Cage chicken house inspection and dispatch system and method

Abstract

The application discloses a cage chicken house inside inspection and dispatching system and method, the system includes mobile inspection unit, environmental parameter monitoring unit, video monitoring unit, mobile server unit, field service terminal, cloud server and remote monitoring mechanism, the environmental parameter monitoring unit and video monitoring unit are carried on the mobile inspection unit, the mobile server unit is connected with mobile inspection unit, environmental parameter monitoring unit, video monitoring unit, mobile server unit, field service terminal respectively, the cloud server is connected with field service terminal, remote monitoring mechanism respectively, as the communication transfer station between field server terminal and remote monitoring mechanism. The application realizes the dispatching and path planning function of the mobile inside inspection unit of the cage chicken house, realizes the monitoring and control of the mobile inspection unit remotely and on site, and dispatches the mobile inspection unit to a good signal area when the mobile inspection unit is in a poor signal area for a long time.

Description

Technical Field

[0001] This invention relates to a patrol and scheduling system and method for caged chicken houses. It belongs to the field of automation technology for poultry farming equipment. Background Technology

[0002] As a populous country, China has an enormous and continuously expanding demand for poultry and egg products. This has led to increasingly large-scale poultry farming, with growing poultry density and numbers. The intensity of daily management and inspection work has gradually exceeded the limits of human capacity, making automation and intelligentization of daily management and inspection imperative. As the main mode of chicken farming, cage-raising chicken houses have a regular layout, but the extensive use of metal materials in these houses causes severe radio frequency signal interference, severely limiting the application of wireless communication equipment and electromagnetic wave sensors within the chicken houses. Consequently, many inspection products and methods are difficult to apply in actual farming scenarios. Summary of the Invention

[0003] In view of this, the present invention provides an inspection and scheduling system and method for caged chicken houses. When the mobile inspection robot is in an area with poor signal, it records data and transmits it after the signal is restored. When the mobile inspection unit loses contact with the on-site service terminal in the chicken house for more than a certain period of time, it automatically searches for an area with good signal to restore communication with the on-site terminal. This can solve the problem of severe radio frequency signal interference in chicken houses. At the same time, through data coverage verification and missing data filling, it can solve the problem of missing inspection data that may occur during the inspection process.

[0004] The first objective of this invention is to provide an inspection and scheduling system for caged chicken houses.

[0005] The second objective of this invention is to provide a method for inspection and scheduling within a caged chicken house, which is based on the aforementioned inspection and scheduling system for caged chicken houses.

[0006] The first objective of this invention can be achieved by adopting the following technical solution:

[0007] A patrol and dispatch system for caged chicken houses includes a mobile patrol unit, an environmental parameter monitoring unit, a video monitoring unit, a mobile server unit, a field service terminal, a cloud server, and a remote monitoring mechanism. The environmental parameter monitoring unit and the video monitoring unit are mounted on the mobile patrol unit. The mobile server unit is connected to the mobile patrol unit, the environmental parameter monitoring unit, the video monitoring unit, the mobile server unit, and the field service terminal. The cloud server is connected to the field service terminal and the remote monitoring mechanism, serving as a relay station for communication between the field server terminal and the remote monitoring mechanism.

[0008] The mobile server unit is used to process the current location data and movement status data transmitted by the mobile inspection unit, and to control the movement status of the mobile inspection unit through custom commands; it also processes environmental data transmitted by the environmental parameter monitoring unit, video data transmitted by the video monitoring unit, and communicates with the field service terminal.

[0009] The field service terminal is used to communicate with the mobile service unit and the remote monitoring agency, and to organize and store the data obtained from the inspection.

[0010] The remote monitoring device is used to remotely issue inspection and dispatch instructions and view the inspection status of the chicken house.

[0011] Furthermore, in the mobile server unit, controlling the movement state of the mobile inspection unit via custom instructions specifically includes:

[0012] The target point location and attitude information are sent to the mobile inspection unit via serial communication according to a custom serial communication protocol.

