CN108154097A - A kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method - Google Patents
A kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method Download PDFInfo
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- CN108154097A CN108154097A CN201711384357.4A CN201711384357A CN108154097A CN 108154097 A CN108154097 A CN 108154097A CN 201711384357 A CN201711384357 A CN 201711384357A CN 108154097 A CN108154097 A CN 108154097A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 230000003862 health status Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000000523 sample Substances 0.000 claims abstract description 43
- 238000001931 thermography Methods 0.000 claims abstract description 25
- 238000005516 engineering process Methods 0.000 claims abstract description 12
- 241001075561 Fioria Species 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 8
- 239000010959 steel Substances 0.000 claims abstract description 8
- 241000287828 Gallus gallus Species 0.000 claims description 86
- 230000036760 body temperature Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000000877 morphologic effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 9
- 244000144977 poultry Species 0.000 abstract description 2
- 230000000087 stabilizing effect Effects 0.000 description 6
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 208000027954 Poultry disease Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 229920003266 Leaf® Polymers 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention belongs to poultry cultivating technology, specifically a kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method.Including transportable trolley, telescopic rod is provided on trolley, telescopic rod top is provided with picture catching probe and thermal imaging probe, and the output terminal that picture catching probe and thermal imaging are popped one's head in is electrically connected with image processing module, and image processing module output terminal is electrically connected with display module and alarm；There are four hemisphere slots for trolley direction expansion all around, steel ball has been put into hemisphere slot, shell cylindrical region is taken out there are one setting in hemisphere slot upper end, it takes out in shell cylindrical region and is provided with magnechuck, 45 ° of open regions are equipped at four angles of trolley, 45 ° of open regions are provided with fan leaf, and the DC speed-reducing for driving fan rotation is connected on fan leaf.The present invention can fast and automatically complete the healthy inspection of extensive cage bird, effectively prevent the missing inspection situation of manual inspection, liberated labour.
Description
Technical field
The invention belongs to poultry cultivating technology, specifically a kind of cage bird health status automatic monitoring sphere wheel
Trolley and monitoring method.
Background technology
Existing enlargement chicken farm is using cage mode, and individual activity space is limited, the generation to tend to produce the disease of；
If cannot clear out illness chicken and the chicken that dies of illness out of chicken coop in time, the diffusion to tend to produce the disease of causes the extensive of individual
Death, therefore inspection is periodically carried out to health status individual in chicken coop be and its necessary.Traditional approach is using artificial right
Individual differentiates that not only labor intensity is big for this artificial visiting method, and air environment is poor in henhouse, is unfavorable for human body one by one in henhouse
Health；And since top chicken coop is far above human body, so artificial at all cannot be to health status individual in higher position chicken coop
Judged.Feeding, drinking-water, egg collection, cleaning up excrement etc. have realized automation, the automatic discrimination of individual health and people in existing henhouse
Work inspection helps to build unmanned henhouse, so as to avoid the propagation of poultry disease.
Invention content
The invention overcomes the deficiencies of the prior art, and provides a kind of cage bird health status automatic monitoring fills
It puts, by the data detected, differentiates the health status of chicken individuals, the missing inspection situation manually patrolled is avoided, so as to provide one
Kind cage bird health status automatic monitoring sphere wheel trolley and monitoring method.
The present invention takes following technical scheme：A kind of cage bird health status automatic monitoring sphere wheel trolley, including
Transportable trolley, telescopic rod is provided on trolley, and telescopic rod top is provided with picture catching probe and thermal imaging probe, figure
Picture captures probe and the output terminal of thermal imaging probe is electrically connected with image processing module, and image processing module output terminal is with showing mould
Block and alarm are electrically connected；Trolley all around expand there are four hemisphere slot by direction, and steel has been put into hemisphere slot
Sphere, hemisphere slot upper end set there are one shell cylindrical region is taken out, take out in shell cylindrical region and be provided with magnechuck, trolley
45 ° of open regions are equipped at four angles, 45 ° of open regions are provided with fan leaf, and the direct current for driving fan rotation is connected on fan leaf
Decelerating motor.Dress is there are four the power that fan leaf can provide moving of car around trolley, and car wheel is using steel ball knot
Structure, wheel upper end are respectively provided with magnechuck, trolley are allowed to play braking effect.
