CN105248308A - Grazing system based on unmanned aerial vehicle and grazing method thereof - Google Patents
Grazing system based on unmanned aerial vehicle and grazing method thereof Download PDFInfo
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- CN105248308A CN105248308A CN201510796696.8A CN201510796696A CN105248308A CN 105248308 A CN105248308 A CN 105248308A CN 201510796696 A CN201510796696 A CN 201510796696A CN 105248308 A CN105248308 A CN 105248308A
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- 238000009304 pastoral farming Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 37
- 241001465754 Metazoa Species 0.000 claims abstract description 55
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- 238000007689 inspection Methods 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 15
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- 230000008676 import Effects 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 6
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- 238000009795 derivation Methods 0.000 claims description 3
- 241001494479 Pecora Species 0.000 description 44
- 244000144992 flock Species 0.000 description 21
- 244000144972 livestock Species 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 14
- 238000007726 management method Methods 0.000 description 10
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- 230000001488 breeding effect Effects 0.000 description 3
- 244000144980 herd Species 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
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- 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
- A01K11/00—Marking of animals
- A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
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- 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
- A01K29/00—Other apparatus for animal husbandry
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Abstract
The invention discloses a grazing system based on an unmanned aerial vehicle and a grazing method thereof. The grazing system comprises an electronic tag (1) arranged on an animal body, a positioning module (3) arranged on the unmanned aerial vehicle (2) and provides the position of the unmanned aerial vehicle, a height gauge (4) for measuring the height of the unmanned aerial vehicle (1) and a radio frequency identification module (5) for receiving identifying information transmitted by the electronic tag (1). When the radio frequency identification module (5) identifies identifying information transmitted by the electronic tag (1), the current identifying time, identifying position and the identifying information form recorded data, the radio frequency identification module (5) stores and process the recorded data, and the identifying position is a circular region where the position of the unmanned aerial vehicle (2) provided by the positioning module (3) is used as the circle and the remote sensing range R of the radio frequency identification module (5) is used as the radius. The remote sensing radius R can be changed by adjusting the height H of the unmanned aerial vehicle (1).
Description
Technical field
The invention belongs to the field of raising, particularly relate to a kind of grazing system based on unmanned vehicle and Grazing method thereof.
Background technology
In existing herding work, requirement can be followed the tracks of by the good position of object of herding, because picture ox, sheep, these livestocks of horse, in herding, there is certain degree of freedom freely movable on grassland, traditional approach follows nurse by experienced caregiver, and also can by shepherd dog etc. in situation with good conditionsi.But this mode human cost is higher, and be difficult to copy on a large scale.Along with the maturation of unmanned vehicle technology, someone proposes to utilize the flight of unmanned vehicle to make an inspection tour function to help herding work and better realize.But utilize existing unmanned vehicle to go to carry out making an inspection tour also there is the jejune problem of technology, such as, if go to follow the tracks of by the principle of GPS, so every livestock will configure GPS module, such high cost, economical not; If judged by image recognition technology, when so converging in certain region for a large amount of livestock, the data processing pressure of image recognition is very large, and data error rate is difficult to control; Other similar remote sensing technologies have similar faulty place, or high cost is unrealistic, or are exactly be difficult to accurately locate and identify every livestock.So the livestock management mode of comparative maturity comparatively speaking at present, be only utilize RFID label tag technology, stamp electron ear tage to livestock, being equivalent to every livestock has had identity card.Then in the setup of entrances and exits card reader of some keys, according to these livestocks in these gateways by situation, and the zoned logic representated by these gateways, judges where these livestocks are current is roughly in from a concept compared with bigdos.But flock of sheep quantity cannot be added up in time, be unfavorable for grazing management.
It is a collection singlechip technology that unmanned vehicle is taken photo by plane, sensor technology of taking photo by plane, GPS navigation take photo by plane technology, many technology such as service technology, flight control technology, task control technology, programming technique are taken photo by plane in communication and rely on the high-tech product of hardware, and its filmed image has the advantage of high-resolution, large scale, small size, high Up-to-date state.And unmanned vehicle provides easy to operate for photography of taking photo by plane, be easy to the remote sensing platform of transition; Taking off landing is less by place restriction, and on playground, highway or other openr ground all can landings, and its stability, safety are good, and transition etc. are very easy to; The outstanding feature that small portable, low-noise energy-saving, efficiently motor-driven, image definition, lightness, miniaturization, intelligent unmanned vehicle are especially taken photo by plane.Under the environment that such as people cannot be close, adopt unmanned plane to monitor in real time.
