CN107229289A - A kind of unmanned plane grazing management system - Google Patents
A kind of unmanned plane grazing management system Download PDFInfo
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- 238000009304 pastoral farming Methods 0.000 title claims abstract description 37
- 244000144972 livestock Species 0.000 claims abstract description 101
- 244000144980 herd Species 0.000 claims abstract description 42
- 238000013480 data collection Methods 0.000 claims abstract description 26
- 230000036760 body temperature Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000003542 behavioural effect Effects 0.000 claims description 19
- 230000015572 biosynthetic process Effects 0.000 claims description 18
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- 230000006399 behavior Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 5
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- 238000010835 comparative analysis Methods 0.000 claims description 3
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- 230000036541 health Effects 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 8
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
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- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
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Abstract
The invention provides a kind of unmanned plane grazing management system, including unmanned plane, hangar, fence and control station, pass through wireless transmission information between control station and unmanned plane, fence limits and herds general area, drive unmanned plane and master control system is installed, follow the trail of unmanned plane and supplementary controlled system is installed；Centralized control unit is electrically connected with master data collection unit in master control system, livestock positional information and body temperature information during the collection of master data collection unit is herded, master data collection unit is deposited in information is gathered in main memory unit, main memory unit is connected with control station, timing unit is connected with analytic unit, analytic unit calls setting time in timing unit and main memory unit to be contrasted, and analytic unit, which transmits contrast signal to master, drives unit；Main flying unit drives unmanned plane during flying for control；Unmanned plane can be achieved under automatic mode independently to herd, without herding family operation, while health monitoring can be carried out to livestock.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane grazing management system.
Background technology
Currently there are some herdsman to carry out herding livestock operations to unmanned aerial vehicle (UAV) control using remote control, or solely machine formula herds livestock dog system
System.Current subject matter is：When single unmanned plane carries out herding livestock operations, because that can only be driven in the one side of herding group
Catch up with, it is impossible to which herding group is rushed for the direction needed well.When thering is herding to escape or losing, escape if unmanned plane goes to drive
The herding walked is returned, and other livestocks will be in unserviced state, easily go wrong；And if do not go to drive back escape or
The herding that person loses, that will cause damage；Herd distant when livestock simultaneously, herd family be difficult to its it is conscientious can not to management
Ensure that its safety during herding is monitored to it in real time, it is necessary to herd family.As Chinese patent CN106647811A is disclosed
Provided with boat in a kind of grazing system based on unmanned plane cluster, including earth station and unmanned plane group system, the earth station
Line planning system and unmanned aerial vehicle control system, the unmanned aerial vehicle control system are connected with the communication of unmanned plane group system, the nothing
Man-machine group system is made up of some groups of flight control systems, and any one group of flight control system is constituted by some unmanned plane bodies,
The flight control system is electrically connected with the intrinsic power set of unmanned plane, and the unmanned plane body is provided with supervising device and sound
Ring, the communication of the sound equipment and unmanned aerial vehicle control system is connected, as a result of clustered control, flight course planning and the skill such as independently take off
Art, simplifies the operating process to unmanned plane, improves the efficiency of management that herdsman puts in a suitable place to breed to livestock.Related only in grazing system
Process is driven, but it is long also to there is during herding herds eating times in the same area, not only breaks up vegetation, simultaneously
The vegetation of livestock feed is of poor quality, influences animal health；It cannot limit, easily go out due to herding region during driveing in addition
Now herd region too far, need unmanned plane to possess higher performance requirement in this case, can so increase the use for herding family
Cost.Just as Chinese patent CN205029771U discloses a kind of intelligent grazing system.The system is included：Take photo by plane unmanned plane, use
In the Fei Kong centers for unmanned plane during flying route of being taken photo by plane described in control, remote server, the main equipment for being worn on a livestock, Yi Jipei
Wear in some slave units from livestock, the number of the slave unit is identical with the number from livestock；The main equipment and slave unit
It is connected, the main equipment is constructed as wireless mesh network mesh networks with the slave unit；The main equipment with it is described long-range
Server communication is connected；The remote server is connected with the winged control center to center communications；The Fei Kong centers and the nothing of taking photo by plane
Man-machine connection.Digitlization remote monitoring is realized by the system, and herdsman can be made easily to check the survival conditions of herds.So as to
Realize that nobody herds.Do not dropped situation in view of equipment in the system, once equipment drops, data transmission fault easily occur,
Simultaneously region is herded not limit, it is necessary to which High Performance Unmanned Aerial Vehicle, can increase the purchase cost for herding family.