The car interior installation cylinder turntable, cylinder turntable pass through spur gear group and turntable DC speed-reducing
Connection, the installation of telescopic rod lower part is there are one spur gear, and spur gear is driven by DC speed-reducing, and spur gear is nibbled with gear bar cube
It closes, telescopic rod bottom, which is equipped with, takes out shell round platform, telescopic rod inner hollow, and gear bar cube, tooth are provided among cylinder turntable
It takes turns a cube and includes several gear bars connected by vane-folding, gear bar both ends are equipped with magnet piece, gear bar one end and circle
It is connected inside platform.The speed of turntable is synchronous with the spur gear movement velocity of telescopic rod, and gear bar cube is produced from turntable, by straight-tooth
Wheel, which drives, to be entered in telescopic rod, and telescopic rod rises.When turntable and spur gear invert simultaneously, cube fritter is returned to inside turntable,
Telescopic rod is shunk.Vane-folding rotates 180 degree, and telescopic block, which enters, takes out shell round platform body region, and telescopic rod is pushed to rise.
The trolley forepart is provided with the probe that tracks.Black induction strip, the probe that tracks, sense are posted on channel in henhouse
Black should be gone out, feedback information controls the turning of trajectory Car.
Car interior is provided with battery, and battery involves three groups of lines and connects three voltage-stablizers, first voltage-stablizer and list respectively
Piece machine connects, and microcontroller involves three groups of lines, and one group of offer is connect with bluetooth module, and another group connects with the probe that tracks, third group
It is connect with magnechuck, second voltage-stablizer is connect with the DC speed-reducing that four drive fans rotate, third voltage-stablizer
It is connect with the DC speed-reducing on turntable DC speed-reducing and telescopic rod.
A kind of monitoring method of cage bird health status automatic monitoring sphere wheel trolley, picture catching pop one's head in adopt
Collect chicken individuals number of images in chicken coop；Thermal imaging pops one's head in acquire chicken individuals thermal-induced imagery in chicken coop；It is flexible on trolley
Bar moves, and record current shooting position for carrying picture catching probe and thermal imaging probe between chicken coop；At image
Reason module is used to that the chicken individuals number of images application image identification technology of picture catching spy machine acquisition to be calculated in chicken coop living
The quantity of body if live body quantity, which is less than in this chicken coop, should quantity, judges occur dead chicken in the chicken coop, is adopted with thermal imaging probe
The chicken individuals thermal-induced imagery of collection obtains the body temperature distribution of chicken individuals, the highest temperature of chicken individuals is taken as chicken individuals body temperature, if chicken
Individual body temperature is higher than healthy body temperature, then judges the individual for diseased chicken, and bluetooth module is used for the remote control to trolley, display module
For the image that picture catching probe after the completion of display processing and thermal imaging probe obtain, current health chicken in chicken coop is observed
Quantity information, diseased chicken quantity and the location information of body, dead chicken quantity and location information, alarm is for going out diseased chicken or dead chicken
Now carry out sound-light alarm.
The step of described image identification technology, includes：Chicken individuals number of images is split using image Segmentation Technology,
Noise in image is divided using morphologic filtering, the connected region of filtered image is searched, when the connected region area is little
When connected region face amount is set, it is determined to have a chicken individuals.
Compared with prior art, the device have the advantages that being：
1. the present apparatus helps to build unmanned henhouse, so as to reduce the propagation of poultry disease.
2. identification and alarm pair pathology individual can effectively identify the individual and timely processing of morbidity early stage, effectively keep away
The generation for the acute epidemic situation exempted from.
3. the healthy inspection of extensive cage bird can be completed fast and automatically, the missing inspection feelings of manual inspection are effectively prevented
Condition has liberated labour.