[0013] Furthermore, in the mobile server unit, the communication with the field service terminal specifically includes:

[0014] The mobile inspection unit communicates with the field service terminal via TCP wireless network, sends data generated during the inspection process to the field service terminal, and simultaneously obtains remote dispatch instructions from the field service terminal. After parsing the remote dispatch instructions into a series of point-to-point dispatch instructions, the mobile inspection unit sends them to the mobile inspection unit.

[0015] Furthermore, in the field service terminal, the communication with the mobile service unit and the remote monitoring agency specifically includes:

[0016] It communicates with the mobile service unit via the local area network, receives inspection data generated during the inspection process, and issues inspection dispatch instructions.

[0017] The inspection data is uploaded to the cloud database via the Internet, and remote dispatch instructions are obtained through the cloud server. The instructions are then sent to the mobile server unit via the local area network.

[0018] At preset intervals, the system sends inspection tasks to the mobile server unit. Upon receiving the inspection data uploaded by the mobile server unit, the system analyzes whether the inspection data covers the chicken coop. If the chicken coop is not covered, the system calculates the information of the uncovered area and converts it into a scheduling instruction, which is then sent to the mobile server unit.

[0019] Furthermore, the remote monitoring agency can view historical inspection information, design and submit inspection routes through the remote monitoring interactive interface;

[0020] The field service terminal can view current and historical inspection information, design and submit inspection routes, and remotely control the actions of mobile inspection units through the field monitoring interactive interface.

[0021] Furthermore, when the remote monitoring agency and the field service terminal are simultaneously connected to the cloud server, the data sent by the remote monitoring agency to the cloud server is sent to the field service terminal, and the data sent by the field service terminal to the cloud server is sent to the remote monitoring agency. When the cloud server program detects that the field service terminal or the remote monitoring agency is not connected to the cloud server, if it receives data from the remote monitoring agency or the field service terminal, it sends a disconnection reminder to the data sending end.

[0022] The second objective of this invention can be achieved by adopting the following technical solution:

[0023] A method for scheduling inspections within a caged chicken house, based on the aforementioned system for scheduling inspections within a caged chicken house, the method comprising:

[0024] Mark key locations within the caged chicken house;

[0025] All key location points are established as a mapped rectangular coordinate system. The mapped rectangular coordinate system represents the positional relationship of each key point. The positional relationship includes the orientation and the number of key points at intervals. The orientation includes up, down, left, and right.

[0026] When the mobile inspection unit needs to travel from one key location point to another, the mobile server unit divides the travel path into one or two straight paths through the mapping coordinate system, calculates the key locations to be passed, and organizes them into point-to-point navigation instructions under a series of straight trajectories, which are then sent to the mobile inspection unit. The mobile inspection unit reaches the target key point through a series of straight-line driving and turning operations.

[0027] Furthermore, the method also includes:

[0028] When setting up each key location node, the communication delay time of each key location point is counted, and the key location points with a communication delay time less than the preset value are regarded as key location points with good communication effect.

[0029] When the communication signal is poor at the end point of the last inspection command executed by the mobile inspection unit, or when the mobile inspection unit is in an area with poor signal for a long time, the mobile server unit calculates the Euclidean distance between the current location and each key location with good communication, selects the key location closest to the current location, and controls the mobile inspection unit to travel along the route to the key location with good communication.

[0030] Furthermore, the method also includes:

[0031] After the mobile inspection unit completes its inspection task for a certain inspection section, the mobile server unit processes and analyzes the video data recorded during that inspection. When the mobile server unit detects abnormal conditions in the chickens while processing the video data, it infers the approximate range of the abnormality by comparing the video data acquisition time with the historical location information of the mobile inspection unit and sends the abnormal data frame and the approximate range of the abnormality to the on-site service terminal. When the mobile inspection unit is about to pass through the area again, it controls the mobile inspection unit to slow down its movement speed to improve the accuracy of video data acquisition and further confirm whether any abnormalities have occurred in the chickens.

