CN108099867A - The pouity dwelling place mobile robot chassis of energy pivot stud - Google Patents
The pouity dwelling place mobile robot chassis of energy pivot stud Download PDFInfo
- Publication number
- CN108099867A CN108099867A CN201711310422.9A CN201711310422A CN108099867A CN 108099867 A CN108099867 A CN 108099867A CN 201711310422 A CN201711310422 A CN 201711310422A CN 108099867 A CN108099867 A CN 108099867A
- Authority
- CN
- China
- Prior art keywords
- pair
- cup dolly
- stepper motor
- traveling wheel
- mobile robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of pouity dwelling place mobile robot chassis of energy pivot stud.Four range sensors are equidistantly inlaid in the slot at cup dolly edge respectively, it is parallel equipped with a pair of of positive transport wheel and a pair of driven traveling wheel above cup dolly, the rectangular slot that a pair of of positive transport wheel and a pair of driven traveling wheel both pass through cup dolly can be contacted with ground, steering mechanism is lifted on cup dolly, and in the middle part of a pair of of positive transport wheel and a pair of driven traveling wheel；Controller is fixed on cup dolly, and motor, stepper motor, angular transducer and four range sensors are electrically connected with the controller.The present invention judges turning place according to four distance sensor signals, and mobile robot is realized in pouity dwelling place pivot stud using lifting steering mechanism by pedestal and propping to put down, and ensures that mobile robot in pouity dwelling place passability, reduces labor intensity, improves work efficiency.
Description
Technical field
The present invention relates to mobile robot, more particularly, to a kind of pouity dwelling place mobile robot chassis of energy pivot stud.
Background technology
With livestock and poultry breeding industry scale, China's poultry farming control and prevention of disease situation is increasingly severe, and inspection cage disappears
Poison epidemic prevention spraying is to ensure the important measures of biological safety, becomes the essential work flow of poultry farming.Inspection cage
It was found that diseased chicken, dead chicken are all manually realized substantially；Existing pouity dwelling place disinfectant anti-epidemic spraying is also usually all to use manually to bear
Formula or cart type carry out, and labor intensity is big, operation is extensive, endanger operating personnel's health, automation and intelligentification degree is low.
Pouity dwelling place apparatus for work is erected on mobile chassis with reference to mobile robot technology and realizes that automation can not only mitigate operator
Member and can ensure operation effectiveness at labor intensity.
Mobile chassis forward method mainly has two-wheeled steering, four-wheel steering and differential steering at present, and these types of method is all
There are certain radius of turn, pouity dwelling place one side is turned apart from narrow and small, in order to smoothly turn to, will necessarily limit hold using the above program
The volume that luggage is put, influences operating efficiency.
The content of the invention
Present invention aims at a kind of pouity dwelling place mobile robot chassis of energy pivot stud is provided, realize that mobile robot exists
Pouity dwelling place realizes pivot stud, ensures that mobile robot in pouity dwelling place passability, reduces labor intensity, improves work efficiency.
In order to achieve the above object, the technical solution adopted by the present invention is：
The present invention includes cup dolly, the lifting steering device being mainly made of angular transducer and stepper motor, mainly by one
The walking mechanism formed to driven traveling wheel and by motor-driven a pair of of positive transport wheel, four range sensors, controller；
Four range sensors are equidistantly inlaid in the slot at cup dolly edge respectively, parallel equipped with a pair of actively row above cup dolly
Wheel and a pair of driven traveling wheel are walked, a pair of of positive transport wheel and a pair of driven traveling wheel both pass through the rectangular slot energy of cup dolly
It is contacted with ground, lifting steering mechanism is located on cup dolly in a pair of of positive transport wheel and a pair of driven traveling wheel
Between；Controller is fixed on cup dolly, motor, stepper motor, angular transducer and four range sensors and controller electricity
Connection.
The lifting steering mechanism, including stepper motor, angular transducer, first shaft coupling, lifting shaft, pressure strip, pressure
Tight pedestal, single thrust bearing, support base, two guide rails and stepper motor support board；Two guide rails are along parallel with a pair of of active
Traveling wheel and a pair of driven traveling wheel direction are fixed on cup dolly, and the both ends of stepper motor support board are located at two guide rails
It is interior, and guideway is formed with two guide rails, stepper motor is fixed on stepper motor support board one side, and angular transducer is fixed on
Above stepper motor support board, one end of first shaft coupling is connected with stepper motor, the other end and lifting shaft of first shaft coupling
One end connection, pressure strip is fixed on lifting shaft, and pressure strip can be compressed with compressing base contacts, and the other end of lifting shaft pass through
After compressing pedestal, the screw thread and cup dolly screwed hole of centre of lifting shaft bottom form mobile screw thread pair, and are supported on support base
Single thrust bearing hole in, compress tube chamber welds with base on cup dolly.