Description of the drawings
Fig. 1 is a kind of principle schematic I of cage bird health status automatic monitoring sphere wheel trolley of the present invention；
Fig. 2 is a kind of principle schematic II of cage bird health status automatic monitoring sphere wheel trolley of the present invention；
Fig. 3 is the flow chart being monitored using the present invention to chicken health status；
Fig. 4 is a kind of cage bird health status automatic monitoring sphere wheel trolley construction of the present invention；
Fig. 5 is a kind of control circuit schematic diagram of cage bird health status automatic monitoring sphere wheel trolley of the present invention；
Fig. 6 provides power structure for telescopic rod bottom in a kind of cage bird health status automatic monitoring sphere wheel trolley of the present invention
Part figure；
Fig. 7 is a kind of cage bird health status automatic monitoring sphere wheel trolley gear bar packet contractible graph of the present invention；
Fig. 8 is a kind of cage bird health status automatic monitoring sphere wheel trolley telescopic rod of the present invention and loads accessory figure；
Fig. 9 is a kind of cage bird health status automatic monitoring sphere wheel trolley overall appearance figure of the present invention；
In figure, 1- batteries, 2- magnechucks, 3- steel balls, 4- fan leafs, 5- drive fan rotation DC speed-reducing,
6- microcontrollers, the driving of 7- fan electromotors, 8- turntables DC speed-reducing, 9- telescopic rods and rotary tray motor driver, 10- fans electricity
Machine voltage stabilizing, the voltage stabilizing of 11- microcontrollers, 12- telescopic rods motor and rotary tray motor voltage stabilizing, 13- turntables, 14- track probe, 15- turntables
Move gear set, 16-45 ° of open region, 17- motors fixing groove, the DC speed-reducing on 18- telescopic rods, 19- drive gear bars
Spur gear, the 20- of movement take out shell round platform, 21- telescopic rods, 22- thermal imagings probe, 23- picture catchings probe.
Specific embodiment
As illustrated in figures 1 and 8, a kind of cage bird health status automatic monitoring trolley, picture catching probe 23, thermal imaging
Probe 22, the probe 14 that tracks, steel ball 3, fan leaf 4, turntable 13, magnechuck 2, telescopic rod 21, Bluetooth control module, list
Piece machine 6, image processing module, display and alarm, picture catching probe and thermal imaging probe are arranged on telescopic rod top,
The output terminal of picture catching probe and thermal imaging probe is electrically connected with image processing module, image processing module output terminal and display
Module and alarm are electrically connected.
Picture catching probe 23 is used to acquire chicken individuals number of images in chicken coop；Thermal imaging probe 22 is used to acquire in chicken coop
Chicken individuals thermal-induced imagery；Telescopic rod on lorry moves for carrying picture catching probe and thermal imaging probe between chicken coop
It is dynamic, and record current shooting position；Image processing module 23 is used to visit picture catching the chicken individuals quantity figure of machine acquisition
As the quantity of live body in chicken coop is calculated in application image identification technology, if live body quantity, which is less than in this chicken coop, should quantity,
Judge occur dead chicken in the chicken coop.With the chicken individuals thermal-induced imagery of 22 acquisition of thermal imaging probe, the body temperature point of chicken individuals is obtained
Cloth takes the highest temperature of chicken individuals, if chicken individuals body temperature is higher than healthy body temperature, to judge the individual for disease as chicken individuals body temperature
Chicken.
Display module is used for picture catching probe and the image of thermal imaging probe acquisition after the completion of display processing, observes chicken
The quantity information of current health chicken individuals, diseased chicken quantity and location information, dead chicken quantity and location information in cage.
The appearance that alarm is used for diseased chicken or dead chicken carries out sound-light alarm.
Fig. 3 is the flow chart being monitored using the present apparatus to chicken health status.
Further, the step of described image identification technology includes：Using image Segmentation Technology to chicken individuals number of images into
Row segmentation divides the noise in image using morphologic filtering, the connected region of filtered image is searched, when the connected region face
When product is no more than setting connected region face amount, it is determined to have a chicken individuals.
