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Study on Robotic Inspection Planning in Large-scale Chicken House
Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.orgCitation: 2021 ASABE Annual International Virtual Meeting 2100158.(doi:10.13031/aim.202100158)
Authors: Yang Li, Min Zhou
Keywords: Inspection robot, Inspection plan, control point, Split method.
The use of robot inspections in large-scale stacked cage chicken house can effectively reduce the spread of diseases, reduce labor, and reduce costs. When the robot inspection‘s plan is developed, it needs to consider the chicken house‘s building parameters, the response requirement of monitoring sensor, the battery life of the robot, the production management constraints of chicken house and the requirements of robot inspection, etc. These factors are coupled to each other, which is easy to produce interference problems, so the inspection efficiency of the robot put forward high requirements. This article uses the split method to split the robot's inspection road into several sections, and uses the control point method to plan the robot's motion state in the shortest time under each road section, so as to ensure that the robot's overall inspection time is largely reduced, and greatly improves the inspection efficiency of the robot in the stacked cage chicken house.(Download PDF) (Export to EndNotes)