The walking mechanism, including motor, first axle, the 3rd axis, second shaft coupling, five bearing blocks, five deep-groove balls
Bearing, two bevel gears, the second axis, a pair of of positive transport wheel and a pair of driven traveling wheel；Motor is fixed on cup dolly, the
One end of two shaft couplings is connected with motor, and the other end of second shaft coupling and one end of first axle connect, and first axle passes through installation
In first deep groove ball bearing hole of the first bearing seat on cup dolly, the other end of first axle is equipped with first bevel gear,
First bevel gear and the second bevel gear on the second axis form gear pair, and the second axis is each passed through mounted on cup dolly
On second, third bearing block, and be supported in second, third respective deep groove ball bearing hole, the both ends of the second axis are pacified respectively
Equipped with positive transport wheel；3rd axis be each passed through on cup dolly the 4th, 5th bearing seat, and be supported on respective
In four, the 5th deep groove ball bearing holes, the both ends of the 3rd axis are separately installed with driven traveling wheel.
The pressure strip with compressing pedestal is compressed by conical surface contact.
The invention has the advantages that：
The present invention by lifting rail steering mechanism by chassis turning point jack-up after swivel base, realize mobile robot in fowl
House realizes pivot stud.
Description of the drawings
Fig. 1 is the structure diagram on the pouity dwelling place mobile robot chassis of the present invention.
Fig. 2 is lifting rail steering mechanism of the present invention schematic diagram.
Fig. 3 is poultry house structure signal and bobbin movement trajectory diagram.
Fig. 4 be steering state support base away from cup dolly apart from schematic diagram.
Fig. 5 is mobile status lifting rail steering mechanism positions schematic diagram.
Fig. 6 is steering state lifting rail steering mechanism positions schematic diagram.
In figure：1st, cup dolly, 2, stepper motor, the 3, the 3rd axis, 4, angular transducer, 5, first shaft coupling, 6, lifting
Axis, 7, two positive transport wheels, the 8, second axis, 9, five deep groove ball bearings, 10, five bearing blocks, 11, two bevel gears, 12,
First axle, 13, second shaft coupling, 14, motor, 15, four range sensors, 16, pressure strip, 17, single thrust bearing, 18,
Support base, 19, compress pedestal, 20, motor support plate, 21, guide rail, 22, controller, 23, two driven traveling wheels.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
As shown in Figure 1 and Figure 2, the present invention includes cup dolly 1, is mainly made of angular transducer 4 and stepper motor 2
Lifting steering device, the walking being mainly made of a pair of driven traveling wheel 23 and a pair of of the positive transport wheel 7 driven by motor 14
Mechanism, four range sensors 15, controller 22；Four range sensors 15 are equidistantly inlaid in 1 edge of cup dolly respectively
In slot, cup dolly 1 is parallel equipped with a pair of of positive transport wheel 7 and a pair of driven traveling wheel 23, a pair of of 7 He of positive transport wheel above
The rectangular slot that a pair of driven traveling wheel 23 both passes through cup dolly 1 can be contacted with ground, and lifting steering mechanism is mounted in circular base
On seat 1, and among a pair of of positive transport wheel 7 and a pair of driven traveling wheel 23；Controller 22 is fixed on cup dolly 1,
Motor 14, stepper motor 2, angular transducer 4 and four range sensors 15 are electrically connected with controller 22.The controller 22 is
Commercially available dsp controller or commercially available PLC controller.
As shown in Figure 1 and Figure 2, the lifting steering mechanism, including stepper motor 2, angular transducer 4, first shaft coupling 5,
Lifting shaft 6, pressure strip 16 compress pedestal 19, single thrust bearing 17,18, two guide rails 21 of support base and stepper motor support
Plate 20；Two guide rails 21 are fixed on cup dolly 1 along parallel with a pair of of positive transport wheel 7 and a pair of driven 23 direction of traveling wheel
On, the both ends of stepper motor support board 20 are located in two guide rails 21, and form guideway, stepper motor 2 with two guide rails 21
20 one side of stepper motor support board is fixed on, angular transducer 4 is fixed on above stepper motor support board 20, first shaft coupling
5 one end is connected with stepper motor 2, and the other end of first shaft coupling 5 is connected with one end of lifting shaft 6, and pressure strip 16 is fixed on
On lifting shaft 6, pressure strip 16 can contact compression with compressing pedestal 19, and the other end of lifting shaft 6 is through after compressing pedestal 19, lifting
The screw thread and 1 screwed hole of centre of cup dolly of 6 bottom of axis form mobile screw thread pair, and are supported on the unilateral thrust axis of support base 14
It holds in 17 holes, compresses pedestal 19 and be welded on cup dolly 1.
