CN104156821A - Unmanned helicopter-based natural grassland animal husbandry management method - Google Patents
Unmanned helicopter-based natural grassland animal husbandry management method Download PDFInfo
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- CN104156821A CN104156821A CN201410390297.7A CN201410390297A CN104156821A CN 104156821 A CN104156821 A CN 104156821A CN 201410390297 A CN201410390297 A CN 201410390297A CN 104156821 A CN104156821 A CN 104156821A
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Abstract
The invention relates to an unmanned helicopter-based natural grassland animal husbandry management method. The method comprises specific steps: 1) a color positioning device is arranged on each animal husbandry unit; 2) a route of the unmanned helicopter is planned according to the area and the shape of the grassland in the animal husbandry area; 3) according to the set route, the unmanned helicopter detects and tracks each color positioning device and the number of the color positioning devices within a certain range via remote sensing equipment carried on the body of the unmanned helicopter; and 4) when the number of the color positioning devices tracked by the unmanned helicopter in the third step is reduced and the reduction continues for a certain time, the unmanned helicopter expands the area covered by the route. When the unmanned helicopter-based natural grassland animal husbandry management method of the above technical scheme is adopted, the animal husbandry unit in the natural grassland can be monitored in each time during the cruise process of the unmanned helicopter; and in addition, through measuring the number of the animal husbandry units, safety of the animal husbandry units can be ensured.
Description
Technical field
The present invention relates to a kind of agricultural management method, especially a kind of natural grassland animal husbandry management method based on unmanned plane.
Background technology
Nature grassland herding is as a kind of natural herding mode, and it is compared other herding mode and has higher herding quality.But in traditional grassland herding process, because herding unit is freer, therefore need to drop into a large amount of manpowers and material resources to keeping an eye on of herding unit, and it is difficult to the herding unit's entirety in grassland to be monitored, so be difficult to the overall herding situation in grassland to carry out Real Time Observation.In addition, when existing herding unit surprisingly to walk to miss the season in grassland, traditional grassland.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of natural grassland animal husbandry management method based on unmanned plane, and it can effectively detect herding list bit position in grassland by unmanned plane, and guides missing herding unit is pursued in herding process.
For solving the problems of the technologies described above, the present invention relates to a kind of natural grassland animal husbandry management method based on unmanned plane, its concrete grammar is:
1) color locating device is set in each herding unit;
2) according to the grassland area in herding region and shape, the course line of unmanned plane is planned;
3) control unmanned plane according to step 2) in the course line that sets cruise, and in the process of cruising by being mounted in remote sensing equipment on unmanned aerial vehicle body to each color identification device in certain limit, and the quantity of color identification device detects and follows the trail of;
4) when in step 3), color identification device quantity that unmanned plane is followed the trail of reduces, and when certain time, unmanned plane expands the area coverage in its outermost course line, and cruises in amended course line.
As a modification of the present invention, in described step 1), color locating device adopts and is provided with fluorescently-labeled disk; The fluorescence labeling color that the herding unit of different cultivars carries is different each other, and it can be convenient to unmanned plane the herding unit of different cultivars in grassland is identified, thereby makes staff more clear to the herding situation in grassland.
As a modification of the present invention, described step 2) in, the method that unmanned plane course line is planned is:
3.1) determine center, grassland according to the area on grassland and shape;
3.2), taking center, grassland as the center of circle, grassland is divided into multiple nested annular regions each other;
3.3) at each annular region edge, multiple anchor points are set, and in multiple annular regions, choose outmost turns annular region, unmanned plane is set successively by center, grassland, and anchor point in outmost turns annular region and inner annular region thereof, unmanned plane adopts by inside, grassland the order to outside, grassland during by annular region;
3.4) after unmanned plane is by all anchor points in outmost turns annular region, pass through successively outmost turns annular region with anchor point in interior annular region according to outside, grassland to the order of inside, grassland, and center, grassland;
3.5) unmanned plane is set and repeatedly performs step 3.3) to 3.4).