Shown in Fig. 3, further, car wheel makes 3 structure of steel ball into, and in car body, all around direction expands four and half
Sphere slot, the inside are put into steel ball, and a pumping shell cylindrical region is established in half ball groove upper end, magnechuck 2 is put into, works as electricity
Magnetic-disc energization is that trolley remains static, and during power-off, trolley can be moved to any direction, in the housing upper end of trolley
Four angle deviatings, 45 ° of directions place the fan leaf 4 of four offer power, control four fans successively with SCM system
The movement of leaf, the wind-force of the control fan leaf of coordination and startup stop, and trolley can be allowed to be moved along random direction.
Shown in Fig. 4, further, in the plane of the bottommost of trolley, the control system of moving of car is placed, vehicle rear end is put
The battery 1 continued a journey for a long time can be provided by putting two, and battery involves three groups of lines and connects three voltage-stablizers, and first voltage-stablizer is monolithic
The voltage stabilizing of machine system, to the voltage stabilizing of four fans, third is to the steady of rotary tray motor and telescopic rod motor for second voltage-stablizer
Pressure, second voltage stabilizing involve one group of line with third voltage-stablizer and are connected on driver, are connected respectively to again from driver respectively
Motor on, microcontroller involves three groups of lines, and one group is supplied to bluetooth module, another group to the probe 14 that tracks, third group is to electromagnetism
Sucker 2, the control system for completing trolley are built.Input program, that is, adjustable.
As shown in Fig. 5, Fig. 6 and Fig. 7, further, vehicle body is installed a cylinder turntable 1, is used just among turntable
Cube is attached, and a set of spur gear group 15 is connected on the outside of turntable, is ultimately connected in DC speed-reducing, when direct current deceleration electricity
Machine movement is the movement for driving turntable.Car top installs the telescopic rod 21 of one group of three section, and the face of telescopic rod lower part one is cut off,
One spur gear 19 to be installed, this gear is driven with a DC speed-reducing 18, spur gear drives the movement of gear bar cube,
The round platform 20 of a pumping shell is done in telescopic rod bottom, and the gear bar cube that can be allowed in turntable smoothly enters in telescopic rod, each
Plus a magnet piece on gear bar cube contact surface, cube block can be allowed to enter in telescopic rod into vertical state
As shown in fig. 7, further, telescopic rod top is mounted with a schematic capture probe 23 and thermal imaging probe 22, when flexible
When bar 21 rises, reaching chicken coop region is, figure probe captures the photo inside chicken coop, and thermal imaging probe is captured in chicken coop
The data of collection are quickly passed back computer, carry out data processing and matching, obtain desired knot by the infrared thermal imaging figure of chicken group
Fruit.
Claims (6)
1. a kind of cage bird health status automatic monitoring sphere wheel trolley, it is characterised in that：Including transportable trolley,
Telescopic rod is provided on trolley（21）, telescopic rod（21）Top is provided with picture catching probe（23）It pops one's head in thermal imaging（22）,
Picture catching is popped one's head in（23）It pops one's head in thermal imaging（22）Output terminal be electrically connected with image processing module, image processing module output
End is electrically connected with display module and alarm；Trolley all around expand there are four hemisphere slot by direction, in hemisphere slot
It has been put into steel ball（3）, hemisphere slot upper end sets there are one shell cylindrical region is taken out, takes out in shell cylindrical region and be provided with electricity
Magnetic-disc（2）, 45 ° of open regions are equipped at four angles of trolley（16）, 45 ° of open regions（16）It is provided with fan leaf（4）, fan leaf
（4）On be connected with drive fan rotation DC speed-reducing（5）.
2. cage bird health status automatic monitoring sphere wheel trolley according to claim 1, it is characterised in that：It is described
Car interior installation cylinder turntable（1）, cylinder turntable（1）Pass through spur gear group (15) and turntable DC speed-reducing
（8）Connection, telescopic rod（21）Lower part is installed there are one spur gear (19), and spur gear (19) is driven by DC speed-reducing (18),
Spur gear (19) is engaged with gear bar cube, telescopic rod（21）Bottom, which is equipped with, takes out shell round platform (20), telescopic rod（21）In inside
Sky, cylinder turntable（1）Centre is provided with gear bar cube, and gear bar cube includes several gears connected by vane-folding
Item, gear bar both ends are equipped with magnet piece, are connect inside gear bar one end and round platform (20).