Patent document CN104156821 discloses a kind of natural grassland livestock breeding management method based on unmanned plane, it is characterized in that, the concrete grammar of the described natural grassland livestock breeding management method based on unmanned plane is: 1) on each stock units, arrange color positioner; 2) plan according to the grassland area in herding region and the course line of shape to unmanned plane; 3) control unmanned plane according to step 2) in set course line cruise, and by being mounted in remote sensing equipment on unmanned aerial vehicle body to each color identification device in certain limit in the process of cruising, and the quantity of color identification device is carried out detecting and follows the trail of; 4) when step 3) in, the unmanned plane color identification device quantity of following the trail of reduces, and during certain time, unmanned plane expands the area coverage in its outermost course line, and cruises in course line after the modification.This patent makes the stock units in nature grassland be subject to Real-Time Monitoring in the process of cruising of unmanned plane, thus make staff can control herding situation in grassland in real time, but this patent cannot identify and statistical disposition each animal, the animal distribute situation in certain time or certain position cannot be obtained, accuracy of identification and the scope of unmanned vehicle cannot be adjusted; The large data of animal cannot be formed, be convenient to carry out final-period management analysis and go astray from the group animal time, the last data record cannot be called, help to give for change.
Patent document CN104777847 discloses a kind of unmanned plane target tracing system based on machine vision and ultra wideband location techniques, and it comprises ground parametric controller S1 and unmanned plane tracker S2.Wherein ground parametric controller comprises: (1) Flight Control Software, (2) data transmission module, (3) video display interface; Unmanned plane tracker comprises: (4) microprocessor, (5) FPGA, (6) locating module, (7) airborne sensor, (8) intelligent vision module, (9) flight control modules, (10) data transmission module.This unmanned vehicle sends target following instruction by ground parametric controller, after unmanned plane tracker receives target following instruction by intelligent vision module acquires to the image fast target detection algorithm that adopts HOG feature to combine with SVM automatically identify the position of target in image coordinate system, automaticity is high, be easy to operation, precision is high, real-time tracking superior performance, space coordinates digitlization, but it cannot carry out concurrent identification and statistical disposition to the animal of large quantity, the animal distribute situation in certain time or certain position cannot be obtained, accuracy of identification and the scope of unmanned vehicle cannot be adjusted, the large data of animal cannot be formed, be convenient to carry out final-period management analysis and go astray from the group animal time, the last data record cannot be called, help to give for change.
Therefore, the anxious technical issues that need to address real needs in this area are as follows: can grasp comparatively accurately and be herded the position of object, and multiple search pattern finds animal to facilitate; Concurrent identification and statistical disposition can be carried out to the animal of large quantity, obtain the animal distribute situation in certain time or certain position, the accuracy of identification of adjustment unmanned vehicle and scope; Form the large data of animal, be convenient to carry out final-period management analysis and go astray from the group animal time, the last data record can be called, help to give for change.
Disclosed above-mentioned information is only for strengthening the understanding to background of the present invention in the background section, therefore may comprise the information not being formed in prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, the invention discloses a kind of grazing system based on unmanned vehicle, described grazing system comprises to be established electronic tag in animals and is located at the altimeter providing the locating module of the position of described unmanned vehicle, measure the height of described unmanned vehicle on unmanned vehicle and receives the radio frequency identification module of identifying information that described electronic tag launches.
When described radio frequency identification module recognizes the identifying information of described electronic tag transmitting, current recognition time, recognizing site and identifying information composition record data, data are recorded described in described radio frequency identification module Storage and Processing, described recognizing site is that the position of the described unmanned vehicle provided with described locating module is for the center of circle, the remote sensing scope R of described radio frequency identification module is the border circular areas of radius, and described radius R changes by adjusting described unmanned vehicle height H.
Preferably, described grazing system also comprises and is located at the flight control modules on unmanned vehicle and the flight console with described unmanned vehicle radio communication, and described flight control modules is based on predetermined flight path or the user state of flight by unmanned vehicle described in described flight console Non-follow control.
Preferably, described radio frequency identification module comprises memory, and described memory stores the identifying information of all electronic tags and stores the described record data after identifying.
Preferably, described radio frequency identification module also comprises processing module, and described processing module processes corresponding described identifying information based on described recognition time and/or recognizing site.
Preferably, the picture pick-up device that The Cloud Terrace adjustable on described unmanned vehicle is mounted thereto is arranged on.
Preferably, described flight console comprises GIS module and shooting control module, described GIS module can according to the flight path of the described unmanned vehicle of pre-conditioned generation on electronic chart, and described shooting control module controls the location parameter that described The Cloud Terrace adjusts described picture pick-up device.
Preferably, described GIS module comprises GIS information and imports and exports unit, information display unit and information maintenance unit, and wherein, described GIS information imports and exports unit for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation; Described information display unit for showing the information of flight path in GIS map; Described information maintenance unit for browsing, editing and delete the information of flight path in GIS map.
Preferably, described grazing system comprises and is located at leading animal GPS module with it, and described locating module receives positional information that described GPS module sends to locate described unmanned vehicle.