Adopt above-mentioned design, it can carry out omnibearing cruising to the regional in grassland, has monitoring dead angle in process, and cause the situation of herding unit to fail to be fed back in time thereby avoid unmanned plane to cruise.
As a modification of the present invention, described step 3.3) in, the quantity of anchor point in multiple annular regions, increases to the direction of outside, grassland gradually according to inside, grassland to each other, and in annular region, the quantity of anchor point is at least 4 arbitrarily.Adopt above-mentioned design, what it can make unmanned plane carries out complete cruising to annular region.
As a modification of the present invention, described step 3.4) in, the external diameter of outmost turns annular region be at most be positioned at edge, grassland annular region radius 7/12, it can make in unmanned plane observation process, before marching to grassland marginal position, herding unit finds in time missing herding unit, so that it is processed.
As a modification of the present invention, in described step 4), the duration that the detected color identification device quantity of unmanned plane reduces is that unmanned plane by course line, center, grassland extremely, passes through the spent time of all anchor points in outmost turns annular region.Adopt above-mentioned design, it can make unmanned plane can find in time its trace after herding unit wanders away, and avoids it missing.
As a modification of the present invention, in described step 4), the concrete grammar that unmanned plane expands course line is:
7.1), after unmanned plane is by all anchor points in outmost turns annular region, unmanned plane is set according to the order of being pointed to edge, grassland by outmost turns annular region, successively by the annular region beyond outmost turns annular region;
7.2) unmanned plane continues course line, until it detects to color identification device in behind amended course line, its present position is sent to staff place, and carries out course line according to the order at center, edge orientation grassland, grassland.
Adopt above-mentioned design, it can make unmanned plane search for uniformly the region, grassland beyond outmost turns annular region, thereby guarantees that it finds missing herding unit.
According to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 6, it is characterized in that, on described unmanned plane machine, be equipped with speech ciphering equipment, described step 7.2) in, when unmanned plane detects after color identification device, attract to be equipped with the herding unit of this color identification device by speech ciphering equipment.Adopt above-mentioned design, it can make herding unit under the attraction of speech ciphering equipment, stop or return, and avoids it before staff arrives, to exceed grassland scope.
Adopt the natural grassland animal husbandry management method based on unmanned plane of technique scheme, it can make the herding unit in nature grassland be subject to Real-Time Monitoring in the process of cruising of unmanned plane, thereby makes staff can control in real time the herding situation in grassland; Meanwhile, unmanned plane, by the measurement to herding Board Lot, can detect unexpected missing herding unit, and it is detected, and determines its position before it leaves grassland, and then guarantees the safety of herding unit.
Embodiment
Below in conjunction with embodiment, further illustrate the present invention, should understand following embodiment and only be not used in and limit the scope of the invention for the present invention is described.
Based on a natural grassland animal husbandry management method for unmanned plane, it can effectively detect herding list bit position in grassland by unmanned plane, and guides missing herding unit is pursued in herding process.
For solving the problems of the technologies described above, the present invention relates to a kind of natural grassland animal husbandry management method based on unmanned plane, it is characterized in that, the concrete grammar of the described natural grassland animal husbandry management method based on unmanned plane is:
1) color locating device is set in each herding unit;
2) according to the grassland area in herding region and shape, the course line of unmanned plane is planned;
3) control unmanned plane according to step 2) in the course line that sets cruise, and in the process of cruising by being mounted in remote sensing equipment on unmanned aerial vehicle body to each color identification device in certain limit, and the quantity of color identification device detects and follows the trail of;
4) when in step 3), color identification device quantity that unmanned plane is followed the trail of reduces, and when certain time, unmanned plane expands the area coverage in its outermost course line, and cruises in amended course line.
As a modification of the present invention, in described step 1), color locating device adopts and is provided with fluorescently-labeled disk; The fluorescence labeling color that the herding unit of different cultivars carries is different each other, and it can be convenient to unmanned plane the herding unit of different cultivars in grassland is identified, thereby makes staff more clear to the herding situation in grassland.