As shown in Figure 1, the walking mechanism, including motor 14, first axle 12, the 3rd axis 3, second shaft coupling 13, five
The deep groove ball bearing 9, two of bearing block 10, five bevel gear 11, the second axis 8, a pair of of positive transport wheel 7 and a pair of driven traveling wheel
23；Motor 14 is fixed on cup dolly 1, and one end of second shaft coupling 13 is connected with motor 14, second shaft coupling 13 it is another
End is connected with one end of first axle 12, and first axle 12 is passed through the first zanjon of the first bearing seat 10 on cup dolly 1
In 9 hole of ball bearing, the other end of first axle 12 is equipped with first bevel gear 11, first bevel gear 11 and on the second axis 8
Second bevel gear 11 form gear pair, the second axis 8 is each passed through second, third bearing block 10 on cup dolly 1,
And be supported in second, third respective 9 hole of deep groove ball bearing, the both ends of the second axis 8 are separately installed with positive transport wheel 7；The
Three axis 3 be each passed through on cup dolly 1 the 4th, 5th bearing seat 10, and be supported on respective four, the 5th zanjon
In 9 hole of ball bearing, the both ends of the 3rd axis 3 are separately installed with driven traveling wheel 23.
The pressure strip 16 with compressing pedestal 19 is compressed by conical surface contact.
By taking 4 row fowl cage, 5 aisle pouity dwelling place as an example, pouity dwelling place operation mobile route figure as shown in figure 3, chassis from A point movements
Entire operation process is completed to D points, distance of 1 central point locus of cup dolly away from chicken coop is always M in operation process, such as Fig. 4
It is shown when support base 18 and cup dolly 1 are apart from maximum, support base upper surface is K apart from 1 lower plane of cup dolly distance, is risen
It is P to drop 6 thread pitch of axis.In the moving process of chassis with 4 range sensors 15 whether have distance suddenly become larger to determine whether
It needs to turn.
By taking A to the F of track as an example, ABC sections, controller 22 controls motor 14 to rotate clockwise, and chassis is moved straightly to from A points
C points, during mobile status, lifting rail steering mechanism positions schematic diagram is as shown in figure 5, support base 18 abuts cup dolly 1 at this time.
15 signal of range sensor on the right side of B points, direction of advance can occur to become larger suddenly, and controller 22 detects this signal, and remembers
15 signal value of range sensor before direction of advance is L1 at this time for record, and chassis moves on, at this time before direction of advance away from
Persistently reduce from 15 detecting distance signal of sensor, during 15 signal value L2=L1-M of range sensor before direction of advance, control
Device 22 processed controls chassis to halt, and starts to turn.
During turning, controller 22 controls stepper motor 2 to rotate clockwise, and starts simultaneously at receiving angle sensor 20 and believes
Number, 20 angle of angular transducer is W1 at this time for definition, due to 6 thread segment of lifting shaft and the mobile spiral shell of 1 centre bore of cup dolly composition
Line is secondary and stepper motor support board 20 forms prismatic pair with guide rail 21, at this time on lifting shaft 6 all components together with 2 phase of stepper motor
Cup dolly 1 is moved down, as stepper motor 2 rotates, support base 18 moves down, when 18 bottom surface of support base is less than 4
Where 7 low spot of traveling wheel during plane, support base 18 can prop chassis, until on pressure strip 16 on lifting shaft 6 and cup dolly 1
It compresses pedestal 19 to be in close contact, lifting rail steering mechanism positions state is as shown in Figure 6 at this time.Stepper motor 2 is rotated further, by
It is in close contact in pressure strip 16 with compressing pedestal 19 on cup dolly 1, and the list that can be rotated clockwise is installed on support base 18
Axial thrust bearing 17, the opposite support base 18 of the meeting of lifting shaft 6 rotates, when 20 signal W2-W1=90 ° of angular transducer, chassis
It completes to turn 90 °.Controller 22 controls stepper motor 2 to rotate counterclockwise at this time, can be clockwise due to being equipped on support base 18
The single thrust bearing 17 of rotation, lifting shaft 6 can not be rotated relative to support base 18, be released between pressure strip 16 and compression pedestal 19
It compresses, due to 6 thread segment of lifting shaft and the mobile screw thread pair of 1 centre bore of cup dolly composition, cup dolly 1 rotates and to moving down
Dynamic, until traveling wheel 7 contacts to earth, the stopping of cup dolly 1 moves down, and controller 22 controls stepper motor 2 to continue to rotate counterclockwise,
Due to stepper motor 2 continue counterclockwise rotation turn, on lifting shaft 6 all components together with 2 opposing circular pedestal 1 of stepper motor to
Upper movement, until 18 upper surface of support base, 1 lower surface of contact cup dolly, stepper motor rotation counterclockwise altogether in whole process
The number of turns is K/P, and lifting rail steering mechanism positions complete entire turning process as shown in state 4 at this time.