According to a second aspect of the invention, the Grazing method of the grazing system based on unmanned vehicle is used to comprise the following steps.
In first step, described unmanned vehicle is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle described in flight console Non-follow control.
In second step, when described radio frequency identification module recognizes the identifying information that described electronic tag launches, described radio frequency identification module stores current described identifying information and based on the recognition time of described identifying information and the record data of recognizing site.
In third step, after described unmanned vehicle has been maked an inspection tour, data are recorded to determine whether that all animals are identified described in described radio frequency identification module process, when also having animal unrecognized, described unmanned vehicle returns first step (S1) to be continued to make an inspection tour until all animals are identified.。
According to a third aspect of the invention we, the Grazing method of the grazing system based on unmanned vehicle is used to comprise the following steps.
In first step, described unmanned vehicle is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle described in flight console Non-follow control, and described picture pick-up device carries out image scanning to find animal.
In second step, according to the position given by described picture pick-up device image scanning, described unmanned vehicle, centered by described position, does the RF identification scanning of expansion formula; When described radio frequency identification module recognizes the identifying information of described electronic tag transmitting, described radio frequency identification module stores current described record data.
In third step, after described unmanned vehicle has been maked an inspection tour, data are recorded to determine whether that all animals are identified described in described radio frequency identification module process, when also having animal unrecognized, the RF identification that described unmanned vehicle (2) carries out expanding based on described position scans until all animals are identified.
The scheme that the present invention proposes can in animal and the statistical disposition identifying One's name is legion in preset range is as predetermined flight path concomitantly, adjust accuracy of identification and the scope of unmanned vehicle as required, obtain the animal distribute situation in certain time or certain position, form the large data of animal, be convenient to carry out final-period management analysis and go astray from the group animal time, call the last data record, help is given for change, adopt far Distance RFID electronic tag, unmanned vehicle is utilized to do counting statistics to the electronic tag within the scope of its remote sensing, when count results conforms to the data preset, then prove that current object of being herded is without exception, in counting process, the position of the reading time of the electronic tag that real-time statistics is read and the unmanned vehicle in this moment.The position of described unmanned vehicle obtains by the locating module unit that unmanned vehicle configures, and therefore, grasps the position of animal all sidedly; The automatic search pattern of unmanned vehicle can be according to certain rule in certain presumptive area, by the mode of default line inspection, completes the scanning completely to this region; Certain this automatic search pattern also based on certain specific objective, using the position of this specific objective as benchmark, can carry out the scanning of expansion formula.When there are some special circumstances, also the pattern manually being performed search control by user can be triggered, namely user transmits observation situation in larger scope by the real-time figure on unmanned vehicle, then the flight line of Non-follow control unmanned vehicle, complete the scanning validation to special object, therefore, with the present invention of multiple search patrol mode can be more convenient identify animal.
Accompanying drawing explanation
Fig. 1 is according to an embodiment of the invention based on the structural representation of the grazing system of unmanned vehicle.
Fig. 2 is in accordance with another embodiment of the present invention based on the structural representation of the grazing system of unmanned vehicle.
Fig. 3 is the step schematic diagram of the Grazing method of the grazing system used according to an embodiment of the invention based on unmanned vehicle.
Fig. 4 is the step schematic diagram of the Grazing method of the grazing system used in accordance with another embodiment of the present invention based on unmanned vehicle.
Below in conjunction with drawings and Examples, the present invention is further explained.
Embodiment
Below describe in detail be in fact only exemplary and be not intended to limit application and use., and the theory constraint be not intended to by any clear and definite or hint presented in above technical field, background, brief overview or following detailed description in addition.As used herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or processor device (individually or with any combination), include, without being limited to: the processor of special IC (ASIC), electronic circuit, the one or more software of execution or firmware program (shared, special or in groups) and memory, combinational logic circuit and/or provide described functional parts that other are applicable to.In addition, unless had contrary description clearly, otherwise word " comprises " and different modification should be understood to implicit and comprises described parts but do not get rid of any miscellaneous part." process " of the present invention includes but not limited to application such as the selection of recording data, sequence, editor and combinations.
Present embodiments describe a kind of grazing system based on unmanned vehicle, the schematic diagram of the grazing system based on unmanned vehicle according to an embodiment of the invention as shown in Figure 1, grazing system comprises to be established electronic tag in animals 1 and is located at the altimeter 4 providing the locating module 3 of the position of described unmanned vehicle, measure the height of described unmanned vehicle 1 on unmanned vehicle 2 and receives the radio frequency identification module 5 of the identifying information that described electronic tag 1 is launched.