[0032] Furthermore, the method also includes:

[0033] When the mobile inspection unit completes its inspection task, the on-site service terminal processes the inspection data sent by the mobile server and checks whether the environmental parameter data covers the entire inspection route. If there is an uncovered area, the mobile inspection unit is instructed to conduct another inspection of the uncovered area. Whether the entire inspection route is covered is determined by judging whether there is a certain amount of environmental parameter data between each two adjacent key locations on the inspection path. If not, it is determined that the path between these two key locations is not covered by the inspection.

[0034] The present invention has the following advantages over the prior art:

[0035] This invention enables the scheduling and path planning of mobile inspection units within caged chicken houses, allowing for remote and on-site monitoring and control of these units. When the mobile inspection robot is in an area with poor signal, it records data and transmits it after the signal is restored. If the mobile inspection unit loses contact with the on-site service terminal within the chicken house for more than a certain period, it automatically searches for an area with good signal to restore communication with the on-site terminal, thus solving the problem of severe radio frequency signal interference within the chicken house. Furthermore, through data coverage verification and gap filling, it addresses issues such as missing inspection data that may occur during the inspection process. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0037] Figure 1 This is a structural diagram of the inspection and scheduling system in a caged chicken house according to an embodiment of the present invention.

[0038] Figure 2This is a schematic diagram of the communication connections between the units of the inspection and scheduling system in a caged chicken house according to an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of the chicken coop layout and key locations according to an embodiment of the present invention.

[0040] Figure 4 This is a schematic diagram of the key location points mapped to rectangular coordinates in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] Example 1:

[0043] This embodiment provides a reliable and accurate inspection scheduling system for caged chicken houses from the aspects of inspection robot scheduling control and path planning, so as to realize the function of inspection operations in large caged chicken houses, such as... Figure 1 and Figure 2 As shown, the inspection and dispatch system in the caged chicken house of this embodiment includes a mobile inspection unit, an environmental parameter monitoring unit, a video monitoring unit, a mobile server unit, a field service terminal, a cloud server, and a remote monitoring mechanism. The environmental parameter monitoring unit and the video monitoring unit are installed on the mobile inspection unit. The mobile server unit is connected to the mobile inspection unit, the environmental parameter monitoring unit, the video monitoring unit, the mobile server unit, and the field service terminal, respectively. The cloud server is connected to the field service terminal and the remote monitoring mechanism, respectively.

[0044] In this embodiment, the mobile inspection unit is a mobile inspection robot. A controllable lifting column is installed on the mobile inspection unit. The video monitoring unit is fixed on the side of the lifting column and faces the chicken cage to shoot. The environmental parameter monitoring unit is fixed on the front side of the controllable lifting column to detect the surrounding environmental parameters. Specifically, the environmental parameter monitoring unit includes, but is not limited to, temperature and humidity sensors, light intensity sensors, hydrogen sulfide sensors, ammonia sensors, and carbon dioxide sensors.

[0045] The mobile server unit is used to process the current location data and movement status data transmitted by the mobile inspection unit, and to control the movement status of the mobile inspection unit through custom commands; it also processes environmental data transmitted by the environmental parameter monitoring unit, video data transmitted by the video monitoring unit, and communicates with the field service terminal.

[0046] In this embodiment, the mobile server unit is an industrial control computer mounted on the mobile inspection unit. The mobile server unit has the ability to store and process data, and can receive and process current location data and movement status data uploaded by the mobile inspection unit, video data transmitted by the video monitoring unit, and environmental data transmitted by the environmental parameter monitoring unit. Through serial communication, it sends target point location and attitude information to the mobile inspection unit according to a custom serial communication protocol. Through wireless network TCP communication, it communicates with the field service terminal, sends data generated during the inspection process to the field service terminal, and simultaneously obtains remote scheduling instructions from the field service terminal. After parsing the remote scheduling instructions into a series of point-to-point scheduling instructions, it sends them to the mobile inspection unit.