The content of the invention
To overcome error in data after label drops present in prior art, single area eating time long and monitoring not
Comprehensively the problem of, the invention provides a kind of unmanned plane grazing system.
The invention provides a kind of unmanned plane grazing management system, including unmanned plane, hangar, fence and control station,
By wireless transmission information between control station and unmanned plane, fence limits and herds general area, fence respectively with nothing
Man-machine and control station connection, hangar is used to park unmanned plane, and unmanned plane includes driveing unmanned plane and follows the trail of unmanned plane, drives nobody
Machine is provided with master control system, follows the trail of unmanned plane and is provided with supplementary controlled system；Its innovative point is：Master control system includes master
Flying unit, master data collection unit, centralized control unit, main memory unit, main positioning unit, timing unit, master drive list
Member and analytic unit；Centralized control unit is electrically connected with master data collection unit, and process is herded in the collection of master data collection unit
Middle livestock positional information and body temperature information, master data collection unit are deposited in information is gathered in main memory unit, primary storage list
Member is connected with control station, and timing unit is connected with analytic unit, and analytic unit is called in timing unit and main memory unit and set
Time is contrasted, and analytic unit, which transmits contrast signal to master, drives unit；Main flying unit drives unmanned plane for control
Flight；Several fences for independently herding region are divided into provided with will totally herd region in the fence, by control station
Region rotation grazing order is independently herded in setting on the electronic map.
Further, the supplementary controlled system includes assisting in flying unit, auxiliary data acquisition unit, auxiliary control list
Member, ASU auxiliary storage unit and auxiliary positioning unit, assisting in flying unit are used to control to follow the trail of unmanned plane during flying, assisting in flying unit
It is divided into Auxiliary Control Element under manual mode, automatic mode and tracking pattern, automatic mode and tracking pattern and list is controlled by center
Auxiliary Control Element is followed the trail of between unmanned plane cuts off and driven unmanned plane and contacted by control stand control under first management and control, manual mode；
Auxiliary data acquisition unit aids in master data collection unit to gather livestock positional information and body temperature information, and ASU auxiliary storage unit is deposited
Put the gathered data of auxiliary data acquisition unit, auxiliary positioning unit location tracking unmanned plane during flying position.
Further, it is divided into the main flying unit under manual mode and automatic mode, manual mode and drives unmanned plane
By herding family control flight path, unmanned plane during flying track is driven under automatic mode and is flown according to movement locus set in advance.
Further, the master data collection unit includes image capture module, data processing module and behavioral module, figure
As acquisition module and the two-way electric connection of centralized control unit, image capture module is deposited by data processing module by information is gathered
Put to main memory unit；Behavioral module and the two-way electric connection of video storage modules.
Further, the data processing module is made up of coding compression module and converter, and main memory unit is by picture
Picture in memory module, video storage modules and formation module composition, coding compression module compression image capture module, after compression
Deposit in picture storage module；Live video in image capture module is converted into three-dimensional live video by converter, by three-dimensional straight
Video is broadcast to deposit to video storage modules；The different formation arrangements for following the trail of unmanned plane quantity are preset in formation module.
