• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a mobile education robot (200) for a poultry farm (100) comprising at least one spawning zone (120), said robot (200) comprising means for moving the robot on the ground. According to the invention, such a robot further comprises: - means of encouraging mobility (220) of at least two distinct types to repel the birds present on the ground towards at least one laying area (120), and control means (230) for said mobility incentive means (220).
    公开号:FR3044868A1
    申请号:FR1562425
    申请日:2015-12-15
    公开日:2017-06-16
    发明作者:Lionel Planquette
    申请人:Cimtech；Madame Laetitia Savary；
    IPC主号:
    专利说明:

    Mobile educational robot for poultry farming and livestock facility using one or more robots 1. Field of the invention
    The field of the invention is that of poultry farming.
    More specifically, the invention relates to a mobile robot for poultry farms intended to prevent, or at least minimize, the laying of eggs on the ground and to improve the fertility of poultry on a farm. The invention also relates to a poultry breeding installation implementing one or more of these robots. 2. The prior art
    Poultry farm buildings generally comprise a living area equipped with drinking troughs and feeders, and a nesting area with a number of nest boxes, or nests, which is a function of the number of laying poultry of the lot to be reared in building.
    Egg production begins with a nesting phase after the transfer of poultry into the building and continues for several weeks. During this critical period, poultry must learn to lay only in the nests, which they must consider as the most suitable area for this in the building.
    However, some birds choose to lay eggs in other areas of the building, on the floor or on the walkways (especially under feeders or water troughs, or along walls).
    Eggs laid outside the nests on the floor have a dirty appearance requiring manual cleaning and are more prone to bacterial contamination. These eggs laid on the ground can not be incubated and must in certain cases be eliminated for reasons of health risk (in the case where the use of antibiotics to prevent infections on day-old chicks is proscribed) or downgraded .
    During this learning phase, to avoid laying eggs on the ground, it is common to reduce the thickness of the litter on the ground.
    In addition, the farmer must move among the poultry regularly, in order to gently disturb them and direct them to the nest.
    Reducing the percentage of laying on the ground, especially during the learning period for poultry, depends to a large extent on the quality and frequency of the interventions of the farmer, who can thus spend several hours a day to educate poultry his breeding (it is noted that the regular passages of the breeder also aim to force poultry that hide or stagnate in one place to move in order to stimulate and improve their fertility).
    It is easy to understand that this generates extra work for the farmer who must not only walk all the buildings on his farm to disturb the birds, but also collect the eggs on the ground (the poultry tending to lay eggs where there is already an egg).
    The heat in livestock buildings, as well as the presence of ammonia, dust and noise, can lead to health problems for farmers.
    In summary, laying eggs have negative consequences: reduction in the number of eggs meeting the quality criteria, repetitive and painful work for the farmer, encouragement of other poultry to lay eggs on the ground, loss of productivity and profitability for the farm. all actors in the sector (the sector currently lacks hatching eggs (OAC)).
    Despite the frequent passage of farmers in buildings to move poultry, the latter tend to accustom themselves to the presence of breeders.
    Thus, current techniques aimed at teaching poultry to nest only in nests and to improve their fertility are not entirely satisfactory. 3. DISCLOSURE OF THE INVENTION The invention does not pose these problems related to the prior art techniques for educating poultry to lay in nests.
    Indeed, the invention relates to a mobile education robot for a poultry farm comprising at least one spawning area, the robot comprising means for moving the robot on the ground.
    According to the invention, such a robot further comprises: means for encouraging the mobility of at least two distinct types to repel the birds present on the ground towards at least one laying area, and control means for said means for incentive to mobility.
    Thus, the invention provides an educational robot that is particularly useful in the nest learning phase to educate poultry to lay in nests, not on the ground. Such a robot makes it possible to reduce the difficulty of the work of the breeders.
    The implementation of different types of means of encouraging mobility makes it possible to prevent the habituation of poultry to the presence of the robot and its means of encouraging mobility.
    In one mode of implementation, the mobile robot follows a predefined trajectory on the whole of a territory of the breeding with which it is associated, which makes it possible to make sure that it moves well on the whole of this territory and that all poultry on this territory is educated.
    In addition, this displacement is defined so that the mobile robot encourages the birds to move towards the nest.