3. cage bird health status automatic monitoring sphere wheel trolley according to claim 2, it is characterised in that：It is described
Trolley forepart be provided with the probe that tracks（14）.
4. cage bird health status automatic monitoring sphere wheel trolley according to claim 3, it is characterised in that：Trolley
It is internally provided with battery（1）, battery（1）It involves three groups of lines and connects three voltage-stablizers, first voltage-stablizer and microcontroller respectively（6）
Connection, microcontroller（6）Three groups of lines are involved, one group of offer is connect with bluetooth module, another group and the probe that tracks（14）Connection, third
Group is connect with magnechuck (2), the DC speed-reducing of second voltage-stablizer and four drive fan rotations（5）Connection, third
A voltage-stablizer and turntable DC speed-reducing（8）With the DC speed-reducing on telescopic rod（18）Connection.
5. a kind of monitoring method of cage bird health status automatic monitoring sphere wheel trolley as claimed in claim 4,
It is characterized in that：Picture catching is popped one's head in（23）For acquiring chicken individuals number of images in chicken coop；Thermal imaging is popped one's head in（22）For acquiring
Chicken individuals thermal-induced imagery in chicken coop；Telescopic rod on trolley is popped one's head in for carrying picture catching probe and thermal imaging between chicken coop
It is mobile, and record current shooting position；Image processing module（23）For visiting the chicken individuals number of machine acquisition to picture catching
The quantity of live body in chicken coop is calculated as application image identification technology for spirogram, if live body quantity, which is less than in this chicken coop, should number
Amount, then judge occur dead chicken in the chicken coop, popped one's head in thermal imaging（22）The chicken individuals thermal-induced imagery of acquisition, obtains chicken individuals
Body temperature is distributed, and the highest temperature of chicken individuals is taken, if chicken individuals body temperature is higher than healthy body temperature, to judge the individual as chicken individuals body temperature
For diseased chicken, display module is used for picture catching probe and the image of thermal imaging probe acquisition after the completion of display processing, observes chicken
The quantity information of current health chicken individuals, diseased chicken quantity and location information, dead chicken quantity and location information, alarm are used in cage
Sound-light alarm is carried out to the appearance of diseased chicken or dead chicken.
6. the monitoring method of cage bird health status automatic monitoring sphere wheel trolley according to claim 5, special
Sign is：The step of described image identification technology, includes：Chicken individuals number of images is split using image Segmentation Technology, is adopted
Divide the noise in image with morphologic filtering, the connected region of filtered image is searched, when the connected region area is not more than
When setting connected region face amount, it is determined to have a chicken individuals.
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| CN201711384357.4A CN108154097A (en) | 2017-12-20 | 2017-12-20 | A kind of cage bird health status automatic monitoring sphere wheel trolley and monitoring method |
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Cited By (8)
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| CN108725208A (en) * | 2018-08-14 | 2018-11-02 | 北京中润惠通科技发展有限公司 | A kind of pantograph pan detection monitoring device |
| CN109060143A (en) * | 2018-08-16 | 2018-12-21 | 南京农业大学 | Boar Thermometer System and method based on thermal infrared technology |
| CN109744169A (en) * | 2019-03-12 | 2019-05-14 | 天津大学 | A kind of cage avian subject detection device |
| CN110119778A (en) * | 2019-05-10 | 2019-08-13 | 辽宁大学 | A kind of equipment method for detecting health status improving chicken group's optimization RBF neural |
| CN110200598A (en) * | 2019-06-12 | 2019-09-06 | 天津大学 | A kind of large-scale plant that raises sign exception birds detection system and detection method |
| CN111096252A (en) * | 2020-01-02 | 2020-05-05 | 河北农业大学 | Device and method for identifying chickens in cage |
| CN111937779A (en) * | 2019-05-17 | 2020-11-17 | 安徽兴牧畜禽有限公司 | Inspection trolley capable of automatically ascending and descending and facilitating observation of conditions in coop |
| CN112655597A (en) * | 2020-12-23 | 2021-04-16 | 湖北省农业科学院畜牧兽医研究所 | Intelligent poultry breeding observation method |
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