CN108617538A - It is a kind of to drive necklace and positioning navigation method for what is herded - Google Patents
It is a kind of to drive necklace and positioning navigation method for what is herded Download PDFInfo
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- CN108617538A CN108617538A CN201810434088.6A CN201810434088A CN108617538A CN 108617538 A CN108617538 A CN 108617538A CN 201810434088 A CN201810434088 A CN 201810434088A CN 108617538 A CN108617538 A CN 108617538A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 244000144980 herd Species 0.000 claims abstract description 58
- 230000035939 shock Effects 0.000 claims abstract description 20
- 230000005611 electricity Effects 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000004088 simulation Methods 0.000 abstract description 7
- 244000144972 livestock Species 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000406668 Loxodonta cyclotis Species 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009304 pastoral farming Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K27/00—Leads or collars, e.g. for dogs
- A01K27/001—Collars
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K27/00—Leads or collars, e.g. for dogs
- A01K27/009—Leads or collars, e.g. for dogs with electric-shock, sound, magnetic- or radio-waves emitting devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Environmental Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
The invention discloses a kind of necklaces that drives for herding, and include the necklace of head and the tail clamping, electric shock piece is symmetrically arranged on necklace, and the centre for the piece that shocks by electricity is provided with control module, and electric shock piece is electrically connected with control module.A method of driving necklace location navigation for what is herded, including：Control module is communicated to connect with remote server, obtains electronic map, navigation routine and fence map；GPS positioning module monitoring herds the position of object and is sent to controller；Drive herd object during, controller real-time judge herds the position of object, calculates and herds object and need the direction deflected and angle, sends out and drive signal, electric shock piece shocks by electricity, and until arriving at the destination, terminates.For the present invention when herding the object preset navigation routine of deviation, the pain that generation is driven using electric shock piece simulation leather-thonged whip forces livestock to change travelling route, avoids shepherd from driving to find, realizes while controlling multiple track routes for herding object, simple, efficient.
Description
Technical field
The present invention relates to location and navigation technology fields, specifically, be it is a kind of for herd drive necklace and positioning lead
Boat method.
Background technology
It is in the prior art to herd, it is general to be driven using leather-thonged whip using manually herding, in the place that region is broad,
Livestock is patrolled and driven to the vehicles that also need to ride or ride, and regional extent is wide, it is numerous to herd object due to herding,
Therefore during herding, often there is the phenomenon that livestock goes astray from the group, in order to avoid this phenomenon, need to increase human hand to carry out
Management, increases cost.Due to catching up with leather-thonged whip to drive using manual site, multiple walking roads for herding object can not be controlled simultaneously
Line.
Invention content
Necklace and positioning navigation method being driven for what is herded the purpose of the present invention is to provide a kind of, it is existing for solving
The problem of manually being driven in technology and herd object, multiple track routes for herding object can not be controlled simultaneously.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
A kind of necklace that drives for herding includes the necklace of head and the tail clamping, electric shock piece is symmetrically arranged on the necklace, described
The centre of electric shock piece is provided with for generating the control module for driving signal, and the electric shock piece is electrically connected with control module.
Operation principle：
When herding, necklace will be driven to be sleeved on each and herded on the neck of object, then the head and the tail both ends of necklace are clamped,
Rotate necklace, the electric shock piece on necklace made to be located at the both sides for herding object neck, shock by electricity piece respectively with the neck of herding object
It is contacted at neck.When control module sends out drive signal, the electric shock piece being electrically connected with control module is powered, to herding the neck of object
Place implements electric shock, and the electric shock dynamics for the piece that shocks by electricity is equivalent to the dynamics of leather-thonged whip, by drive setting herd object neck left side of neck or
Electric shock piece on the right side of person herds object and is turned right or turned left to drive.When herding object therefore, it is necessary to drive, it is only necessary to
By remote server, navigation routine is sent to control module, or prestore navigation routine in the control module, because
This can implement electric shock when herding the object preset navigation routine of deviation by the piece that shocks by electricity, and simulation leather-thonged whip drive the pain of generation
Sense forces livestock to change travelling route, returns to herds to control straggler, avoids loss of wandering away, shepherd is avoided to drive to find,
Multiple track routes for herding object are realized while controlling, it is simple, efficient.