    According to a particular aspect of the invention, such means of encouraging mobility are chosen from: at least one sound source; at least one light source; at least one movable mechanical element; at least one electric discharge device.
    Such means of encouraging mobility constitute stimuli of different natures that are simple to implement and inexpensive. The movable mechanical element may be an articulated arm, a flag set in motion by stirring means, a rotating disk, or any other mobile mechanical device for educating poultry. The electric discharge device makes it possible to deliver, by contact with a poultry, low intensity electric discharges.
    The robot can thus implement one or more light sources, fixed or flashing (LED type for example) with changing color and frequency. Alternatively, a combination of light sources of different colors can be implemented.
    According to a particular aspect of the invention, the control means are configured to activate the means of inducing mobility of at least two distinct types one after the other or simultaneously.
    Only one or more of the mobility incentive means can be activated at a time.
    Preferably, the successive activation sequences of the means of inducing mobility are not identical, so as to prevent the poultry from getting used to the presence of the robot.
    Depending on the degree of habituation of the poultry, these mobility incentives may not be activated for a longer or shorter period of time (especially after the learning period). The robot can however be used to perform secondary functions described below.
    According to a particular aspect of the invention, such a robot comprises soil maintenance means, such as a rake or a harrow.
    Poultry favors the irregular areas of the ground forming shelter to be able to lay their eggs. The maintenance of the soil, and in particular its flattening, makes it possible to avoid the formation of such areas of shelter which encourage the laying of eggs on the ground. Moreover, it makes it possible to reduce the difficulty of the work of the breeders. Finally, the regular aeration of the soil makes it possible to limit its humidity rate, which can be at the origin of diseases (example: dermatitis of the foot in the chicken).
    According to a particular aspect of the invention, such a robot comprises sensors for measuring environmental parameters of poultry farming, and in particular a livestock building when the farm is indoors.
    These sensors will make it possible to map the environmental parameters of the entire livestock building.
    To do this, the robot comprises processing means capable of delivering a mapping of the environmental parameters of poultry farming according to the measured environmental parameters.
    In particular, the measured environmental parameters are chosen from: ambient temperature; pressure ; hygrometry; the rate of carbon dioxide; the ammonia level.
    Livestock buildings, in the case of poultry farms indoors, must meet environmental criteria relating to ammonia and carbon dioxide levels, hygrometry, ambient temperature and pressure in particular. The measurement of these parameters by the robot makes it possible to detect an abnormal situation requiring the intervention of a human subject.
    The implementation of these environmental parameters sensors aims to improve animal welfare and save natural resources, particularly in the context of litter improvement (savings on wood chips, gas, etc.). aeration of these but also by the temperature and humidity measurements.
    According to a particular aspect of the invention, such a robot comprises sensors for measuring physiological parameters of poultry.
    In particular, the robot includes a sensor for measuring body temperature.
    The robot according to the invention can thus measure without contact the body temperature of the poultry.
    The implementation of this type of sensor aims to improve animal welfare.
    According to one particular aspect of the invention, such a robot comprises sensors for acquiring visual and / or sound information.
    This may include a camera, a video camera, a microphone.
    According to a particular aspect of the invention, such a robot comprises means for processing the measured parameters and / or visual and / or acoustic information acquired capable of delivering a map of dead poultry and / or eggs laid on the ground.
    These processing means implement a mapping software to illustrate on a graphical representation of the breeding position of dead poultry and eggs on the ground.
    Such software may possibly provide statistical data on these aspects.
    According to a particular aspect of the invention, such a robot comprises wireless communication means able to transmit the measured parameters and / or the visual information acquired and / or the sound information acquired to a remote site.
    The mapping of dead poultry and eggs on the ground, as well as statistical data, can be transmitted by the robot to a remote site.
    According to a particular aspect of the invention, such a robot comprises means for determining an anomaly among the measured parameters, the visual information acquired and the sound information acquired, and means for generating an alarm intended to be transmitted to a remote site through the means of communication.
    Such an alarm can be transmitted to the farmer or to a veterinarian. The invention also relates to a poultry breeding installation comprising at least one robot as described above. 4. List of Figures Other features and advantages of the invention will appear more clearly on reading the following description of a preferred embodiment of the invention, given as a simple illustrative and non-limiting example, and attached drawings, among which: Figure 1 is a schematic view, from above, of a poultry farm in which is implemented a mobile robot according to the invention; Figure 2 is a schematic representation of a mobile robot according to one embodiment of the invention. 5. Detailed description of the invention 5.1 Review of the principle of the invention
    The general principle of the invention is based on an autonomous mobile robot that is configured to "educate" the poultry of a farm to lay in the nests and move them.
