CN106719051A - Grazing management system is raised scattered based on unmanned vehicle - Google Patents
Grazing management system is raised scattered based on unmanned vehicle Download PDFInfo
- Publication number
- CN106719051A CN106719051A CN201611177200.XA CN201611177200A CN106719051A CN 106719051 A CN106719051 A CN 106719051A CN 201611177200 A CN201611177200 A CN 201611177200A CN 106719051 A CN106719051 A CN 106719051A
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- Prior art keywords
- unmanned plane
- beacon
- livestock
- management system
- expulsion
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- 238000009304 pastoral farming Methods 0.000 title claims abstract description 18
- 244000144972 livestock Species 0.000 claims abstract description 52
- 230000002431 foraging effect Effects 0.000 claims abstract description 17
- 241001465754 Metazoa Species 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 18
- 244000144980 herd Species 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241000269400 Sirenidae Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction 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
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/003—Nose-rings; Fastening tools therefor; Catching or driving equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Animal Behavior & Ethology (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Remote Sensing (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Housing For Livestock And Birds (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to the field of storing up, for the shortcoming of the existing grazing management system using effect difference based on unmanned vehicle, disclose and grazing management system raised scattered based on unmanned vehicle, including hangar, control station and with control station by the wireless beacon being connected；Beacon is no less than three, and beacon is provided with sensing module, for positioning and gathers livestock positional information and is sent to control station；It is provided with hangar with control station by the expulsion unmanned plane of wireless connection and tracking unmanned plane, expulsion unmanned plane is used to for livestock to come back foraging areas, following the trail of unmanned plane is used for the livestock that foraging areas are left in tracking；Control station includes main frame and the siren that is attached thereto, and main frame is sent to expulsion unmanned plane and follows the trail of unmanned plane from the positional information of beacon reception livestock and by control instruction；Sensing module includes infrared camera and range sensor, and shutdown plate is provided with by beacon, and area to be charged is provided with hangar.The present invention has the beneficial effect that cruising time is long, management effect is good relative to prior art.
Description
Technical field
The present invention relates to the field of storing up, and in particular to raise grazing management system scattered based on unmanned vehicle.
Background technology
In animal husbandry, it is often necessary to livestock is arrived in and is looked for food on a piece of grassland, traditional way is being looked for food by herdsman
Border is kept an eye on is gone astray from the group with preventing livestock from crossing the border, and shepherd dog cooperation is also needed to sometimes, and human cost is high.With unmanned vehicle
The popularization of technology, also having, unmanned vehicle is used for the trial of grazing management.
Patent document CN104156821A discloses a kind of natural grassland animal husbandry management method based on unmanned plane, passes through
Unmanned plane cruise dynamic adjustment grassland scope is tracked to livestock；Patent document CN205196634U discloses a kind of based on nothing
People's aircraft herds device, and Mobile state prison is entered to herd by setting on livestock label and unmanned plane by cruise
Survey.
In view of the cruising time of existing unmanned vehicle, unmanned vehicle is set to herd pipe in cruising condition for a long time
Reason system effect is bad, and moreover, prior art is mostly to carry out livestock tracking and statistics, it is impossible to prevent livestock from running out of model of looking for food
Enclose.The existing grazing management system using effect based on unmanned vehicle is bad in summary.
The content of the invention
For the shortcoming of the existing grazing management system using effect difference based on unmanned vehicle, the invention discloses being based on
Unmanned vehicle raises grazing management system scattered, and looking for food, border sets beacon, when livestock near look for food border when use expulsion
Livestock is come back scope of looking for food by unmanned plane, if livestock runs out of border of looking for food, is tracked and is notified to herd using unmanned plane is followed the trail of
The people；Unmanned plane is only just set out when livestock has unusual fluctuation, takes full advantage of cruising time, moreover it is possible to effectively prevent livestock from running out of model of looking for food
Enclose.