Further, the control module includes controller, and the controller is connected with communication module, GPS positioning module
With the electric shock generator for generating shock voltage, the electric shock generator is electrically connected with the electric shock piece, the control module
It further include the power module for powering to controller, communication module, GPS positioning module, electric shock generator.
Operation principle：
Control module is communicated by communication module with remote server, and navigation command, the navigation road of remote server are received
Line, electronic map etc..GPS positioning module for monitor in real time wear drive necklace herd the current location of object, and send
To controller.Controller uses arm processor, model ARM740T, Built In Operating System that can will herd the current of object
Whether position shows on the electronic map, and then judge to herd object to deviate and herd region.Power module is used for control module
In each module for power supply, electric shock generator vibrated, boosted, finally generate high pressure under power module input service voltage
Pulse electric shock signal, simulation leather-thonged whip implement to the pain for herding object.
Further, the power module includes sequentially connected solar panel, photovoltaic DC-to-AC converter, lithium battery, institute
State the outside that solar panel is located at the necklace.
Operation principle：
Solar panel in power module converts the solar into electric energy, and lithium battery is combined as accessory power supply, the two
To use, it is possible to reduce the frequency that lithium battery is replaced, and the renewable resource in nature, energy-saving and environmental protection are utilized.
Further, the electric shock generator includes that the first driving circuit being connect respectively with the controller and second drive
Dynamic circuit, first driving circuit and the second driving circuit are connected separately with electric shock signal and circuit, the electric shock signal occur
Circuit occurs and distinguishes the electric shock piece connection.
Operation principle：
Circuits occur for electric shock signal all the way for two electric shock pieces connections independently, occur per electric shock signal all the way circuit respectively by
First driving circuit or the independent driving of the second driving circuit, therefore, controller by control respectively with the first driving circuit or
The output level of the pin of second driving circuit connection realizes the electric shock signal of independent control electric shock piece.
A method of driving necklace location navigation for what is herded, including：
Step S100：The control module and remote server are established and communicated to connect, electronic map, navigation routine and electricity are obtained
Sub- fence map, the navigation routine include herding route and return route；
Step S200：The GPS positioning module monitoring herds the current position of object and is sent to the controller, and controller will
Current location is compared with the fence map, if herding the borderline region that object is in fence map, is controlled
Device processed sends drive signal to electric shock generator；
Step S300：Drive herd object during, real-time judge herds the position of object, calculating herd object need it is inclined
The direction turned and angle, send out and drive signal, and corresponding electric shock piece is driven to send out electric shock signal；
Step S400：Judge whether to reach the region set, if there is no return to step S300；If arrived at the destination, terminate.
Operation principle：
The control module being arranged on necklace is communicatively coupled with remote server, for receiving remote server setting navigation
Route and electronic map also allow for setting and changing navigation routine in server end, to which what object was herded in change herds region,
Fence map is set on the electronic map, and the boundary of fence map is set as an annular region, convenient for putting
It when herding object close to the region, just sends out and drives signal, place and exceed boundary.Navigation routine is from place is herded to return place
Between a bar-shaped zone, rather than therefore accurate straight line or curve be more bonded the demand actually herded.
It drives during herding object, the current position of the monitoring of the GPS positioning module on necklace constantly, and is sent to controller,
Current location is compared by controller with navigation map, and whether judgement herds object beyond herding region, if without departing from,
Any processing need not then be done；It is in borderline region if herding object and having exceeded preset region of herding, by control mould
Block calculates the direction for needing to deflect and angle, and judges that generate electric shock should be the electric shock of left side neck or right side neck
Piece sends out a series of electric shock signal to herding object, and object change direction of travel is herded for gradually driving.It shocks by electricity sending
After signal, the run trace for herding object changes, and GPS positioning module monitors current location in real time, is sent to controller,
Current location is compared by controller with the boundary coordinate control point in guidance path, calculate the direction that adjust and
Determine the electric shock piece for sending electric shock signal.Since GPS positioning module and controller are in control module together, GPS positioning module is adopted
The location information of collection is sent to controller and does not generate time delay, and therefore, electricity may be used in the real-time run trace for herding object
The pain for hitting simulation leather-thonged whip instead of manually driving, saves manpower to drive automatically, and is herded object due to each and worn
With driving necklace, the control module on each necklace is independent to be calculated this and herds the position of object, controls this and herd object
Run trace, therefore, can be realized simultaneously it is multiple herd driving for object, be greatly saved artificial.