In the art, unmanned vehicle refers to that employing controls automatically, has the unmanned vehicle of self-navigation.This unmanned vehicle can be preferably many rotary wind types unmanned vehicle, and many rotary wind types unmanned vehicle can VTOL, turns in the air flexibly, is particularly suitable among a small circle, for the detecting of complex environment.Electronic tag is the RFID label tag arranged on every animal in advance by peasant household, and electronic tag can be active electronic ear tag, passive electronic ear tag or half active electronic ear tag.Electronic tag embedded with electronic chip and antenna, store the individual information of animal, is the personal identity card proving livestock identity.The information of each animal such as from be born to be transported to each ultimate area of consumption or the mark of carrying animal information can be really grasped in Huaihe River by electronic tag.Can be GPS locator for measuring the locating module of unmanned vehicle position.Radio frequency identification module 5 is preferably the larger super high frequency radio frequency identification equipment of monitoring range.
When described radio frequency identification module 5 recognizes the identifying information of described electronic tag 1 transmitting, current recognition time, recognizing site and identifying information composition record data, data are recorded described in described radio frequency identification module 5 Storage and Processing, described recognizing site is that the position of the described unmanned vehicle 2 provided with described locating module 3 is for the center of circle, the remote sensing scope R of described radio frequency identification module 5 is the border circular areas of radius, and described remote sensing scope R changes by adjusting described unmanned vehicle 1 height H.
Flying height H due to unmanned vehicle 2 fixes and the identification direction of radio frequency identification module 5 is also relatively fixing, preferably towards immediately below, so unmanned vehicle 2 is also relatively-stationary for the identification range of electronic tag 1, in a specific embodiment, according to the feature of signal attenuation, in highly relatively-stationary situation, if height is H, so remote sensing scope is a radius is the circle of R, and the center of circle of this circle can be determined by the real time position given by the locating module 3 of unmanned vehicle.Whether radio frequency identification module 5 accurately can sense the existence of electronic tag in its remote sensing scope R, and reads out the relevant informations such as the identification code that this electronic tag stores.
In one embodiment, described grazing system also comprises and is located at the flight control modules 6 on unmanned vehicle 2 and the flight console 7 with described unmanned vehicle 2 radio communication, and described flight control modules 6 is based on predetermined flight path or the user state of flight by unmanned vehicle 2 described in described flight console 7 Non-follow control.Described flight control modules 6 controls described unmanned vehicle 2 based on the flight path that user inputs and flies, and described flight control modules 6 controls the state of flight of described unmanned vehicle 2.State of flight comprises unmanned vehicle landing point, hover point, level point, track points, makes a return voyage a little, the flying height in flight path, flying speed etc.In one embodiment, described flight control modules 6 controls described unmanned vehicle and hovers in precalculated position.User controls unmanned vehicle by flight control mould 6 and takes off and complete aerial mission in predetermined spatial domain, normally in visual range, complete the flight path of specifying, then hover in precalculated position, then identification is completed, or according to a predetermined flight path, in flight course, complete identification.
In one embodiment, described radio frequency identification module 5 comprises memory, and described memory stores the identifying information of all electronic tags and stores the described record data after identifying.Memory can be volatile memory or nonvolatile memory.Memory can comprise the memory of one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or other type.
In a specific embodiment, described radio frequency identification module 5 also comprises processing module 8, and described processing module 8 processes corresponding described identifying information based on described recognition time and/or recognizing site.Described processing module 8 can compile, organizes or analyze data in memory to perform the statistical analysis to record data.Processing module 8 can comprise general processor, digital signal processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and combination thereof or the processor of other known or later exploitations.
The schematic diagram of the grazing system based on unmanned vehicle according to another embodiment of the invention as shown in Figure 2, a kind of grazing system based on unmanned vehicle comprises to be established electronic tag in animals 1 and is located at the altimeter 4 providing the locating module 3 of the position of described unmanned vehicle, measure the height of described unmanned vehicle 1 on unmanned vehicle 2 and receives the radio frequency identification module 5. of the identifying information that described electronic tag 1 is launched
Be arranged on The Cloud Terrace 9 adjustable on described unmanned vehicle 2 mounted thereto can the picture pick-up device 10 of characteristics of image contrast.Be arranged on the described capture apparatus 10 that The Cloud Terrace 9 adjustable on described unmanned vehicle 2 is mounted thereto.The Cloud Terrace 9 is responsible for establishing shot equipment 10, and can provide device location adjustment function and stabilization function, and capture apparatus 10 effectively can complete characteristics of image contrast and shoot function under circumstances.The Cloud Terrace 9 is can the left rotation and right rotation all-directional tripod head that can rotate up and down again.The Cloud Terrace 9 can be applicable to the electric platform to taking on a large scale, and this electric platform high speed attitude can be realized by two operating motors, and electromotor accepts accurately to run location from the signal of flight console 7.In one embodiment, described The Cloud Terrace 9 comprises the adjusting mechanism for zoom operational, elevating movement and azimuth motion.