Further, the behavioral module includes video extraction, Target Segmentation module, characteristic extracting module and behavior
Analysis module, video extraction transfers live video in video module, and live video is by Target Segmentation module according to livestock
Alignment sensor numbering carries out moving Object Segmentation to video, and it is special that the target after segmentation extracts target in characteristic extracting module
Levy；Behavioural analysis module presets normal livestock behavior pattern, behavioural analysis module by the target signature in characteristic extracting module with
Normal livestock behavior pattern comparative analysis, analysis result is preserved into video storage modules.
Further, the centralized control unit includes counting module, and counting module is connected with control station, control station setting
Unmanned plane quantity is followed the trail of in counting module during herding.
Further, the master data collection unit also includes locating and monitoring unit, infrared sensor and speed acquisition list
Member, locating and monitoring unit monitors movement locus in real time, and control station is sent after movement locus is stored in main memory unit；It is infrared
Sensor is used to monitor livestock head number, and head number quantity and body temperature information are transmitted to control station；The collection of speed acquisition unit is leading
Livestock movement velocity.
Further, the timing unit is divided into eating time unit and grazing time unit, wherein eating time unit
By grazing time unit and speed acquisition unit co- controlling, eating time unit is connected with control station.
Further, the master data collection unit also includes alarm unit, inspection unit, standby unit and the inspection of main electricity
Unit is surveyed, alarm unit is connected with infrared sensor and control station respectively, infrared sensor detection livestock number is led to control station
Livestock number in the current livestock zone of action that unmanned plane positioning signal is irised out is crossed to contrast to control alarm unit on off state.Patrol
Verification certificate is first to be electrically connected with main flying unit, and main electric power detection unit connects the power supply and main flight list for driveing unmanned plane respectively
Member, unmanned plane dump energy is driven in monitoring to main electric power detection unit in real time；Standby unit connects control station and hangar respectively, drives
Unmanned plane is located at standby unit starting in hangar, and control station sets the stand-by time of standby unit.
Compared with prior art, the beneficial effects of the invention are as follows：
First, unmanned plane grazing system of the invention herds family can detect livestock information in real time by control station；Memory cell is pre-
Provided with livestock movement locus and setting livestock pasturing the time in the same area；Positioner is provided with positioning unit, is passed through
Unmanned plane positional information is fed back to control station by positioner, conveniently herds family adjustment unmanned plane position so that unmanned plane is located all the time
In livestock upper perimeter；Simultaneously because flight control system is divided into automatic mode and manual mode, it can realize in automatic mode
Unmanned plane is independently herded, and without herding family operation, manual mode is switched under only need to needing operational circumstances herding family.
2nd, the rotation grazing order for independently herding region is set on the electronic map by control station according to season or month.Pass through
Fence, which is defined, herds region, is not in herd the situation of region too far, prevents destruction of the herd to other grasslands,
It can reach that accurate region is herded, excessively be developed while avoiding grassland, maintain balance ecological in grassland.
3rd, when the leading livestock movement velocity collected in speed acquisition unit is less than 5m/s, speed acquisition unit starting
Setting time is 5min in grazing time unit, grazing time unit, and setting is reached in speed acquisition unit and grazing time
Time quantum is fed after condition to start, starts to calculate livestock eating time, when eating time exceedes setting eating time, control station
Control unmanned plane sends to livestock and drives signal, is pastured overlong time in the same area this avoid livestock, while can also protect
Card livestock will not gnaw to grassland transition.
4th, infrared sensor monitors livestock head number in real time, and head number quantity is transmitted to control station, and can be by each livestock
Body temperature transmit to control station, each livestock body temperature is analyzed by control station, positioned in addition with control station by unmanned plane
The livestock data monitored in the livestock region that signal is irised out are compared, it is to avoid the label of indivedual livestocks, which drops, information mistake occurs
By mistake.
5th, behavioral module is included in master data collection unit, passes through behavioral module analyzing animal health and comfort level situation
It is more objective compared to result for artificial experience observation；The different formation arrangements for following the trail of unmanned plane quantity are preset in formation module,
According to tracking unmanned plane quantitative transformations formation in counting module, it is ensured that comprehensive prison of the unmanned plane during herding to herds
Survey.