As a modification of the present invention, described step 2) in, the method that unmanned plane course line is planned is:
3.1) determine center, grassland according to the area on grassland and shape;
3.2), taking center, grassland as the center of circle, grassland is divided into multiple nested annular regions each other;
3.3) at each annular region edge, multiple anchor points are set, and in multiple annular regions, choose outmost turns annular region, unmanned plane is set successively by center, grassland, and anchor point in outmost turns annular region and inner annular region thereof, unmanned plane adopts by inside, grassland the order to outside, grassland during by annular region;
3.4) after unmanned plane is by all anchor points in outmost turns annular region, pass through successively outmost turns annular region with anchor point in interior annular region according to outside, grassland to the order of inside, grassland, and center, grassland;
3.6) unmanned plane is set and repeatedly performs step 3.3) to 3.4).
Adopt above-mentioned design, it can carry out omnibearing cruising to the regional in grassland, has monitoring dead angle in process, and cause the situation of herding unit to fail to be fed back in time thereby avoid unmanned plane to cruise.
As a modification of the present invention, described step 3.3) in, the quantity of anchor point in multiple annular regions, increases to the direction of outside, grassland gradually according to inside, grassland to each other, and in annular region, the quantity of anchor point is at least 4 arbitrarily.Adopt above-mentioned design, what it can make unmanned plane carries out complete cruising to annular region.
As a modification of the present invention, described step 3.4) in, the external diameter of outmost turns annular region be at most be positioned at edge, grassland annular region radius 7/12, it can make in unmanned plane observation process, before marching to grassland marginal position, herding unit finds in time missing herding unit, so that it is processed.
As a modification of the present invention, in described step 4), the duration that the detected color identification device quantity of unmanned plane reduces is that unmanned plane by course line, center, grassland extremely, passes through the spent time of all anchor points in outmost turns annular region.Adopt above-mentioned design, it can make unmanned plane can find in time its trace after herding unit wanders away, and avoids it missing.
As a modification of the present invention, in described step 4), the concrete grammar that unmanned plane expands course line is:
7.1), after unmanned plane is by all anchor points in outmost turns annular region, unmanned plane is set according to the order of being pointed to edge, grassland by outmost turns annular region, successively by the annular region beyond outmost turns annular region;
7.2) unmanned plane continues course line, until it detects to color identification device in behind amended course line, its present position is sent to staff place, and carries out course line according to the order at center, edge orientation grassland, grassland.
Adopt above-mentioned design, it can make unmanned plane search for uniformly the region, grassland beyond outmost turns annular region, thereby guarantees that it finds missing herding unit.
According to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 6, it is characterized in that, on described unmanned plane machine, be equipped with speech ciphering equipment, described step 7.2) in, when unmanned plane detects after color identification device, attract to be equipped with the herding unit of this color identification device by speech ciphering equipment.Adopt above-mentioned design, it can make herding unit under the attraction of speech ciphering equipment, stop or return, and avoids it before staff arrives, to exceed grassland scope.
Adopt the natural grassland animal husbandry management method based on unmanned plane of technique scheme, it can make the herding unit in nature grassland be subject to Real-Time Monitoring in the process of cruising of unmanned plane, thereby makes staff can control in real time the herding situation in grassland; Meanwhile, unmanned plane, by the measurement to herding Board Lot, can detect unexpected missing herding unit, and it is detected, and determines its position before it leaves grassland, and then guarantees the safety of herding unit.
The disclosed technological means of the present invention program is not limited only to the disclosed technological means of above-mentioned embodiment, also comprises the technical scheme being made up of above technical characterictic combination in any.