    This robot comprises several types of mobility incentive means so as to minimize the laying of eggs on the ground while avoiding, or at least minimizing, the phenomenon of habituation of the birds to the presence of the robot, in particular during the nest learning period. The robot's poultry education also stimulates static poultry to optimize their fertility. 5.2 Detailed Description of an Embodiment
    Figure 1 is a schematic view, from above, of a poultry farm 100 for a batch of laying poultry. The poultry farm 100 comprises a sanitary lock (not shown), a living area 110 in which perches, waterers and feeders are arranged in particular, and a laying area 120 comprising a number of nesting units depending on the number of poultry from breeding. The collection of eggs can be done manually, or by means of a treadmill, or conveyor (not shown).
    A robot 200 according to the invention is able to move in the living area 110 in order to prevent in particular the laying of eggs on the ground by education of the poultry (one can provide several robots in the living area 110).
    A trajectory 130 is shown diagrammatically, among several possible trajectories, followed by the robot 200 when the latter is set in motion.
    The robot 200 carries 290A wireless communication means (FIG. 2) comprising data transmission means and data receiving means.
    Also shown in FIG. 1 is a room 140 which is remote from the poultry farm 100. It may be an annex of the poultry farm 100, or a work place or a place where a farmer or veterinarian lives relatively far from poultry farm 100.
    The room 140 is equipped with communication means 290B (a laptop, a mobile phone or a touch pad, for example) intended to communicate in particular with the robot 200, as will be described in more detail later. The communication means 290B comprise data transmission means and data receiving means. Data can thus be exchanged between the communication means 290A and 290B via a Wi-Fi (registered trademark), Bluetooth (trademark), SIGFOX (registered trademark), LoRa (registered trademark) or by radio waves link. .
    FIG. 2 is a schematic representation of a robot 200 according to the invention that can move on the ground of the living area 110 of the breeding building 100.
    The robot 200 comprises a chassis 201 carrying wheels, namely two front wheels 210 and two rear wheels 210, mounted on the sides of the frame 201, a drive motor 202 of the wheels 210, and a power source 203 under the form of one or more electric battery (s).
    The robot can be equipped with three or more wheels. Other means of travel, such as caterpillars or articulated legs, and other energy sources can be implemented. Moving the robot
    In the example illustrated in FIG. 1, the robot 200 is programmed to follow a predetermined trajectory 130, in particular thanks to guidance and navigation means 280 comprising: one or more inertial sensors 281 (accelerometers, gyrometers, etc.), a magnetometer 282, and geolocation means 284 (radio frequency, laser or satellite (GPS)), - one or more ultrasound sensors 283 (or optical or infra-red) for detecting a fixed obstacle (bucket , dead chicken) or mobile (hen), - a first microprocessor 285 connected to the wheel drive motor, and - a first memory block 286 connected to the first microprocessor 285.
    The guidance and navigation means 280 drive, from the signals from the sensors 281 to 284, the movement of the wheels 210 of the robot 200.
    When an obstacle is detected by the ultrasonic sensors 283, the guide and navigation means 280 control the movement of the wheels 210 of the robot 200 so as to bypass the obstacle (avoidance maneuver).
    Once the obstacle is bypassed, the robot 200 continues its course along the trajectory 130.
    Mobility incentive function
    To encourage the mobility of birds within their living area 110 in an efficient manner, the robot 200 implements several types of mobility promotion means 220 which are activated by control means 230. These control means 230 comprise a second microprocessor 231 which is capable of delivering control signals to the respective actuators of the mobility inducing means 221 to 224.
    These mobility inducing means 220 comprise, in the illustrated example, at least one sound source 221, at least one light source 222, at least one movable mechanical element, such as an articulated mechanical arm 223, and at least one minus an electric discharge device 224 of low intensity.
    These mobility incentive means 221 to 224 thus deliver stimuli of different nature (sound, light, mechanical and electrical, respectively).