Track CD, DE sections of movements are identical with Servo Control process and track ABC sections, track EF sections of turning process control procedure
Identical with track ABC sections, after the completion of the turning of E points, controller 22 controls motor 14 to be rotated counterclockwise so that chassis is moved from E points
To F points.
Above-mentioned specific embodiment is used for illustrating the present invention rather than limiting the invention, the present invention's
In spirit and scope of the claims, to any modifications and changes that the present invention makes, protection model of the invention is both fallen within
It encloses.
Claims (4)
1. a kind of pouity dwelling place mobile robot chassis of energy pivot stud, it is characterised in that：Including cup dolly (1), mainly by angle
The lifting steering device of sensor (4) and stepper motor (2) composition is spent, mainly by a pair of driven traveling wheel (23) and by motor
(14) walking mechanism of a pair of of positive transport wheel (7) composition of driving, four range sensors (15), controller (22)；Four
Range sensor (15) is equidistantly inlaid in respectively in the slot at cup dolly (1) edge, and cup dolly (1) is parallel equipped with a pair above
Positive transport wheel (7) and a pair of driven traveling wheel (23), a pair of of positive transport wheel (7) and a pair of driven traveling wheel (23) both pass through
The rectangular slot of cup dolly (1) can be contacted with ground, and lifting steering mechanism is located at a pair of main on cup dolly (1)
Among dynamic traveling wheel (7) and a pair of driven traveling wheel (23)；Controller (22) is fixed on cup dolly (1), motor (14), step
Stepper motor (2), angular transducer (4) and four range sensors (15) are electrically connected with controller (22).
2. according to described in claim 1 it is a kind of can pivot stud pouity dwelling place mobile robot chassis, it is characterised in that：It is described
Steering mechanism is lifted, including stepper motor (2), angular transducer (4), first shaft coupling (5), lifting shaft (6), pressure strip
(16), pedestal (19), single thrust bearing (17), support base (18), two guide rails (21) and stepper motor support board are compressed
(20)；Two guide rails (21) are fixed on circle along parallel with a pair of of positive transport wheel (7) and a pair of driven traveling wheel (23) direction
On pedestal (1), the both ends of stepper motor support board (20) are located in two guide rails (21), and form guide rail with two guide rails (21)
Pair, stepper motor (2) are fixed on stepper motor support board (20) one side, and angular transducer (4) is fixed on stepper motor support
Above, one end of first shaft coupling (5) is connected plate (20) with stepper motor (2), the other end and lifting shaft of first shaft coupling (5)
(6) one end connection, pressure strip (16) are fixed on lifting shaft (6), and pressure strip (16) can contact compression with compressing pedestal (19),
The other end of lifting shaft (6) is through after compressing pedestal (19), the screw thread of lifting shaft (6) bottom and cup dolly (1) center screw thread
Hole forms mobile screw thread pair, and is supported in single thrust bearing (17) hole of support base (14), and compressing pedestal, (19 are welded on circle
On shape pedestal (1).
3. according to described in claim 1 it is a kind of can pivot stud pouity dwelling place mobile robot chassis, it is characterised in that：It is described
Walking mechanism, including motor (14), first axle (12), the 3rd axis (3), second shaft coupling (13), five bearing blocks, five zanjons
Ball bearing, two bevel gears, the second axis (8), a pair of of positive transport wheel (7) and a pair of driven traveling wheel (23)；Motor (14) is solid
Be scheduled on cup dolly (1), one end of second shaft coupling (13) is connected with motor (14), the other end of second shaft coupling (13) with
One end connection of first axle (12), first axle (12) are passed through the first zanjon of the first bearing seat on cup dolly (1)
In ball bearing hole, the other end of first axle (12) is equipped with first bevel gear, first bevel gear and on the second axis (8)
Second bevel gear forms gear pair, and the second axis (8) is each passed through second, third bearing block on cup dolly (1), and
It is supported in second, third respective deep groove ball bearing hole, the both ends of the second axis (8) are separately installed with positive transport wheel (7)；The
Three axis (3) be each passed through on cup dolly (1) the 4th, 5th bearing seat, and it is deep to be supported on respective four, the 5th
In ditch ball bearing hole, the both ends of the 3rd axis (3) are separately installed with driven traveling wheel (23).