6th, the live video that image capture module is collected is converted into three-dimensional live regard by the converter in data processor
Frequently, three-dimensional live video is deposited to video storage modules, control station checks three-dimensional straight by main memory unit using VR equipment
Video is broadcast, the process of herding is checked with the first visual angle.
The 7th, inspection unit, standby unit are set in master control system, ensure that unmanned plane all the time by setting patrol time
In the situation that power supply is sufficient, and unmanned plane is set without in running order for a long time, extend the use longevity of unmanned plane
Life.The stand-by time being set in simultaneously in standby unit in hangar is so that unmanned plane possesses inspection function.
Brief description of the drawings
Fig. 1 is unmanned machine management system schematic diagram；
Fig. 2 is to drive unmanned plane master control system schematic diagram.
Embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific embodiment only to explain the present invention, is not intended to limit the present invention.
Present embodiment discloses a kind of unmanned plane grazing management system, including unmanned plane, hangar, fence and control
Stand, by wireless transmission information between control station and unmanned plane, fence, which is arranged on to iris out on grassland, totally herds region, electricity
Sub- fence is connected with control station, provided with the electronic map matched with fence in control station, and being provided with fence will be total
Body herds region and is divided into several fences for independently herding region, is set on the electronic map by control station according to season or month
The fixed rotation grazing order for independently herding region.The GPS location information of region and livestock is herded in display on electronic map.Enclosed by electronics
Column, which is defined, herds region, is not in herd the situation of region too far, prevents destruction of the herd to other grasslands, Neng Gouda
Herd, excessively developed while avoiding grassland to accurate region, maintain balance ecological in grassland.It is divided into drive in unmanned plane
Catch up with unmanned plane and follow the trail of unmanned plane, drive unmanned plane and drive livestock to the region that pastures, following the trail of unmanned plane is used to that single will to be fallen
Other livestock is come back in herd, during herding, unmanned plane total quantity N >=3, wherein driveing unmanned plane quantity n1=1, chase after
Track unmanned plane quantity n2>=2, drive unmanned plane and tracking unmanned plane is distributed between livestock upper perimeter, unmanned plane and constitutes current
Livestock zone of action, its zone of action area is greater than the actual region of current livestock；Hangar is used to park unmanned plane and can
Unmanned plane is charged, charging modes are charged or wired charging using bluetooth.Every unmanned plane is equipped with independent flight control
System processed, the flight control system for driveing unmanned plane installation is master control system, follows the trail of the flight control system that unmanned plane is installed
For supplementary controlled system.Installed before herding on every livestock body and alignment sensor is provided with label, label, and every head
The alignment sensor of livestock has particular number.
