hole; Front top plate is connected by the second articulated mounting with rear top board, and the structure of the second articulated mounting is identical with the first articulated mounting.
10. the control method based on wireless remote control sow teasing vehicle claimed in claim 5, is characterized in that, by wireless mode, to master controller, transmits control signal, and master controller is regulated the rotating speed of wheel and turned to by motor according to control signal; Position induction device on sow teasing vehicle is responded to current Vehicle Driving Cycle position simultaneously, judge whether to turn to, if need to turn to, send signal to master controller, master controller carries out differential driving according to the gait of march of sow teasing vehicle and angle of turn to motor; Or directly by angle sheave, guide current front part of vehicle to turn to, and then drive turning to of trailing wheel by the jointed shaft of vehicle front and rear part; Or master controller sends to operating personnel by signal by wireless mode, operating personnel turn to control by manual type.
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| CN201410247389.XA CN104020766A (en) | 2014-06-05 | 2014-06-05 | Wireless remote control sow test vehicle and control method thereof |
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| CN106417076A (en) * | 2016-08-31 | 2017-02-22 | 广东省现代农业装备研究所 | Boar empathema check vehicle |
| CN109566450A (en) * | 2018-12-24 | 2019-04-05 | 青岛赛美畜牧工程有限公司 | A kind of boar cart |
| CN110934659A (en) * | 2019-12-11 | 2020-03-31 | 江苏姜曲海种猪场 | Intelligent sexual test machine boar |
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| 许松清等: "两轮驱动移动机器人的运动学研究", 《电子机械工程》 * |
| 谢辉等: "基于PIC单片机的无线遥控小车设计", 《应用设计》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106417076A (en) * | 2016-08-31 | 2017-02-22 | 广东省现代农业装备研究所 | Boar empathema check vehicle |
| CN109566450A (en) * | 2018-12-24 | 2019-04-05 | 青岛赛美畜牧工程有限公司 | A kind of boar cart |
| CN110934659A (en) * | 2019-12-11 | 2020-03-31 | 江苏姜曲海种猪场 | Intelligent sexual test machine boar |
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Application publication date: 20140903 |