Described flight control modules 6 is based on predetermined flight path or the user state of flight by unmanned vehicle 2 described in described flight console 7 Non-follow control.Flight console 7 is that unmanned vehicle 2 utilizes the equipment automatically controlling to implement control to the configuration of unmanned vehicle, flight attitude and kinematic parameter in flight course, and user is controlled by the flight course of this flight console to unmanned vehicle.Described flight console 7 comprises GIS module 11 and shooting control module 12, described GIS module 11 can according to the flight path of the described unmanned vehicle 2 of pre-conditioned generation on electronic chart, described GIS module 11 comprises GIS information and imports and exports unit 13, information display unit 14 and information maintenance unit 15, wherein, described GIS information imports and exports unit 13 for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation, and its form importing and derive includes but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF; Described information display unit 14 for showing the information of flight path in GIS map; Described information maintenance unit 15 for browsing, editing and delete the information of flight path in GIS map.Show the information of flight path in GIS module 11, and planning, the operation such as selection and frame choosing of flight path information are provided, and be used in GIS map the information of browsing, edit and deleting corresponding flight path.
Described shooting control module 12 controls the location parameter that described The Cloud Terrace 9 adjusts described picture pick-up device 10.Or described shooting control module 12 controls described The Cloud Terrace 9 and adjusts the location parameter of described capture apparatus 10 and the acquisition parameters of adjustment capture apparatus 10.In one embodiment, described location parameter is the shooting angle of capture apparatus 10, and described acquisition parameters is aperture time or focusing time.
When described radio frequency identification module 5 recognizes the identifying information of described electronic tag 1 transmitting, current recognition time, recognizing site and identifying information composition record data, data are recorded described in described radio frequency identification module 5 Storage and Processing, described recognizing site is that the position of the described unmanned vehicle 2 provided with described locating module 3 is for the center of circle, the remote sensing scope R of described radio frequency identification module 5 is the border circular areas of radius, and described radius R changes by adjusting described unmanned vehicle 1 height H.
In one embodiment, described grazing system comprises and is located at leading animal GPS module 16 with it, and described locating module 3 receives positional information that described GPS module 16 sends to locate described unmanned vehicle 2.
The present invention is directed to the feature of livestock breeding, location level for tracked object is not that requirement is very high, all openr owing to usually herding the visual field, place, as long as so find tracked object in an approximate range, just enough realize following the trail of object, so utilize locating module 3 entrained on unmanned vehicle 2 to be used as the generation source of locator data, by the longitude and latitude data that the remote sensing scope of the unmanned vehicle adopting radio frequency identification module 5 provides in conjunction with above-mentioned locating module 3, demarcate the approximate location of the object be identified, this mode arranges too much signal base station without the need to the scene of herding again, just very large-area farm effectively can be managed by means of only one or some unmanned vehicles.Due to radio frequency identification module 3 can be concurrent the electronic tag data of process larger amt, and these data can also carry certain information, therefore be suitable for very much carrying out technology and identification checkup to the object of herding of ox in groups, sheep and so on, can identify that whether current sweep object quantity is accurate, whether identity is legal rapidly, whether there are other objects be mixed into; These scan-datas of scheduled store, can also form the large data to livestock in groups, be convenient to carry out final-period management analysis and go astray from the group livestock time, conveniently can call the last data record, help to give for change; Livestock is utilized to follow the feature of leaders's action, GPS module can also be set separately with it leaders, so, when carrying out the behaviors such as quantity is checked, authentication, movable observing utilizing unmanned vehicle, effectively can realize the tracking to whole herd according to the geographical position of leaders; System through default tour track or can make an inspection tour strategy; completion timing or regularly to herd, make an inspection tour the entirety of the scope of herding; simultaneity factor is also supported; when noting abnormalities or occur needing the special case of process separately, by user directly manually pattern namely control the flight path of unmanned vehicle and observation, scanning strategy by flight console 7.
See Fig. 3, the Grazing method of the grazing system based on unmanned vehicle described in using according to an embodiment of the invention comprises the following steps.
In first step S1, described unmanned vehicle 2 is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle 2 described in flight console 7 Non-follow control.
In second step S2, when described radio frequency identification module 5 recognizes the identifying information of described electronic tag 1 transmitting, described radio frequency identification module 5 stores current described record data.
In third step S3, after described unmanned vehicle 2 has been maked an inspection tour, described radio frequency identification module 5 processes described record data to determine whether that all animals are identified, when also having animal unrecognized, described unmanned vehicle 2 returns first step to be continued to make an inspection tour, until all animals are identified.