Further, the step S200 is specifically included：
Step S210：The coordinate position monitored in real time is sent to controller by GPS positioning module；
Step S220：The coordinate position is labeled by controller in electronic map；
Step S230：The deviation of the coordinate position and fence map is judged, if the coordinate position is located at electronically
Region is herded in figure, then is entered in next step；Otherwise, S250 is entered step；
Step S240：Return to step S210；
Step S250：Controller drives electric shock generator to generate electric shock signal, and is transferred to electric shock piece, for changing object is herded
Track route.
Operation principle：
The position of GPS positioning module monitoring is indicated with coordinate, and is sent to controller, and controller carries out in electronic map
Current location is marked, is shown on electronic map and herds region and fence map, therefore according to current location electronically
The location of in figure, it can be determined that go out this and herds whether object approaches, is in or exceeds fence map, if it is,
It needs that electric shock generator is driven to generate electric shock signal, the skin for herding this by electric shock piece object shocks by electricity；If it is not, then
Continue to monitor by GPS positioning module.Driven object will be herded to herding place, or drive herd object return when
It waits, the position that GPS positioning module monitors is compared with navigation routine, if not in navigation routine region, basis is worked as
Position relationship between front position and navigation routine region, generates a series of coordinate control point, and object is herded in driving gradually
Return to navigation routine region.
Further, the step S300 is specifically included：
Step S310：Detect the current changing coordinates for herding object for deviateing navigation routine；
Step S320：Find out any point D0 in the land herded in route or return route（X0, Y0）, meter
Calculate changing coordinates and D0（X0, Y0）Between vectorial A；
Step S330：The deviation angle between changing coordinates and vector A is calculated, obtain herding object drives direction；
Step S340：Controller drives electric shock generator to generate intermediate frequency electric shock signal, and is transferred to electric shock piece；
Step S350：Whether changing coordinates are judged in the land, if terminated, if it was not then return to step
S310。
Operation principle：
Vector relations will a little be established in current location and land, so that it is determined that herd angle that object should change and
The direction of advance, and judge that the electric shock piece that generate electric shock signal is to be located to herd neck or right side neck on the left of object
Neck, and the electric shock piece is driven to generate electric shock signal, it is in land until herding the current position of object, successfully at this time
It drives to destination.
Further, the output voltage of the electric shock generator is adjustable, for herding object output difference according to different
The electric shock signal of intensity.
Operation principle：
When electric shock generator output voltage can timing, the intensity of the shock current of generation is different, can be according to herding object pair
The intensity that electric shock signal is born is different, adjusts the shock current intensity of application.
Compared with prior art, the present invention haing the following advantages and advantageous effect：
（1）The present invention can implement electric shock, simulation leather-thonged whip drive when herding the object preset navigation routine of deviation by the piece that shocks by electricity
It catches up with the pain of generation that livestock is forced to change travelling route, returns to herds to control straggler, avoid loss of wandering away, avoid shepherd
It drives to find, realizes while controlling multiple track routes for herding object, it is simple, efficient.
（2）The solar panel in power module in the present invention converts the solar into electric energy, and lithium battery is as auxiliary
Power supply, the two is helped to be used in combination with, it is possible to reduce the frequency that lithium battery is replaced, and the renewable money in nature is utilized
Source.
Description of the drawings
Fig. 1 is the structural schematic diagram for driving necklace；
The functional block diagram of Fig. 2 modules in order to control；
Fig. 3 is the functional block diagram of electric shock generator；
Wherein 1- necklaces；2- control modules；3- electric shock pieces.
Specific implementation mode
The present invention is described in further detail with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1：
It is a kind of to drive necklace for what is herded in conjunction with shown in attached drawing 1, include the necklace 1 of head and the tail clamping, it is symmetrical on the necklace 1
It is provided with electric shock piece 3, the centre of the electric shock piece 3 is provided with for generating the control module 2 for driving signal, the electric shock piece 3
It is electrically connected with control module 2.