The present invention is achieved through the following technical solutions：
Grazing management system is raised scattered based on unmanned vehicle, including hangar, control station and with control station by wireless phase
Beacon even；
The beacon is no less than three, and beacon is provided with sensing module, and beacon is used to position and gather livestock positional information
It is sent to control station；
It is provided with the hangar with control station by the expulsion unmanned plane of wireless connection and tracking unmanned plane, expels unmanned plane
For livestock to be come back into foraging areas, following the trail of unmanned plane is used to follow the trail of the livestock for leaving foraging areas；
The control station includes main frame and the siren that is connected with main frame, main frame from the positional information of beacon reception livestock simultaneously
Control instruction is sent to expulsion unmanned plane and unmanned plane is followed the trail of.
Principle of the invention is that looking for food, border sets beacon, and livestock positional information is gathered by sensing module on beacon,
Host analysis livestock positional information, only just sets out unmanned plane when livestock is close to or leaves and looks for food border and is expelled or chased after
Track simultaneously sends alarm.
Further, the sensing module includes infrared camera and range sensor.Livestock is gathered by range sensor
Positional information, gathers livestock infrared image and judges to be close to the livestock number on border of looking for food by infrared camera.
Further, it is provided with shutdown plate by the beacon.Expulsion unmanned plane can be nearby after livestock to be come back border of looking for food
Rest in beacon side and wait lower subtask, without returning to hangar, save electricity, facilitate unmanned plane to land using plate is shut down.
Further, it is provided with area to be charged in the hangar.The unmanned plane of not enough power supply is parked in area to be charged after returning, main
Machine reminds herdsman to charge by siren.
Further, the expulsion unmanned plane and tracking unmanned plane are respectively no less than two.Wherein during one group of charging other
Unmanned plane can continue executing with task.
Further, loudspeaker and warning lamp are additionally provided with the expulsion unmanned plane, are additionally provided with the tracking unmanned plane
Camera.In addition to basic flight management system, the unmanned plane of same-action is not equipped with different equipments, reduces the weight of single unmanned plane
Amount, makes full use of cruising time.
The present invention compared with prior art, has the following advantages and advantages：
1st, cruising time is long, and unmanned plane just goes up to the air only when needing, and in addition to basic flight management system, it is single
Individual unmanned plane is equipped with corresponding equipment according to effect, and overall weight is small, can to greatest extent extend cruising time；
2nd, livestock management effect is good, and the livestock near border of looking for food is driven by expelling unmanned plane based on livestock position
Catch up with, return it to foraging areas, if drive it is invalid, send tracking unmanned plane be tracked and remind herdsman, alerting pattern
Intelligence, management effect is good.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is that the present invention raises grazing management system schematic scattered based on unmanned vehicle.
Mark and corresponding component names in accompanying drawing：
1- control stations, 2- hangars, 3- beacons, 4- foraging areas, 5- livestocks, 6- sensing modules, 7- main frames, 8- sirens,
9- expels unmanned plane, 10- to follow the trail of unmanned plane, and 11- shuts down plate.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
It is limitation of the invention.
Embodiment one：
As shown in figure 1, the present invention raises grazing management system, including hangar 2, the and of control station 1 scattered based on unmanned vehicle
With control station 1 by the wireless beacon 3 being connected；The beacon 3 is no less than three, and beacon 3 is provided with sensing module 6, and beacon 3 is used
Control station 1 is sent in positioning and gathering the positional information of livestock 5；It is provided with the hangar 2 with control station 1 by wireless connection
Expulsion unmanned plane 9 and tracking unmanned plane 10, expulsion unmanned plane 9 are used to for livestock 5 to come back foraging areas 4, follow the trail of unmanned plane 10 and use
The livestock 5 of foraging areas 4 is left in tracking；The control station 1 includes main frame 7 and the siren 8 that is connected with main frame 7, main frame 7 from
Beacon 3 receives the positional information of livestock 5 and control instruction is sent into expulsion unmanned plane 9 and unmanned plane 10 is followed the trail of.