[0047] The field service terminal is used to communicate with the mobile service unit and the remote monitoring agency, and to organize and store the data obtained from the inspection. Specifically, the field service terminal has a field monitoring interactive interface, through which users can view current and historical inspection information, design and submit inspection routes, and remotely control the actions of the mobile inspection unit.

[0048] In this embodiment, the field service terminal is a server computer with multiple network ports. It is connected to the Internet via an Ethernet port and to the local area network in the chicken house via a wireless network port. The server computer is equipped with a field server program, which can display the current location information and movement status of the mobile inspection unit, as well as environmental parameters, and control the mobile inspection unit to change its movement status through the mobile server unit.

[0049] Furthermore, the field service terminal communicates with the mobile service unit via a local area network (LAN) to receive inspection data generated during the inspection process and issue inspection dispatch instructions. The field service terminal uploads the inspection data to the cloud database via the Internet, obtains remote dispatch instructions through the cloud server, and sends the instructions to the mobile server unit via the LAN. The field service terminal sends inspection tasks to the mobile server unit at preset intervals. When it receives the inspection data uploaded by the mobile server unit, it analyzes whether the inspection data covers the chicken coop. If it does not cover the chicken coop, it calculates the information of the uncovered area and converts it into a dispatch instruction to send to the mobile service unit. In this embodiment, the preset time is one day, i.e., 24 hours.

[0050] The remote monitoring system is used to remotely issue inspection and dispatch instructions and view the inspection status of chicken houses. Specifically, the remote monitoring system has a remote monitoring interactive interface, through which historical inspection information can be viewed and inspection routes can be designed and submitted.

[0051] In this embodiment, the cloud server is an Alibaba Cloud server, which provides a public network address and serves as a relay station for communication between the on-site server terminal and the remote monitoring agency.

[0052] In this embodiment, the Alibaba Cloud server is equipped with a cloud server program. When the remote monitoring agency and the field service terminal are simultaneously connected to the cloud server via TCP communication, the cloud server program sends the data sent by the remote monitoring agency to the cloud server to the field service terminal, and at the same time, sends the data sent by the field service terminal to the cloud server to the remote monitoring agency. When the cloud server program detects that the field service terminal or the remote monitoring agency is not connected to the cloud server, if it receives data from the remote monitoring agency or the field service terminal, it sends a disconnection reminder to the data sending end. The cloud server program determines whether the TCP client is the field service terminal or the remote monitoring agency by the port number.

[0053] This embodiment also provides a method for inspection and scheduling within a caged chicken house. This method is based on the aforementioned inspection and scheduling system for caged chicken houses and includes the following steps:

[0054] S1. Establish a mapping coordinate system for inspection scheduling.

[0055] Specifically, key locations within the caged chicken house are marked, such as the chicken house entrance, aisle nodes, and wireless LAN transmission points. All key locations are established as a mapped rectangular coordinate system. The mapped rectangular coordinate system does not represent actual distances, but only the positional relationships of each key point. The positional relationships include orientation and the number of key points at intervals. Orientation includes up, down, left, and right.

[0056] This implementation example Figure 2 As shown, key locations in the chicken coop are selected as critical nodes, and a system is established as follows: Figure 4 The two-dimensional gridded coordinates of the mapping shown are used to characterize the positional relationships between nodes at key locations; Figure 4 If we establish a mapped rectangular coordinate system with point J as the origin, JE as the x-axis, and JF as the y-axis, then the mapped coordinates of point J are (0, 0) and the mapped coordinates of point A are (1, 4).

[0057] S2. Path planning based on the established mapped coordinate system.