Master control system is fixed including main flying unit, master data collection unit, centralized control unit, main memory unit, master
Bit location, timing unit, master drive unit and analytic unit；Centralized control unit is electrically connected with master data collection unit, main
Livestock positional information and body temperature information during data acquisition unit collection is herded, master data collection unit will gather information storage
In main memory unit, main memory unit is connected with control station, and livestock information can be detected in real time by control station by herding family；Primary storage
Unit is preset with livestock movement locus and setting livestock pasturing the time in the same area；Provided with positioning dress in main positioning unit
Put, will drive unmanned plane positional information by main positioner feeds back to control station, conveniently herd family adjustment and drive unmanned plane position,
So that drive unmanned plane is in livestock upper perimeter all the time.Timing unit is connected with analytic unit, and analytic unit calls timing list
Setting time is contrasted in member and main memory unit, and analytic unit, which transmits contrast signal to master, drives unit.Master drives list
It can be pre-recorded in member and herd family and drive sound.Exceed setting time when the time of timing unit, drive unmanned plane startup and drive unit pair
Livestock, which sends, drives signal, is pastured overlong time in the same area this avoid livestock, while also can guarantee that livestock will not be right
Grassland transition is gnawed.Main flying unit is driven for control is divided into manual mode and automatic in unmanned plane during flying, main flying unit
Unmanned plane of driveing under pattern, manual mode drives unmanned plane during flying track by herding under family control flight path, automatic mode
Flown according to movement locus set in advance.Supplementary controlled system includes assisting in flying unit, auxiliary data acquisition unit, auxiliary
Control unit, ASU auxiliary storage unit and auxiliary positioning unit, assisting in flying unit are used to control to follow the trail of unmanned plane during flying, and auxiliary flies
Row unit is divided under manual mode and automatic mode, automatic mode Auxiliary Control Element by centralized control unit management and control, manual mould
Auxiliary Control Element is followed the trail of between unmanned plane switches and driven unmanned plane and contacted by control stand control under formula.Auxiliary data acquisition
Unit aids in master data collection unit to gather livestock positional information and body temperature information, and ASU auxiliary storage unit storage assistance data is adopted
Collect the gathered data of unit, auxiliary positioning unit location tracking unmanned plane during flying position.
As present embodiment further preferably, master data collection unit includes locating and monitoring unit, infrared sensor
With speed acquisition unit, locating and monitoring unit is used to monitor leading livestock movement locus in real time, leading livestock movement locus is deposited
Storage is rear in main memory unit to be sent to control station, and the movement locus of leading livestock is carried out using unmanned plane analytic unit is driven
Analysis understands livestock movement locus in advance, is easy to herd family observation livestock, and can herd in next time by leading livestock movement locus
Shi Caiyong herds pattern automatically, it is not necessary to herds family and detects all the time and herds information, and realization is herded automatically；Infrared sensor is used for real-time
Livestock head number is monitored, and head number quantity is transmitted to control station, and the body temperature of each livestock can be transmitted to control station, by controlling
Stand and each livestock body temperature is analyzed.Speed acquisition unit is used to gather leading livestock movement velocity.Timing unit be divided into
Time quantum and grazing time unit are eaten, wherein eating time unit is controlled jointly by grazing time unit and speed acquisition unit
System, eating time unit is connected with control station, when the leading livestock movement velocity collected in speed acquisition unit is less than 5m/s,
Setting time can voluntarily be adjusted by herding family in speed acquisition unit starting grazing time unit, grazing time unit, be adopted in speed
Collection unit and grazing time reach that time quantum is fed after imposing a condition to be started, and is started to calculate livestock eating time, is worked as feed
Time exceedes setting eating time, drives unmanned plane livestock is sent and drive signal.Master data collection unit also includes alarm list
Member, inspection unit, standby unit and main electric power detection unit, alarm unit is connected with infrared sensor and control station respectively, red
Outer sensor detects livestock number in the current livestock zone of action that livestock number and control station are irised out by unmanned plane positioning signal
Amount contrast controls alarm unit on off state, when the livestock number that infrared sensor is detected then triggers alarm less than herding quantity
Unit.The inspection unit is electrically connected with main flying unit, preset operating time in inspection unit, and the working time is by unmanned plane
Start to calculate when taking off, when operating between when reaching setting value, the main flying unit that unmanned plane is driven in inspection unit control is returned
Control station, now drives unmanned plane while driving and following the trail of unmanned plane and together returns to control station；Main electric power detection unit is connected respectively
The power supply and main flying unit of unmanned plane are driven, unmanned plane dump energy is driven in monitoring to the main electric power detection unit in real time, main
Minimum electricity is set in electric power detection unit, is less than minimum electricity, main flying unit when driveing dump energy in unmanned electromechanical source
Control, which drives unmanned plane and follows the trail of unmanned plane, returns to hangar.Standby unit connects control station and hangar respectively, drives unmanned seat in the plane
In standby unit starting in hangar, control station sets the stand-by time of standby unit, and stand-by time returns to machine by driveing unmanned plane
Start to calculate during storehouse, after the working time is set as that 20-30min, stand-by time terminate in present embodiment, standby unit is closed,
Control station sends signal to driveing UAV Flight Control System, now drives unmanned plane and is controlled to follow the trail of according to current herds position
Unmanned plane flies to above herds to be patrolled.Unmanned plane possesses inspection function, it is ensured that unmanned plane is all the time in power supply abundance
Situation, because unmanned plane is without in running order for a long time, extends the service life of unmanned plane.