    The control means 230 are configured to firstly activate or deactivate each of the mobility incentive means 221 to 224 and, secondly, to control the parameters (intensity, frequency, etc.) of the stimuli delivered.
    The control means 230 make it possible in particular to control the movements of the articulated mechanical arm 223, in particular at speed and in position. Other types of means of inducing mobility can be implemented without departing from the scope of the invention. For example, the free end of the articulated mechanical arm 223 may be equipped with a sound emitting device and / or light in order to be able to better orient the direction of transmission of the stimuli with respect to the birds facing each other. to the robot 200.
    In order to prevent the phenomenon of habituation of poultry to the presence of the robot 200 and, in particular, to the stimuli of the mobility incentive means 220 carried by the robot 200, the control means 230 may be programmed (one or several programs that can be stored in a storage memory 232) to actuate the mobility incentive means 220 according to various sequences (one after the other, in combination or not, periodically or not), at intensities and variable frequencies, in a predetermined manner, random or pseudo-random, throughout the movement of the robot 200 along the trajectory 130.
    Several light sources of different colors can be provided.
    In addition, it is possible to provide a single activation sequence for the mobility incentive means 220 that is repeated throughout the movement of the robot 200.
    Finally, provision can be made for the mobility incentive means 220 to be activated only when the robot 200 detects the presence of one or more poultry in a predetermined perimeter around the robot 200 (by means of the visual information collected by the robot). acquisition module 260, for example). The programmable aspect of the control means 230 offers a certain flexibility in the control of the mobility incentive means 220. Depending on the results obtained (percentage of laying on the ground, fertility of the poultry, reaction of the birds to the stimuli), a human subject can reprogram the robot 200 to change the activation sequence (s) of the mobility incentive means 220.
    This reprogramming can be performed remotely, and in particular from the communication means 290B of the local 140 which are able to communicate with the communication means 290A of the robot 200.
    It is preferable that the mobility incentive means 220 are arranged on the front and / or the top of the robot 200.
    Other aspects and functions
    The robot 200 makes it possible, in addition to its function of educating the poultry, to perform one or more other functions within the living area 110.
    The robot 200 thus comprises leveling means 250 of the ground of the living area 110, using a rake or a harrow.
    Indeed, the irregularities of the soil can form areas perceived as shelter areas by poultry, especially in the recesses of the living area 110, which can encourage poultry to lay in these areas of shelter rather than in the nests.
    The robot 200 further comprises a measurement module 240 comprising one or more measurement sensors 241 of environmental parameters of the breeding building 100, and one or more measurement sensors 242 of physiological parameters of the poultry.
    The measurement sensors 241 of environmental parameters are in particular intended to measure the temperature, the pressure, the hygrometry, as well as the ammonia and carbon dioxide content.
    Advantageously, the environmental parameters are measured at the height of the robot 200, which is relatively close to the ground, and at multiple points in the living area 110.
    This provides a relatively accurate mapping in real time of various environmental parameters within the living area 110.
    The sensors 242 for measuring the physiological parameters of the birds, such as their body temperature, may include an infrared thermometer. This can detect or confirm the presence of a dead hen, for example.
    The robot 200 further comprises an acquisition module 260 comprising a camera 261, such as a video camera or a camera, and a microphone 262.
    The visual and auditory information collected makes it possible to detect possible anomalies in the poultry farm 100 or in the behavior of the poultry. In particular, they make it possible to detect the presence of dead poultry and / or eggs on the ground.
    The parameters measured by the measurement module 240 and the visual and sound information collected by means of the acquisition module 260 can be stored in a storage memory 272 of the robot 200, and transmitted via the wireless communication means 290A. located on the robot 200, 290B wireless communication means located in the local, then interpreted by a human subject (a breeder or a veterinarian, for example).
    In an alternative, the interpretation of the parameters measured by the measurement module 240 and the visual and sound information collected through the acquisition module 260 can be performed by means of 270 processing means of the robot, in particular implementing a third microprocessor 271 and the second storage memory 272.
    The third microprocessor 271 implements one or more control algorithms of the measurement module 240 and the acquisition module 260, for collecting and processing the measured parameters and for the collected visual and sound information, capable of: - detecting abnormalities in the measured parameters (for example when the measured values come out of predetermined ranges of values), and / or - to map dead poultry and / or eggs on the ground, and - to generate an alarm in case a situation abnormal is detected (suspicion of epidemic, disease, dysfunction of the breeding facility ...) which is transmitted to local 140, then interpreted (confirmed or invalidated) by a human subject.