Further, sensing module 6 includes infrared camera and range sensor, and livestock 5 is gathered by range sensor
Confidence ceases, and gathering the infrared image of livestock 5 by infrared camera judges to be close to the livestock number on the border of foraging areas 4；Set by beacon 3
Having shutdown plate 11, expulsion unmanned plane 9 can rest under the wait of the side of beacon 3 nearby after livestock 5 is come back in the border of foraging areas 4
Subtask, without returning to hangar 2, saves electricity, facilitates unmanned plane to land using plate 11 is shut down；Area to be charged is provided with hangar 2,
The unmanned plane of not enough power supply is parked in area to be charged after returning, main frame 7 reminds herdsman to charge by siren 8；The expulsion He of unmanned plane 9
Follow the trail of unmanned plane 10 and be respectively no less than two, other unmanned planes can continue executing with task during one group of charging wherein；Expel nobody
Loudspeaker and warning lamp are additionally provided with machine 9, to be followed the trail of and be additionally provided with camera on unmanned plane 10, in addition to basic flight management system,
The unmanned plane of same-action is not equipped with different equipments, reduces the weight of single unmanned plane, makes full use of cruising time.
When the present invention is implemented, livestock 5 is driven in foraging areas 4, in control station 1 after setting beacon 3 around foraging areas 4
Main frame 7 on configure good position parameter；When livestock 5 is near 4 border of foraging areas, the sensing module 6 on beacon 3 is gathered
To livestock 5 positional information and infrared image and be sent to main frame 7, main frame 7 accordingly to expulsion unmanned plane 9 send order, expulsion
Positional information of the unmanned plane 9 in order flies to specified location and livestock 5 is come back into the area that looks for food by way of sound and light
Domain 4；When have livestock 5 ignore expulsion unmanned plane 9 leave foraging areas 4 when, the sensing module 6 on beacon 3 collects the position of livestock 5
Confidence is ceased and infrared image and is sent to main frame 7, and main frame 7 is ordered and carried by siren 8 to following the trail of unmanned plane 10 and send accordingly
Wake up herdsman, follows the trail of unmanned plane 10 and is passed back according to the livestock 5 for ordering tracking to be run out of and by positional information, and herdsman recovers livestock 5 accordingly；
To save electricity on the shutdown plate 11 that expulsion unmanned plane 9 can drop near beacon 3 nearby after once expulsion task is completed,
The area to be charged that expulsion unmanned plane 9 and the tracking not enough power supply of unmanned plane 10 are parked in hangar 2 when making a return voyage, main frame 7 obtains unmanned plane
Herdsman is reminded to charge by siren 8 after state of charge.
The present invention has the beneficial effect that cruising time is long, the management effect of livestock 5 is good relative to prior art：Unmanned plane is only
Have and just gone up to the air when needing, and in addition to basic flight management system, single unmanned plane is equipped with corresponding equipment according to effect,
Overall weight is small, can to greatest extent extend cruising time；Looked for food by expelling unmanned plane 9 pairs to be close to based on the position of livestock 5
The livestock on the border of region 4 is driven, and returns it to foraging areas, if drive it is invalid, send tracking unmanned plane 10 carry out
Herdsman is followed the trail of and reminds, alerting pattern intelligence, management effect is good.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (6)
1. grazing management system is raised scattered based on unmanned vehicle, it is characterised in that：Including hangar (2), control station (1) and with control
System station (1) is by wireless connected beacon (3)；
No less than three, beacon (3) is provided with sensing module (6) to the beacon (3), and beacon (3) is for positioning and gathers livestock
(5) positional information is sent to control station (1)；
It is provided with the hangar (2) with control station (1) by the expulsion unmanned plane (9) of wireless connection and tracking unmanned plane (10),
Expulsion unmanned plane (9) is followed the trail of unmanned plane (10) and leaves foraging areas for following the trail of for livestock (5) to be come back into foraging areas (4)
(4) livestock (5)；
The siren (8) that the control station (1) is connected including main frame (7) and with main frame (7), main frame (7) receives domestic animal from beacon (3)
Raise the positional information of (5) and control instruction is sent to expulsion unmanned plane (9) and unmanned plane (10) is followed the trail of.