Claims (8)
1. the natural grassland animal husbandry management method based on unmanned plane, is characterized in that, the concrete grammar of the described natural grassland animal husbandry management method based on unmanned plane is:
1) color locating device is set in each herding unit;
2) according to the grassland area in herding region and shape, the course line of unmanned plane is planned;
3) control unmanned plane according to step 2) in the course line that sets cruise, and in the process of cruising by being mounted in remote sensing equipment on unmanned aerial vehicle body to each color identification device in certain limit, and the quantity of color identification device detects and follows the trail of;
4) when in step 3), color identification device quantity that unmanned plane is followed the trail of reduces, and when certain time, unmanned plane expands the area coverage in its outermost course line, and cruises in amended course line.
2. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 1, it is characterized in that, in described step 1), color locating device adopts and is provided with fluorescently-labeled disk; The fluorescence labeling color that the herding unit of different cultivars carries is different each other.
3. according to the natural grassland animal husbandry management method based on unmanned plane described in claim 1 or 2, it is characterized in that described step 2) in, the method that unmanned plane course line is planned is:
3.1) determine center, grassland according to the area on grassland and shape;
3.2), taking center, grassland as the center of circle, grassland is divided into multiple nested annular regions each other;
3.3) at each annular region edge, multiple anchor points are set, and in multiple annular regions, choose outmost turns annular region, unmanned plane is set successively by center, grassland, and anchor point in outmost turns annular region and inner annular region thereof, unmanned plane adopts by inside, grassland the order to outside, grassland during by annular region;
3.4) after unmanned plane is by all anchor points in outmost turns annular region, pass through successively outmost turns annular region with anchor point in interior annular region according to outside, grassland to the order of inside, grassland, and center, grassland;
3.5) unmanned plane is set and repeatedly performs step 3.3) to 3.4).
4. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 3, it is characterized in that, described step 3.3) in, the quantity of anchor point in multiple annular regions, increase gradually to the direction of outside, grassland according to inside, grassland to each other, in annular region, the quantity of anchor point is at least 4 arbitrarily.
5. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 4, it is characterized in that described step 3.4) in, the external diameter of outmost turns annular region be at most be positioned at edge, grassland annular region radius 7/12.
6. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 5, it is characterized in that, in described step 4), the duration that the detected color identification device quantity of unmanned plane reduces is, unmanned plane by course line, center, grassland extremely, passes through the spent time of all anchor points in outmost turns annular region.
7. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 6, it is characterized in that, in described step 4), the concrete grammar that unmanned plane expands course line is:
7.1), after unmanned plane is by all anchor points in outmost turns annular region, unmanned plane is set according to the order of being pointed to edge, grassland by outmost turns annular region, successively by the annular region beyond outmost turns annular region;
7.2) unmanned plane continues course line, until it detects to color identification device in behind amended course line, its present position is sent to staff place, and carries out course line according to the order at center, edge orientation grassland, grassland.
8. according to the natural grassland animal husbandry management method based on unmanned plane claimed in claim 7, it is characterized in that, on described unmanned plane machine, be equipped with speech ciphering equipment, described step 7.2) in, when unmanned plane detects after color identification device, attract to be equipped with the herding unit of this color identification device by speech ciphering equipment.
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| CN107219860A (en) * | 2017-07-31 | 2017-09-29 | 内蒙古智牧溯源技术开发有限公司 | A kind of unmanned plane rang management system and method |
| CN107291102A (en) * | 2017-07-31 | 2017-10-24 | 内蒙古智牧溯源技术开发有限公司 | A kind of unmanned plane grazing system |
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| CN109933083A (en) * | 2017-12-15 | 2019-06-25 | 翔升（上海）电子技术有限公司 | Grazing method, device and system based on unmanned plane |
| US10772295B2 (en) | 2016-08-22 | 2020-09-15 | International Business Machines Corporation | Unmanned aerial vehicle for determining geolocation foraging zones |
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| US10776631B2 (en) | 2015-07-09 | 2020-09-15 | Nokia Technologies Oy | Monitoring |
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| US11109576B2 (en) | 2018-11-16 | 2021-09-07 | International Business Machines Corporation | Livestock management |
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