Operation principle：
When herding, necklace will be driven to be sleeved on each and herded on the neck of object, then by the head and the tail both ends card of necklace 1
Connect, rotate necklace 1, the electric shock piece 3 on necklace 1 is made to be located at the both sides for herding object neck, shock by electricity piece 3 respectively with herd pair
It is contacted at the neck of elephant.When control module 2 sends out drive signal, the electric shock piece 3 being electrically connected with control module 2 is powered, to herding
Implement electric shock at the neck of object, the electric shock dynamics for the piece 3 that shocks by electricity is equivalent to the dynamics of leather-thonged whip, by driving setting herding pair
As the electric shock piece 3 on neck left side of neck either right side herds object and turned right or turned left to drive.Therefore, it is necessary to drive to herd
When object, it is only necessary to by remote server, send navigation routine to control module, or deposited in advance in control module 2
Navigation routine is stored up, therefore, when herding the object preset navigation routine of deviation, electric shock can be implemented by the piece 3 that shocks by electricity, simulate skin
The pain that whip drives generation forces livestock to change travelling route, returns to herds to control straggler, avoids loss of wandering away, avoid
Shepherd drives to find, and realizes while controlling multiple track routes for herding object, simple, efficient.
Embodiment 2：
On the basis of embodiment 1, in conjunction with shown in attached drawing 1 and Fig. 2, the control module 2 includes controller, and the controller connects
It is connected to communication module, GPS positioning module and the electric shock generator for generating shock voltage, the electric shock generator and the electricity
The electrical connection of piece 3 is hit, the control module 2 further includes for the power module to above each module for power supply.
Operation principle：
Control module 2 is communicated by communication module with remote server, and navigation command, the navigation road of remote server are received
Line, electronic map etc..GPS positioning module for monitor in real time wear drive necklace herd the current location of object, and send
To controller.Controller uses arm processor, model ARM740T, Built In Operating System that can will herd the current of object
Whether position shows on the electronic map, and then judge to herd object to deviate and herd region.Power module is used for control module 2
In each module for power supply, electric shock generator vibrated, boosted, finally generate high pressure under power module input service voltage
Pulse electric shock signal, simulation leather-thonged whip implement to the pain for herding object.
Further, the power module includes lithium battery and solar panel, and the solar panel is located at institute
State the outside of necklace 1.
Operation principle：
Solar panel in power module converts the solar into electric energy, and lithium battery is combined as accessory power supply, the two
To use, it is possible to reduce the frequency that lithium battery is replaced, and the renewable resource in nature, energy-saving and environmental protection are utilized.
Embodiment 3：
On the basis of embodiment 2, in conjunction with shown in attached drawing 1-3, the electric shock generator includes being connect respectively with the controller
The first driving circuit and the second driving circuit, first driving circuit and the second driving circuit are connected separately with electric shock signal
Circuit occurs, the electric shock signal occurs circuit and distinguishes the connection of electric shock piece 3.
Operation principle：
Circuit occurs for electric shock signal all the way for the connection of two electric shock pieces 3 independently, and circuit difference occurs per electric shock signal all the way
By the first driving circuit or the independent driving of the second driving circuit, therefore, controller by controlling and the first driving circuit respectively
Or second driving circuit connection pin output level, realize it is independent control electric shock piece 3 electric shock signal.
A method of driving necklace location navigation for what is herded, including：
Step S100：The control module 2 and remote server are established and communicated to connect, obtain electronic map, navigation routine and
Fence map, the navigation routine include herding route and return route；
Step S200：The GPS positioning module monitoring herds the current position of object and is sent to the controller, and controller will
Current location is compared with the fence map, if herding the borderline region that object is in fence map, is controlled
Device processed sends drive signal to electric shock generator；
Step S300：Drive herd object during, real-time judge herds the position of object, calculating herd object need it is inclined
The direction turned and angle, send out and drive signal, and corresponding electric shock piece 3 is driven to send out electric shock signal；
Step S400：Judge whether to reach the region set, if there is no return to step S300；If arrived at the destination, terminate.