Below to have the farm of 2000 sheep, when grassland is herded, how to utilize the present invention to complete flock of sheep and herd and be described.Grazing system comprises to be established electronic tag in animals 1 and is located at the altimeter 4 providing the locating module 3 of the position of described unmanned vehicle, measure the height of described unmanned vehicle 1 on unmanned vehicle 2 and receives the radio frequency identification module 5 of the identifying information that described electronic tag 1 is launched.
When described radio frequency identification module 5 recognizes the identifying information of described electronic tag 1 transmitting, the described identifying information that described radio frequency identification module 5 Storage and Processing is current and based on the recognition time of described identifying information and the record data of recognizing site, described recognizing site is that the position of the described unmanned vehicle 2 provided with described locating module 3 is for the center of circle, the remote sensing scope R of described radio frequency identification module 5 is the border circular areas of radius, and described radius R changes by adjusting described unmanned vehicle 1 height H.
In the present invention, unmanned vehicle 2 can be maked an inspection tour grassland scope successively according to the flight path preset, and in tour process, unmanned vehicle 2 keeps certain height according to the data of altimeter, and open radio frequency identification module 5, the below scope in flight path is scanned.Whether radio frequency identification module 5 accurately can sense the existence of electronic tag 1 within the scope of its remote sensing, and reads out the relevant informations such as the identification code that this electronic tag 1 stores.Flying height due to unmanned vehicle is fixed and the identification direction of radio frequency identification equipment is also relatively fixing, so unmanned vehicle is also relatively-stationary for the identification range of electronic tag, according to the feature of signal attenuation, usually, in highly relatively-stationary situation, this remote sensing scope is metastable.If height is H, so remote sensing scope is a radius is the circle of R, and the center of circle of this circle can be determined by the real time position given by the locating module 3 of GPS module of unmanned vehicle.Whether radio frequency identification module 5 can exist electronic tag 1 according to certain frequency to below identifies, when finding that there is electronic tag 1, record with the position and time in the unique corresponding identification code ID of this electronic tag 1, the current center of circle, be now considered as having counted on that sheep in flock of sheep representated by this identification code ID.Above-mentioned radio frequency identification module 5 can be supported to recognize multiple identification code ID simultaneously, so just records this multiple identification code ID, current home position and time simultaneously.In this manner, whole farm scope has been carried out via predetermined paths to flight tour at unmanned vehicle 2 after, unmanned vehicle 2 can be added up in this flight tour process, all identification code ID recorded, and the identification code ID of all for the representative kept in advance in these identification code ID and system 2000 sheep is compared, so can judge easily, whether all sheep all within the scope of farm, if there is scarce sheep, be scarce which only, and, if for other contiguous farms situation on local grassland that had the sheep beating electronic tag to channel to, also can clearly judge to draw.Except adding up the quantity of sheep, rely on the time and location information that obtain simultaneously, can also obtain the concrete period of making an inspection tour, these sheep are movable in which position respectively.Due to in the monitoring process of flock of sheep, scope of activities for sheep monitors and does not require very accurately, so, as long as required, the flying height H of suitable adjustment unmanned vehicle 2 and remote sensing scope R, just can change the supervision precision of the concrete activity venue for sheep.Certainly, flight efficiency for current flight device is considered, what the flying height of aircraft should not arranged is too low, what remote sensing scope arranged is too small, so likely causes forming interference to flock of sheep, and the sheep caught up with is run everywhere, statistics is caused to be forbidden, and under such circumstances, because aircraft inspection scope diminishes, probably challenge is formed to the flying power of aircraft.
See Fig. 4, a kind of use comprises the following steps based on the safety protection method of the grazing system of unmanned vehicle.
In first step S1, described unmanned vehicle 2 is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle 2 described in flight console 7 Non-follow control, and described picture pick-up device 10 carries out image scanning to find animal.
In second step S2, according to the position given by the image scanning of described picture pick-up device 10, described unmanned vehicle 2, centered by described position, does the RF identification scanning of expansion formula; When described radio frequency identification module 5 recognizes the identifying information of described electronic tag 1 transmitting, described radio frequency identification module 5 stores current described record data.
In third step S3, after described unmanned vehicle 2 has been maked an inspection tour, described radio frequency identification module 5 processes described record data to determine whether that all animals are identified, when also having animal unrecognized, the RF identification that described unmanned vehicle 2 carries out expanding based on described position scans until identify all animals.