It is 2. according to claim 1 that grazing management system is raised scattered based on unmanned vehicle, it is characterised in that：The sensing
Module (6) includes infrared camera and range sensor.
It is 3. according to claim 1 and 2 that grazing management system is raised scattered based on unmanned vehicle, it is characterised in that：It is described
Shutdown plate (11) is provided with by beacon (3).
It is 4. according to claim 3 that grazing management system is raised scattered based on unmanned vehicle, it is characterised in that：The hangar
(2) area to be charged is provided with.
5. grazing management system is raised scattered based on unmanned vehicle according to any one of claim 1,2,4, its feature
It is：Expulsion unmanned plane (9) and tracking unmanned plane (10) are respectively no less than two.
It is 6. according to claim 5 that grazing management system is raised scattered based on unmanned vehicle, it is characterised in that：The expulsion
Loudspeaker and warning lamp are additionally provided with unmanned plane (9), camera is additionally provided with the tracking unmanned plane (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177200.XA CN106719051A (en) | 2016-12-19 | 2016-12-19 | Grazing management system is raised scattered based on unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611177200.XA CN106719051A (en) | 2016-12-19 | 2016-12-19 | Grazing management system is raised scattered based on unmanned vehicle |
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| CN106719051A true CN106719051A (en) | 2017-05-31 |
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| CN201611177200.XA Pending CN106719051A (en) | 2016-12-19 | 2016-12-19 | Grazing management system is raised scattered based on unmanned vehicle |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229289A (en) * | 2017-07-31 | 2017-10-03 | 内蒙古智牧溯源技术开发有限公司 | A kind of unmanned plane grazing management system |
| 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 |
| CN107577242A (en) * | 2017-08-29 | 2018-01-12 | 安徽瓦尔特机械贸易有限公司 | It is a kind of that apparatus and system is herded based on aircraft |
| CN107608374A (en) * | 2017-08-29 | 2018-01-19 | 安徽瓦尔特机械贸易有限公司 | Apparatus and system is herded based on aircraft |
| CN107608373A (en) * | 2017-08-29 | 2018-01-19 | 安徽瓦尔特机械贸易有限公司 | A kind of grazing system based on aircraft |
| CN107707740A (en) * | 2017-08-31 | 2018-02-16 | 乌兰浩特市富延沙棘种植研究所 | A kind of mobile phone herds intelligent management pasture |
| CN107980658A (en) * | 2017-12-25 | 2018-05-04 | 芜湖皖江知识产权运营中心有限公司 | A kind of device for improving wild boar lean meat percentage |
| CN108033006A (en) * | 2017-12-16 | 2018-05-15 | 佛山市神风航空科技有限公司 | A kind of intelligent bionic mechanical bird |
| CN108040978A (en) * | 2017-12-25 | 2018-05-18 | 芜湖皖江知识产权运营中心有限公司 | A kind of method for improving wild boar lean meat percentage |
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN109917803A (en) * | 2017-12-13 | 2019-06-21 | 翔升（上海）电子技术有限公司 | The method and system of unmanned plane guiding herds |
| CN110111516A (en) * | 2019-04-17 | 2019-08-09 | 中广核研究院有限公司 | A kind of nuclear power station plant area security method and system |
| CN111158394A (en) * | 2020-01-11 | 2020-05-15 | 湘潭大学 | Shepherd monitoring method and system based on primary and secondary unmanned aerial vehicles |
| CN111492415A (en) * | 2018-11-28 | 2020-08-04 | 松下知识产权经营株式会社 | Unmanned aerial vehicle, control method, and program |