4. according to described in claim 2 it is a kind of can pivot stud pouity dwelling place mobile robot chassis, it is characterised in that：It is described
Pressure strip (16) with compressing pedestal (19) is compressed by conical surface contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310422.9A CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310422.9A CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108099867A true CN108099867A (en) | 2018-06-01 |
| CN108099867B CN108099867B (en) | 2023-06-09 |
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ID=62209503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711310422.9A Active CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108099867B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131633A (en) * | 2018-08-09 | 2019-01-04 | 安徽爱依特科技有限公司 | A kind of mobile foundation and its intelligent robot |
| CN113404267A (en) * | 2021-06-21 | 2021-09-17 | 重庆珞维新材料科技有限公司 | Terrace robot |
| CN115027596A (en) * | 2022-04-19 | 2022-09-09 | 国网江苏省电力有限公司连云港供电分公司 | Automatic heavy object carrying device based on artificial intelligence prevents heeling |
| CN115195907A (en) * | 2022-07-08 | 2022-10-18 | 广州市翔顺畜牧设备有限公司 | Intelligent observation vehicle for livestock and poultry house cage culture system |
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| JPH05293410A (en) * | 1992-04-21 | 1993-11-09 | Aichi Electric Co Ltd | Automatic direction converting device of self-propelling chemical solution sprinkling vehicle |
| CN1769111A (en) * | 2004-11-05 | 2006-05-10 | 比亚迪股份有限公司 | Automobile autorotation and up-down device |
| CN206466015U (en) * | 2017-02-09 | 2017-09-05 | 赵志强 | A kind of unmanned vehicle steering |
| CN107215407A (en) * | 2017-05-16 | 2017-09-29 | 曹治 | The walking mechanism of mobile robot |
| CN207594926U (en) * | 2017-12-11 | 2018-07-10 | 浙江大学 | A kind of pouity dwelling place mobile robot chassis of energy pivot stud |
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2017
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| JPH05293410A (en) * | 1992-04-21 | 1993-11-09 | Aichi Electric Co Ltd | Automatic direction converting device of self-propelling chemical solution sprinkling vehicle |
| CN1769111A (en) * | 2004-11-05 | 2006-05-10 | 比亚迪股份有限公司 | Automobile autorotation and up-down device |
| CN206466015U (en) * | 2017-02-09 | 2017-09-05 | 赵志强 | A kind of unmanned vehicle steering |
| CN107215407A (en) * | 2017-05-16 | 2017-09-29 | 曹治 | The walking mechanism of mobile robot |
| CN207594926U (en) * | 2017-12-11 | 2018-07-10 | 浙江大学 | A kind of pouity dwelling place mobile robot chassis of energy pivot stud |
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| 蒋卓华等: ""穴盘苗自动移栽机末端执行器的优化设计"" * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131633A (en) * | 2018-08-09 | 2019-01-04 | 安徽爱依特科技有限公司 | A kind of mobile foundation and its intelligent robot |
| CN113404267A (en) * | 2021-06-21 | 2021-09-17 | 重庆珞维新材料科技有限公司 | Terrace robot |
| CN115027596A (en) * | 2022-04-19 | 2022-09-09 | 国网江苏省电力有限公司连云港供电分公司 | Automatic heavy object carrying device based on artificial intelligence prevents heeling |
| CN115027596B (en) * | 2022-04-19 | 2023-10-24 | 国网江苏省电力有限公司连云港供电分公司 | Automatic heavy object carrying device based on artificial intelligence is prevented inclining |
| CN115195907A (en) * | 2022-07-08 | 2022-10-18 | 广州市翔顺畜牧设备有限公司 | Intelligent observation vehicle for livestock and poultry house cage culture system |
| CN115195907B (en) * | 2022-07-08 | 2023-03-10 | 广州市翔顺畜牧设备有限公司 | Intelligent observation vehicle for livestock and poultry house cage culture system |
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|---|---|
| CN108099867B (en) | 2023-06-09 |
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