    Furthermore, the robot 200 can be adapted to distribute maize grains throughout its movements in the living area 110 so as to make the work of the farmer less burdensome and to ensure that the poultry participate in the process. floor maintenance.
    Depending on the surface of the living area 110, several robots according to the invention can be implemented in the living area so as to disturb the poultry at a frequency to improve their fertility and reduce the laying at ground.
    The robot according to the invention is compact and has, for example, a height of 20 cm which allows it to move in particular under feeding systems (feeders, waterers, ...).
    It can be used in all types of poultry farming (poultry, chickens, turkeys, geese, ducks), indoors or outdoors.
    Alternatively, the robot 200 may be equipped with a night vision device, such as a thermal camera (otherwise called infrared camera) to detect the presence of possible predators in the case of outdoor breeding. The visual information collected at night by the thermal camera can be stored in the storage memory 272, and transmitted via the wireless communication means 290A located on the robot 200 to the wireless communication means 290B located in the room 140 This information can be interpreted by a human subject (a breeder or a veterinarian, for example), or by the robot 200 through a pattern recognition algorithm executed by the third microprocessor 271.
    In the event of detection of a predator by the robot 200, an alarm signal is transmitted to the farmer or the veterinarian located in the room 140 through the communication means 290A, 290B.
    In a particular embodiment, when the charge level of the batteries 203 of the robot 200 passes below a predetermined threshold, an alarm signal is sent to the local 140 through the communication means 290A, 290B in order to prevent the breeder or the veterinarian of the need to recharge the batteries 203.
    Alternatively, the guide and navigation means 280 may be programmed to control the robot 200 to a recharging terminal located in the breeding building 100 when the battery charge level drops below a predetermined threshold. Once the batteries 203 are recharged, the robot 200 can continue its course along the trajectory 130.
    The trajectory 130 of the robot 200 may be preprogrammed by a human subject in the processing means 270. The robot 200 follows this trajectory 130 as far as possible, except in the case of detection of an obstacle, mobile or fixed, which it bypasses it before resuming its course along the trajectory 130.
    The human subject may notably remotely modify this path 130 from the local 140 through the communication means 290A, 290B.
    Alternatively, the trajectory can be modified, or even entirely determined by the robot 200 itself in real time thanks to the processing means 270, as a function, for example, of visual information from the acquisition module 260 which would reveal the presence of one or more birds that would be static.
    The robot 200 can also transmit, periodically or at the request of a human subject, a history of activity making it possible to remotely monitor the activity of the robot 200 over long periods (a day or a week). for example). The activity history may include the details of the paths followed by the robot 200, measurement readings from the environmental 241 and physiological sensors 242, and shots of the living area 110 at given times obtained by the apparatus. shooting 261, the mapping of dead poultry and / or eggs on the ground, a survey of the alarm signals issued, and a history of the battery charge level 203 of the robot 200.
    A single microprocessor and a single storage memory can be provided to provide the function of the three microprocessors 231, 271, 285 and the three storage memories 232, 272, 286, respectively. In this case, the signals of the sensors are sent to the single microprocessor which controls, from the received signals, both the movements of the robot wheels, the means of encouraging mobility, the measurement module and the module. acquisition.
    The geolocation means 284 of the robot 200 make it possible to determine the precise position of the robot 200 within the life zone 110 and to ensure that the trajectory of the robot 200 meets as precisely as possible the programmed theoretical trajectory. This also makes it possible to provide, during the mapping, a precise position of dead poultry and / or eggs present on the ground.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    A mobile education robot (200) for a poultry farm (100) comprising at least one spawning zone (120), said robot (200) comprising means for moving the robot on the ground, characterized in that further comprises: means for inducing mobility (220) of at least two distinct types to repel poultry on the ground to at least one spawning area (120), and control means (230) for said means incentive for mobility (220).
    [2" id="c-fr-0002]
    2. Robot (200) according to claim 1, characterized in that said mobility inducing means (220) are selected from: at least one sound source (221); at least one light source (222); at least one movable mechanical element (223); at least one electric discharge device (224).