| CN112167094A (en) * | 2020-10-16 | 2021-01-05 | 唐琪林 | Remote monitoring method and device based on Internet |
| CN112766764A (en) * | 2021-01-25 | 2021-05-07 | 特斯联科技集团有限公司 | Security monitoring method and device based on intelligent robot and storage medium |
| CN113396340A (en) * | 2019-02-15 | 2021-09-14 | 采埃孚股份公司 | Safety autonomous agricultural machine |
| CN114264378A (en) * | 2021-12-20 | 2022-04-01 | 红原县雪月天佑农牧科技有限公司 | Intelligent livestock management system and method |
| CN115530150A (en) * | 2021-06-30 | 2022-12-30 | 深圳市中诺通讯有限公司 | Pasture-circle sound detection protection method and protection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229289A (en) * | 2017-07-31 | 2017-10-03 | 内蒙古智牧溯源技术开发有限公司 | A kind of unmanned plane grazing management system |
| 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 |
| CN107229289B (en) * | 2017-07-31 | 2024-02-20 | 内蒙古智牧溯源技术开发有限公司 | Unmanned aerial vehicle grazing management system |
| CN107577242A (en) * | 2017-08-29 | 2018-01-12 | 安徽瓦尔特机械贸易有限公司 | It is a kind of that apparatus and system is herded based on aircraft |
| CN107608374A (en) * | 2017-08-29 | 2018-01-19 | 安徽瓦尔特机械贸易有限公司 | Apparatus and system is herded based on aircraft |
| CN107608373A (en) * | 2017-08-29 | 2018-01-19 | 安徽瓦尔特机械贸易有限公司 | A kind of grazing system based on aircraft |
| CN107707740A (en) * | 2017-08-31 | 2018-02-16 | 乌兰浩特市富延沙棘种植研究所 | A kind of mobile phone herds intelligent management pasture |
| CN109917803A (en) * | 2017-12-13 | 2019-06-21 | 翔升（上海）电子技术有限公司 | The method and system of unmanned plane guiding herds |
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN108033006A (en) * | 2017-12-16 | 2018-05-15 | 佛山市神风航空科技有限公司 | A kind of intelligent bionic mechanical bird |
| CN108040978A (en) * | 2017-12-25 | 2018-05-18 | 芜湖皖江知识产权运营中心有限公司 | A kind of method for improving wild boar lean meat percentage |
| CN107980658A (en) * | 2017-12-25 | 2018-05-04 | 芜湖皖江知识产权运营中心有限公司 | A kind of device for improving wild boar lean meat percentage |
| CN111492415B (en) * | 2018-11-28 | 2023-08-15 | 松下知识产权经营株式会社 | Unmanned aerial vehicle, control method, and recording medium |
| CN111492415A (en) * | 2018-11-28 | 2020-08-04 | 松下知识产权经营株式会社 | Unmanned aerial vehicle, control method, and program |
| CN113396340A (en) * | 2019-02-15 | 2021-09-14 | 采埃孚股份公司 | Safety autonomous agricultural machine |
| CN110111516A (en) * | 2019-04-17 | 2019-08-09 | 中广核研究院有限公司 | A kind of nuclear power station plant area security method and system |
| CN111158394A (en) * | 2020-01-11 | 2020-05-15 | 湘潭大学 | Shepherd monitoring method and system based on primary and secondary unmanned aerial vehicles |
| CN111158394B (en) * | 2020-01-11 | 2023-09-29 | 湘潭大学 | Method and system for monitoring shepherd based on primary and secondary unmanned aerial vehicle |
| CN112167094A (en) * | 2020-10-16 | 2021-01-05 | 唐琪林 | Remote monitoring method and device based on Internet |
| CN112766764A (en) * | 2021-01-25 | 2021-05-07 | 特斯联科技集团有限公司 | Security monitoring method and device based on intelligent robot and storage medium |
| CN115530150A (en) * | 2021-06-30 | 2022-12-30 | 深圳市中诺通讯有限公司 | Pasture-circle sound detection protection method and protection system |
| CN114264378A (en) * | 2021-12-20 | 2022-04-01 | 红原县雪月天佑农牧科技有限公司 | Intelligent livestock management system and method |
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