Operation principle：
Control module 2 and the remote server being arranged on necklace 1 are communicatively coupled, and are led for receiving remote server setting
Air route line and electronic map also allow for setting and changing navigation routine in server end, to which the grazing district of object is herded in change
Domain sets fence map on the electronic map, and the boundary of fence map is set as an annular region, is convenient for
It when herding object close to the region, just sends out and drives signal, place and exceed boundary.Navigation routine is from place is herded to return
Therefore a bar-shaped zone between place, rather than accurate straight line or curve are more bonded the need actually herded
It asks.Drive herd object during, the current position of the monitoring of GPS positioning module constantly on necklace 1, and be sent to control
Current location is compared by device processed, controller with navigation map, and judgement herds object whether beyond region is herded, if do not had
Exceed, then need not do any processing；It is in borderline region if herding object and having exceeded preset region of herding, by controlling
Molding block 2 calculates the direction for needing to deflect and angle, and judge generation electric shock should be left side neck or right side neck
Electric shock piece 3, send out a series of electric shock signal to herding object, for gradually drive herd object change direction of travel.
After sending electric shock signal, the run trace for herding object changes, and GPS positioning module monitors current location in real time, sends
To controller, current location is compared by controller with the boundary coordinate control point in guidance path, and calculating adjust
Direction and determine send electric shock signal electric shock piece 3.Since GPS positioning module and controller are in control module, GPS together
The location information of locating module acquisition is sent to controller and does not generate time delay, therefore, for herding the real-time run trace of object
The pain that electric shock simulation leather-thonged whip may be used, instead of manually driving, saves manpower, and put due to each to drive automatically
Object is herded with necklace is driven, and the control module 2 on each necklace 1 is independent to calculate the position for herding object, control
This herds the run trace of object, therefore, can be realized simultaneously it is multiple herd driving for object, be greatly saved artificial.
Further, the step S200 is specifically included：
Step S210：The coordinate position monitored in real time is sent to controller by GPS positioning module；
Step S220：The coordinate position is labeled by controller in electronic map；
Step S230：The deviation of the coordinate position and fence map is judged, if the coordinate position is located at electronically
Region is herded in figure, then is entered in next step；Otherwise, S250 is entered step；
Step S240：Return to step S210；
Step S250：Controller drives electric shock generator to generate electric shock signal, and is transferred to electric shock piece 3, for changing herding pair
The track route of elephant.
Operation principle：
The position of GPS positioning module monitoring is indicated with coordinate, and is sent to controller, and controller carries out in electronic map
Current location is marked, is shown on electronic map and herds region and fence map, therefore according to current location electronically
The location of in figure, it can be determined that go out this and herds whether object approaches, is in or exceeds fence map, if it is,
It needs that electric shock generator is driven to generate electric shock signal, the skin for herding this by electric shock piece 3 object shocks by electricity；If it is not,
Then continue to monitor by GPS positioning module.Driven object will be herded to herding place, or drive herd object return when
It waits, the position that GPS positioning module monitors is compared with navigation routine, if not in navigation routine region, basis is worked as
Position relationship between front position and navigation routine region, generates a series of coordinate control point, and object is herded in driving gradually
Return to navigation routine region.
Further, the step S300 is specifically included：
Step S310：Detect the current changing coordinates for herding object for deviateing navigation routine；
Step S320：Any point D0X0, the Y0 in the land herded in route or return route are found out, is calculated
Go out changing coordinates and D0X0, the vectorial A between Y0；
Step S330：The deviation angle between changing coordinates and vector A is calculated, obtain herding object drives direction；
Step S340：Controller drives electric shock generator to generate intermediate frequency electric shock signal, and is transferred to electric shock piece 3；
Step S350：Whether changing coordinates are judged in the land, if terminated, if it was not then return to step
S310。
Operation principle：
Vector relations will a little be established in current location and land, so that it is determined that herd angle that object should change and
The direction of advance, and judge that the electric shock piece 3 that generate electric shock signal is to be located to herd neck or right side neck on the left of object
Neck, and the electric shock piece 3 is driven to generate electric shock signal, it is in land until herding the current position of object, has been succeeded at this time
Drive to destination.
Further, the output voltage of the electric shock generator is adjustable, for herding object output difference according to different
The electric shock signal of intensity.
Operation principle：
When electric shock generator output voltage can timing, the intensity of the shock current of generation is different, can be according to herding object pair
The intensity that electric shock signal is born is different, adjusts the shock current intensity of application.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to the technical spirit of the present invention to any simple modification, equivalent variations made by above example, the protection of the present invention is each fallen within
Within the scope of.