    [3" id="c-fr-0003]
    3. Robot (200) according to claim 1 or 2, characterized in that the control means (230) are configured to activate said means for inducing mobility (220) of at least two distinct types, one after the other. others or simultaneously.
    [4" id="c-fr-0004]
    4. Robot (200) according to one of claims 1 to 3, characterized in that it comprises soil maintenance means (250), such as a rake or a harrow.
    [5" id="c-fr-0005]
    5. Robot (200) according to one of claims 1 to 4, characterized in that it comprises measuring sensors (241) environmental parameters of said poultry farm (100). .
    [6" id="c-fr-0006]
    Robot (200) according to claim 5, characterized in that the measured environmental parameters are selected from: ambient temperature; pressure ; hygrometry; the rate of carbon dioxide; the ammonia level.
    [7" id="c-fr-0007]
    7. Robot (200) according to one of claims 1 to 6, characterized in that it comprises measuring sensors (242) physiological parameters of poultry said poultry (100), such as body temperature.
    [8" id="c-fr-0008]
    8. Robot (200) according to one of claims 1 to 7, characterized in that it comprises acquisition sensors (260) of visual and / or sound information.
    [9" id="c-fr-0009]
    9. Robot (200) according to claim 8, characterized in that it comprises means (270) for treating at least one of: the physiological parameters measured, the visual information acquired, and the acoustic information acquired , the processing means (270) being able to deliver a map of dead poultry and / or eggs laid on the ground.
    [10" id="c-fr-0010]
    10. Robot (200) according to claim 9, characterized in that the processing means (270) are capable of providing a mapping of the environmental parameters of said poultry farm (100) according to the measured environmental parameters.
    [11" id="c-fr-0011]
    11. Robot (200) according to one of claims 8 to 10, characterized in that it comprises wireless communication means (290A) capable of transmitting to a remote site at least one of: - the measured physiological parameters, - the visual information acquired, and - the sound information acquired.
    [12" id="c-fr-0012]
    12. Robot (200) according to claim 11, characterized in that it comprises: - means for determining an anomaly among the measured parameters, the visual information acquired and the sound information acquired, and - means for generating an alarm intended to be transmitted to a remote site via the communication means (290A).
    [13" id="c-fr-0013]
    13. poultry breeding installation comprising at least one robot (200) according to one of claims 1 to 12.
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    同族专利:
    公开号 | 公开日
    RU2018125793A|2020-01-20|
    US11026406B2|2021-06-08|
    FR3044868B1|2018-10-12|
    CA3043839A1|2017-06-22|
    EP3389371A1|2018-10-24|
    US20180360002A1|2018-12-20|
    RU2018125793A3|2020-04-20|
    WO2017102995A1|2017-06-22|
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    法律状态:
    2016-12-23| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-16| PLSC| Publication of the preliminary search report|Effective date: 20170616 |
    2017-12-20| PLFP| Fee payment|Year of fee payment: 3 |
    2018-02-02| TP| Transmission of property|Owner name: TIBOT, FR Effective date: 20180102 |
    2019-12-20| PLFP| Fee payment|Year of fee payment: 5 |
    2020-12-18| PLFP| Fee payment|Year of fee payment: 6 |
    2021-12-17| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1562425|2015-12-15|
    FR1562425A|FR3044868B1|2015-12-15|2015-12-15|MOBILE EDUCATIONAL ROBOT FOR ANIMAL HUSBANDRY AND ANIMAL FARMING USING ONE OR MORE ROBOTS|FR1562425A| FR3044868B1|2015-12-15|2015-12-15|MOBILE EDUCATIONAL ROBOT FOR ANIMAL HUSBANDRY AND ANIMAL FARMING USING ONE OR MORE ROBOTS|
    RU2018125793A| RU2729827C2|2015-12-15|2016-12-15|Mobile, in particular training, robot for poultry farm and installation for poultry farm, in which one or several robots are used|
    EP16822422.8A| EP3389371A1|2015-12-15|2016-12-15|Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots|
    US16/063,032| US11026406B2|2015-12-15|2016-12-15|Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots|
    PCT/EP2016/081273| WO2017102995A1|2015-12-15|2016-12-15|Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots|
    CA3043839A| CA3043839A1|2015-12-15|2016-12-15|Mobile robot, in particular an education robot, for poultry farm and rearing facility implementing one or more robots|
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