In this method, because remote sensing scope is relatively limited, in the great situation of supervision scope, if the radio frequency identification module 5 that places one's entire reliance upon is to do remote sensing, operating efficiency can be caused low.Therefore picture pick-up device 10 can be set on unmanned vehicle 2 to do dual identification.First unmanned vehicle 2 flies at the higher height that is arranged, and utilize picture pick-up device 10 to do large-scale image scanning, wherein, control the image scanning angle of picture pick-up device 10 by The Cloud Terrace 9, high efficiencyly can obtain based on large-scale image scanning and simple image recognition the suspicion place that flock of sheep may occur.Seek sheep for the farm of the present embodiment, grassland mostly is green, and flock of sheep mostly are white, and Duo Shi colony occurs, when high-altitude scope does image recognition on a large scale, simply utilizes characteristic comparison, and just can find rapidly may be the geographical coordinate at flock of sheep place.Secondly, according to the geographical coordinate first given by image recognition, fly to this nearby coordinates, centered by this coordinate points, do the RF identification scanning of expansion formula, the RF identification scanning of this expansion formula, can be such as that helical curve formula expands flight, or Back Word expands flight, when described radio frequency identification module 5 recognizes the identifying information that described electronic tag 1 launches, described radio frequency identification module 5 stores current described identifying information and based on the recognition time of described identifying information and the record data of recognizing site.After described unmanned vehicle 2 has been maked an inspection tour, described radio frequency identification module 5 processes described record data to determine whether that all animals are identified, and when also having animal unrecognized, described unmanned vehicle 2 carries out the RF identification scanning expanded based on described position.
This method focuses on statistics and the data acquisition of flock of sheep, so no matter be under the seek mode of herb field, or under dual recognition mode, when the data that unmanned vehicle 2 gathers can determine all sheep comprising flock of sheep, now unmanned vehicle 2 also can be considered the data statistics task of present period, then ends task.Due to high efficiency statistics can be carried out according to said method timing to the action of all flock of sheep, therefore, once there occurs the event that in flock of sheep, some sheep goes astray from the group, can by the record before backtracking, distance is found to go astray from the group time point nearest before event, geographical position residing for those sheep gone astray from the group, so, contributes to recovering the sheep gone astray from the group.In addition, because herding object in groups has the trend of and then leaders's activity, that is, so-called bellwether's effect.So, although for cost consideration, be difficult to all arrange GPS module with it every bellwether, but can arrange GPS module with it bellwether, so even efficiency is higher, both the first full search pattern above-mentioned need not have been adopted, also need not adopt the dual recognition mode of above-mentioned the second, directly according to the real time position of bellwether, head direct for bellwether location, according to the geographical coordinate of this bellwether, implement expansion formula data statistics and collection by radio frequency identification module.Due to the activity data of supervision flock of sheep that can be permanently effective for the ease of user, the trajectory planning, flight control etc. of the unmanned vehicle in above-mentioned supervision flock of sheep process can be implement via the route pre-set, and route specific aim can be arranged because of the geographical environment on concrete farm.But the application supports too, user controls the statistical management that unmanned vehicle 2 carries out flock of sheep quantity manually, so-called manual mode controls to refer to, user manually controls the flight path of unmanned vehicle 2 by flight console 7, and unmanned vehicle 2 allows user can real time monitoring flock of sheep by view data of its passback in real time.Because user only can judge whether have sheep by vision, but be difficult to distinguish one from the other specifically which sheep, so this time, adopt radio frequency identification module 5 to be equivalent to help user several sheep.In other words, out of doors in the good situation of environment of observation, both the mode need not searched for by the whole audience, also need not by the pattern of dual identification, also do not need to utilize the pattern arranging GPS module bellwether with it, user directly passes through visual pattern intuitively can find the trace of flock of sheep, easily after finding near flock of sheep, by system according to mode similar before, control unmanned vehicle 2 and implement flock of sheep statistics at certain predetermined altitude.As mentioned above, in unwatched situation, system preferably adopts the automatic searching pattern of expansion formula, comes, with certain datum mark for starting point, to implement flock of sheep counting statistics; The route planning of certain this statistics equally also manually can be specified by user.The switching of this automatic mode and manual mode, also contribute to user find to have in flock of sheep under the statistics that system completes automatically lose sheep time, first searched for by unmanned vehicle, large by scope of activities, the sheep that may lose searched by the unmanned vehicle that supervision scope is wide, and its efficiency will go to find by the mode of directly observing on grassland higher than actual the setting out of user far away.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of this specification and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.
Claims (10)
1. the grazing system based on unmanned vehicle, described grazing system comprises to be established electronic tag in animals (1) and is located at the altimeter (4) of the height providing the locating module of the position of described unmanned vehicle (3), measure described unmanned vehicle (1) on unmanned vehicle (2) and receives the radio frequency identification module (5) of the identifying information that described electronic tag (1) is launched, and it is characterized in that:
When described radio frequency identification module (5) recognizes the identifying information that described electronic tag (1) launches, current recognition time, recognizing site and identifying information composition record data, data are recorded described in described radio frequency identification module (5) Storage and Processing, described recognizing site is that the position of the described unmanned vehicle (2) provided with described locating module (3) is for the center of circle, the remote sensing scope R of described radio frequency identification module (5) is the border circular areas of radius, and described radius R changes by adjusting described unmanned vehicle (1) height H.