[0058] When the mobile inspection unit needs to travel from one key location point to another, the mobile server unit divides the travel path into one or two straight paths through the mapping coordinate system, calculates the key locations to be passed, and organizes them into point-to-point navigation instructions under a series of straight trajectories, which are then sent to the mobile inspection unit. The mobile inspection unit reaches the target key point through a series of straight-line driving and turning operations.

[0059] This embodiment assumes that... Figure 3 and Figure 4 Point H is the current location of the mobile inspection unit, and point A is the target location that the mobile inspection unit will go to.

[0060] The mobile server unit determines whether a straight path exists between points H and A. If a straight path exists, it sequentially sends the key locations along the path to the mobile inspection robot. The key locations along the path are obtained by incrementing or decrementing the coordinate values ​​of the straight path. For example, to go from point A(1,4) to point D(1,1), decrementing the y-axis value yields the coordinates (1,3) and (1,2). The path from A to D is represented on the mapped coordinate axis as (1,4)->(1,3)->(1,2)->(1,1). If no straight path exists, the coordinates of the turning node are first calculated. The calculation method is to find a point X on the mapped direct coordinate system such that HX and AX form a right angle, and this point X is close to the local area network signal transmitter. Then, the travel paths of HX and XA are calculated in the same way as the HA path calculation method above.

[0061] Specifically, in Figure 3 There exists a point F such that AF forms a right angle with HF, and there also exists a point C such that AC forms a right angle with HC, but... Figure 3 The local area network signal transmitter is located near point H, and the actual distance between FH and CH is less than the actual distance between FH and CH. Therefore, point F is the desired relay point X.

[0062] Using the above method, the planned path from point H to point A is H->G->F->A. During path planning, to reduce the number of turns for the mobile inspection robot, the longest possible straight path is prioritized. It should be noted that... Figure 3 For ease of explanation, the mapped rectangular coordinate system in the figure only has two columns of key points. In actual production applications, key points can be in multiple rows and columns, rather than just 5 rows and 2 columns.

[0063] S3. Dispatch system that automatically moves to an area with good signal after the mobile inspection unit loses contact.

[0064] Specifically, when setting each key location node, the communication delay time of each key location point is counted, and the key location points with a communication delay time less than the preset value are regarded as key location points with good communication effect (i.e., high communication quality). When the communication signal is poor at the end point of the last inspection command executed by the mobile inspection unit or when the mobile inspection unit is in a poor signal area for a long time, the mobile server unit selects the key location point closest to the current location by calculating the Euclidean distance between the current location and each key location point with good communication effect, and controls the mobile inspection unit to travel along the route to the key location point with good communication effect through the path planning in step S2.

[0065] In this embodiment, the mobile server unit monitors the TCP connection status with the field service terminal in real time. When the TCP connection with the field service terminal is lost, it will automatically initiate a TCP connection request to the field service terminal. If the TCP connection with the field service terminal fails for a long time, it is determined that the mobile inspection robot is in a disconnected state. Then, it searches for the nearest key location point and sends the travel path to the key location point with good communication to the mobile server unit.

[0066] Specifically, key locations with good communication coverage should be identified using the following methods:

[0067] Assuming the mobile inspection unit is at point Z, and the nodes with good signal are points B, C, and D, the mobile server unit calculates the Euclidean distance between point Z and the actual coordinates of each of the three points (B, C, and D). It then calculates the point with the smallest Euclidean distance to point Z and plans the route according to the aforementioned route planning method. It should be noted that points Z, B, C, and D here are not... Figure 4 The point shown is not an unknown point, but rather an assumption used for illustration here.

[0068] S4. Verification anomaly when video surveillance detects abnormalities in chickens.

[0069] In this embodiment, the video monitoring unit is connected to the mobile server unit. When the mobile inspection robot travels through the passage between chicken coops, the mobile server unit records the video data collected by the video monitoring unit as a video file. The mobile server unit processes and analyzes the video file to see if any abnormalities occur in the chickens. If an abnormality occurs, the time and data frames of the video frames showing the abnormality are marked. Based on the time information and the recorded travel history of the mobile inspection robot, the location of the video shot is determined between two key locations. When the mobile inspection robot passes through the two key locations again, it slows down to obtain more accurate video information.