Claims (8)
1. a kind of driving necklace for what is herded, which is characterized in that include the necklace of head and the tail clamping（1）, the necklace（1）Shang pair
Title is provided with electric shock piece（3）, the electric shock piece（3）Centre be provided with for generating the control module for driving signal（2）, described
Shock by electricity piece（3）With control module（2）Electrical connection.
2. it is according to claim 1 it is a kind of for herd drive necklace, which is characterized in that the control module（2）Packet
Controller is included, the controller is connected with communication module, GPS positioning module and the electric shock generator for generating shock voltage,
The electric shock generator and the electric shock piece（3）Electrical connection, the control module（2）Further include for controller, communication mould
The power module that block, GPS positioning module, electric shock generator are powered.
3. it is according to claim 2 it is a kind of for herd drive necklace, which is characterized in that the power module include according to
Solar panel, photovoltaic DC-to-AC converter, the lithium battery of secondary connection, the solar panel are located at the necklace（1）Outside.
4. a kind of necklace is driven according to claim 3 for what is herded, which is characterized in that the electric shock generator includes
The first driving circuit and the second driving circuit being connect respectively with the controller, first driving circuit and the second driving electricity
Road is connected separately with electric shock signal and circuit occurs, and the electric shock signal occurs circuit and is separately connected the electric shock piece（3）.
5. utilizing a kind of method for driving necklace location navigation for herding described in claim 4, which is characterized in that packet
It includes：
Step S100：By the control module（2）It establishes and communicates to connect with remote server, obtain electronic map, navigation routine
With fence map, the navigation routine includes herding route and return route；
Step S200：The GPS positioning module monitoring herds the current position of object and is sent to the controller, and controller will
Current location is compared with the fence map, if herding the borderline region that object is in fence map, is controlled
Device processed sends drive signal to electric shock generator；
Step S300：Drive herd object during, real-time judge herds the position of object, calculating herd object need it is inclined
The direction turned and angle, send out and drive signal, drive corresponding electric shock piece（3）Send out electric shock signal；
Step S400：Judge whether to reach the region set, if there is no return to step S300；If arrived at the destination, terminate.
6. a kind of method for driving necklace location navigation for herding according to claim 5, which is characterized in that described
Step S200 is specifically included：
Step S210：The coordinate position monitored in real time is sent to controller by GPS positioning module；
Step S220：The coordinate position is labeled by controller in electronic map；
Step S230：The deviation of the coordinate position and fence map is judged, if the coordinate position is located at electronically
Region is herded in figure, then is entered in next step；Otherwise, S250 is entered step；
Step S240：Return to step S210；
Step S250：Controller drives electric shock generator to generate electric shock signal, and is transferred to electric shock piece（3）, for changing herding
The track route of object.
7. a kind of method for driving necklace location navigation for herding according to claim 6, which is characterized in that described
Step S300 is specifically included：
Step S310：Detect the current changing coordinates for herding object for deviateing navigation routine；
Step S320：Find out any point D0 in the land herded in route or return route（X0, Y0）, meter
Calculate changing coordinates and D0（X0, Y0）Between vectorial A；
Step S330：The deviation angle between changing coordinates and vector A is calculated, obtain herding object drives direction；
Step S340：Controller drives electric shock generator to generate intermediate frequency electric shock signal, and is transferred to electric shock piece（3）；
Step S350：Whether changing coordinates are judged in the land, if terminated, if it was not then return to step
S310。
8. a kind of method for driving necklace location navigation for herding according to claim 7, which is characterized in that described
The output voltage of electric shock generator is adjustable, for according to the different electric shock signals herded object and export varying strength.
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| CN111657168A (en) * | 2020-07-02 | 2020-09-15 | 广西壮族自治区畜牧研究所 | Traction type animal driving device |
| WO2021016653A1 (en) * | 2019-11-22 | 2021-02-04 | Agersens Pty Ltd | Wearable electronic collar for animals |
| CN111657168B (en) * | 2020-07-02 | 2024-05-31 | 广西壮族自治区畜牧研究所 | Traction type animal driving device |
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Application publication date: 20181009 |