2. the grazing system based on unmanned vehicle according to claim 1, it is characterized in that: described grazing system also comprises and is located at the flight control modules (6) on unmanned vehicle (2) and the flight console (7) with described unmanned vehicle (2) radio communication, described flight control modules (6) is based on predetermined flight path or the user state of flight by unmanned vehicle (2) described in described flight console (7) Non-follow control.
3. the grazing system based on unmanned vehicle according to claim 2, it is characterized in that: described radio frequency identification module (5) comprises memory, described memory stores the identifying information of all electronic tags and stores the described record data after identifying.
4. the grazing system based on unmanned vehicle according to claim 3, it is characterized in that: described radio frequency identification module (5) also comprises processing module (8), described processing module (8) processes corresponding described identifying information based on described recognition time and/or recognizing site.
5. the grazing system based on unmanned vehicle according to claim 1, is characterized in that: be arranged on the picture pick-up device (10) that The Cloud Terrace (9) adjustable on described unmanned vehicle (2) is mounted thereto.
6. the grazing system based on unmanned vehicle according to claim 5, is characterized in that: described flight console (7) comprises GIS module (11) and shooting control module (12), wherein,
Described GIS module (11) can according to the flight path of the described unmanned vehicle of pre-conditioned generation (2) on electronic chart, and described shooting control module (12) controls the location parameter that described The Cloud Terrace (9) adjusts described picture pick-up device (10).
7. the grazing system based on unmanned vehicle according to claim 6, it is characterized in that: described GIS module (11) comprises GIS information and imports and exports unit (13), information display unit (14) and information maintenance unit (15), wherein, described GIS information imports and exports unit (13) for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation; Described information display unit (14) for showing the information of flight path in GIS map; Described information maintenance unit (15) for browsing, editing and delete the information of flight path in GIS map.
8. the grazing system based on unmanned vehicle according to claim 1, it is characterized in that: described grazing system comprises and is located at leading animal GPS module with it (16), described locating module (3) receives positional information that described GPS module (16) sends to locate described unmanned vehicle (2).
9. use a Grazing method for the grazing system based on unmanned vehicle according to claim 1-4, it comprises the following steps:
In first step (S1), described unmanned vehicle (2) is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle (2) described in flight console (7) Non-follow control;
In second step (S2), when described radio frequency identification module (5) recognizes the identifying information that described electronic tag (1) launches, described radio frequency identification module (5) stores current described identifying information and based on the recognition time of described identifying information and the record data of recognizing site;
In third step (S3), after described unmanned vehicle (2) has been maked an inspection tour, described radio frequency identification module (5) processes described record data to determine whether that all animals are identified, when also having animal unrecognized, described unmanned vehicle (2) returns first step (S1) to be continued to make an inspection tour until all animals are identified.
10. use a safety protection method for the grazing system based on unmanned vehicle according to claim 5-8, it comprises the following steps:
In first step (S1), described unmanned vehicle (2) is maked an inspection tour based on predetermined flight path or user is maked an inspection tour by unmanned vehicle (2) described in flight console (7) Non-follow control, and described picture pick-up device (10) carries out image scanning to find animal;
In second step (S2), according to the position given by described picture pick-up device (10) image scanning, described unmanned vehicle (2), centered by described position, does the RF identification scanning of expansion formula; When described radio frequency identification module (5) recognizes the identifying information that described electronic tag (1) launches, described radio frequency identification module (5) stores described record data;
In third step (S3), after described unmanned vehicle (2) has been maked an inspection tour, described radio frequency identification module (5) processes described record data to determine whether that all animals are identified, when also having animal unrecognized, the RF identification that described unmanned vehicle (2) carries out expanding based on described position scans until all animals are identified.
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| CN110245596A (en) * | 2019-06-05 | 2019-09-17 | 浙江大华技术股份有限公司 | A kind of monitoring method, monitor terminal and the monitoring system of special animal |
| CN111667037A (en) * | 2020-06-24 | 2020-09-15 | 山西凯永养殖有限公司 | Large-area epidemic situation detection system for indoor pig farm |
| CN111856392A (en) * | 2020-07-15 | 2020-10-30 | 南京航空航天大学 | Ground node positioning method based on UWB ranging and unmanned aerial vehicle flight path |
| CN111856392B (en) * | 2020-07-15 | 2023-09-29 | 南京航空航天大学 | Ground node positioning method based on UWB ranging and unmanned aerial vehicle flight path |
| CN112651947A (en) * | 2020-12-30 | 2021-04-13 | 深兰科技（上海）有限公司 | Control method and device for aircraft, aircraft and computer-readable storage medium |
| CN115530087A (en) * | 2021-06-30 | 2022-12-30 | 深圳市中诺通讯有限公司 | Warning method and warning system for grazing |
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