[0070] Specifically, after the mobile inspection unit completes the inspection task of a certain inspection section, the mobile server unit processes and analyzes the video data recorded during the inspection task. When the mobile server unit detects abnormal conditions of the chickens while processing the video data, it infers the approximate range of the abnormality by comparing the time of the video data acquisition with the historical location information of the mobile inspection unit and sends the abnormal data frame and the approximate range of the abnormality to the on-site service terminal. When the mobile inspection unit is about to pass through the area again, it controls the mobile inspection unit to slow down its movement speed to improve the accuracy of video data acquisition and further confirm whether there is any abnormality in the chickens.

[0071] S5. Environmental Parameter Monitoring Coverage Verification and Completion Methods

[0072] In this embodiment, the environmental parameter checking unit is an integrated environmental control host box. The mobile server unit communicates with the environmental control host box through a 485 serial port, periodically reads the environmental parameters measured by the environmental control host box, and stores the environmental parameters combined with time information in the mobile server unit.

[0073] Specifically, when the mobile inspection unit completes its inspection task, the on-site service terminal processes the inspection data sent by the mobile server and checks whether the environmental parameter data covers the entire inspection route. If there is an uncovered area, the mobile inspection unit is instructed to conduct another inspection of the uncovered area. The coverage of the entire inspection route is determined by judging whether there is a certain amount of environmental parameter data between each two adjacent key locations on the inspection path. If not, it is determined that the path between these two key locations is not covered by the inspection.

[0074] In summary, this invention enables the scheduling and path planning of mobile inspection units within caged chicken houses, and allows for remote and on-site monitoring and control of these units. When the mobile inspection robot is in an area with poor signal, it records data and transmits it after the signal is restored. If the mobile inspection unit loses contact with the on-site service terminal within the chicken house for more than a certain period, it automatically searches for an area with good signal to restore communication with the on-site terminal, thus solving the problem of severe radio frequency signal interference within the chicken house. Furthermore, through data coverage verification and gap filling, it can address issues such as missing inspection data that may occur during the inspection process.

[0075] Those skilled in the art will understand that the above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A method for inspection and scheduling within a caged chicken house, implemented based on an inspection and scheduling system for caged chicken houses, characterized in that, The system includes a mobile inspection unit, an environmental parameter monitoring unit, a video surveillance unit, a mobile server unit, a field service terminal, a cloud server, and a remote monitoring agency. The environmental parameter monitoring unit and the video surveillance unit are mounted on the mobile inspection unit. The mobile server unit is connected to the mobile inspection unit, the environmental parameter monitoring unit, the video surveillance unit, and the field service terminal. The cloud server is connected to the field service terminal and the remote monitoring agency, serving as a relay station for communication between the field server terminal and the remote monitoring agency. The mobile server unit processes the current location data and movement status data transmitted by the mobile inspection unit, and controls the movement status of the mobile inspection unit through custom commands. It also processes environmental data transmitted by the environmental parameter monitoring unit, video data transmitted by the video surveillance unit, and communicates with the field service terminal. The field service terminal communicates with the mobile service unit and the remote monitoring agency, and organizes and stores the inspection data. The remote monitoring mechanism is used to remotely issue inspection and dispatch instructions and view the inspection status of the chicken coop; the method includes: Mark key locations within the caged chicken house; All key location points are established as a mapped rectangular coordinate system. The mapped rectangular coordinate system represents the positional relationship of each key point. The positional relationship includes the orientation and the number of key points at intervals. The orientation includes up, down, left, and right. When the mobile inspection unit needs to travel from one key location point to another, the mobile server unit divides the travel path into one or two straight paths through the mapping coordinate system, calculates the key locations to be passed through, and organizes them into point-to-point navigation instructions under a series of straight trajectories and sends them to the mobile inspection unit. The mobile inspection unit reaches the target key point through a series of straight driving and turning operations. When setting up each key location node, the communication delay time of each key location point is counted, and the key location points with a communication delay time less than the preset value are regarded as key location points with good communication effect. When the communication signal is poor at the end point of the last inspection command executed by the mobile inspection unit, or when the mobile inspection unit is in an area with poor signal for a long time, the mobile server unit calculates the Euclidean distance between the current location and each key location with good communication, selects the key location closest to the current location, and controls the mobile inspection unit to travel along the route to the key location with good communication.

2. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, In the mobile server unit, controlling the movement state of the mobile inspection unit through custom instructions specifically includes: The target point location and attitude information are sent to the mobile inspection unit via serial communication according to a custom serial communication protocol.

3. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, In the mobile server unit, the communication with the field service terminal specifically includes: The mobile inspection unit communicates with the field service terminal via TCP wireless network, sends data generated during the inspection process to the field service terminal, and simultaneously obtains remote dispatch instructions from the field service terminal. After parsing the remote dispatch instructions into a series of point-to-point dispatch instructions, the mobile inspection unit sends them to the mobile inspection unit.

4. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, The communication between the field service terminal and the mobile service unit and the remote monitoring agency specifically includes: It communicates with the mobile service unit via the local area network, receives inspection data generated during the inspection process, and issues inspection dispatch instructions. The inspection data is uploaded to the cloud database via the Internet, and remote dispatch instructions are obtained through the cloud server. The instructions are then sent to the mobile server unit via the local area network. At preset intervals, the system sends inspection tasks to the mobile server unit. Upon receiving the inspection data uploaded by the mobile server unit, the system analyzes whether the inspection data covers the chicken coop. If it does not cover the chicken coop, the system calculates the information of the uncovered area and converts it into a scheduling instruction, which is then sent to the mobile service unit.

5. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, The remote monitoring agency can view historical inspection information, design and submit inspection routes through the remote monitoring interactive interface; The field service terminal can view current and historical inspection information, design and submit inspection routes, and remotely control the actions of mobile inspection units through the field monitoring interactive interface.

6. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, When both the remote monitoring agency and the field service terminal are connected to the cloud server, the data sent by the remote monitoring agency to the cloud server is sent to the field service terminal, and the data sent by the field service terminal to the cloud server is sent to the remote monitoring agency. When it is detected that the field service terminal or the remote monitoring agency is not connected to the cloud server, if data is received from the remote monitoring agency or the field service terminal, a disconnection reminder is sent to the data sending end.

7. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, The method further includes: After the mobile inspection unit completes its inspection task for a certain inspection section, the mobile server unit processes and analyzes the video data recorded during that inspection. When the mobile server unit detects abnormal conditions in the chickens while processing the video data, it infers the approximate range of the abnormality by comparing the video data acquisition time with the historical location information of the mobile inspection unit and sends the abnormal data frame and the approximate range of the abnormality to the on-site service terminal. When the mobile inspection unit is about to pass through the area again, it controls the mobile inspection unit to slow down its movement speed to improve the accuracy of video data acquisition and further confirm whether any abnormalities have occurred in the chickens.

8. The method for inspection and scheduling within a caged chicken house according to claim 1, characterized in that, The method further includes: When the mobile inspection unit completes its inspection task, the on-site service terminal processes the inspection data sent by the mobile server and checks whether the environmental parameter data covers the entire inspection route. If there is an uncovered area, the mobile inspection unit is instructed to conduct another inspection of the uncovered area. Whether the entire inspection route is covered is determined by judging whether there is a certain amount of environmental parameter data between each two adjacent key locations on the inspection path. If not, it is determined that the path between these two key locations is not covered by the inspection.

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