As present embodiment further preferably, auxiliary electric power detection unit is also included in the supplementary controlled system, it is auxiliary
Help electric power detection unit to connect the unmanned electromechanical source of tracking, assisting in flying unit and control station respectively, and minimum electricity is set, when chasing after
Track unmanned plane electricity is less than minimum electricity, and auxiliary electric power detection unit control assisting in flying unit switches to manual mode, controlled
The stand control tracking unmanned plane is back to hangar charging.
As present embodiment further preferably, master data collection unit also includes image capture module, data processing mould
Block and behavioral module, image capture module and the two-way electric connection of centralized control unit, image capture module pass through data processing
Module is deposited information is gathered into main memory unit；Behavioral module and the two-way electric connection of video storage modules, behavioral module
Transfer the live video in video module.Image capture module can carry out net cast using camera of taking photo by plane to herding process
With take pictures, by herd family setting take pictures interval time；Image capture module, data processing module are by coding compression module and converter
Constitute, main memory unit is adopted image by picture storage module, video storage modules and formation module composition, coding compression module
The picture that collection module is collected is compressed, and is deposited in after compression in picture storage module；Converter adopts image capture module
The live video collected is converted into three-dimensional live video, three-dimensional live video is deposited to video storage modules, control station passes through
Main memory unit checks three-dimensional live video using VR equipment, and the process of herding is checked with the first visual angle；Formation module ensure that nothing
The different formation rows for following the trail of unmanned plane quantity are preset in the man-machine comprehensive monitoring during herding to herds, formation module
Cloth.Behavioural analysis module includes video extraction, Target Segmentation module, characteristic extracting module and behavioural analysis module, video
Extraction module transfers the live video in video module, and alignment sensor of the live video by Target Segmentation module according to livestock is compiled
Number moving Object Segmentation is carried out to video, the target after segmentation extracts target signature in characteristic extracting module；Behavioural analysis mould
Block presets normal livestock behavior pattern, and behavioural analysis module is by the target signature in characteristic extracting module and normal livestock behavior mould
Formula comparative analysis, analytical structure is stored in the video storage modules of main memory unit.It is further preferred that centralized control unit
Comprising counting module, counting module is connected with control station, and control station sets in the counting module during herding and follows the trail of unmanned plane
Quantity, the formation that centralized control unit is transferred according to quantity in counting module in formation module is arranged, and centralized control unit will be believed
Number send to Auxiliary Control Element so that drive unmanned plane and follow the trail of unmanned plane and change formation formation.When tracking unmanned plane is in hand
Under dynamic model formula, directly flown due to following the trail of unmanned plane by control stand control, do not driven unmanned aerial vehicle (UAV) control, tracking now nobody
Machine is not responding to the formation arrangement signal of centralized control unit transmission.
Using infrared sensor detection it is possible that three kinds of situations during herding：
The first situation, the livestock number that detects when unmanned plane infrared sensor its quantity and is irised out to herd quantity
Livestock number in current livestock region is identical, shows that livestock number is correct, continues to herd.
Second of situation, herds quantity, its quantity is with irising out when the livestock number that unmanned plane infrared sensor is detected is less than
Current livestock region in livestock number it is identical, show there are indivedual livestocks to fall behind, unmanned plane open warning system, now follow the trail of
Unmanned plane switches tracking pattern, and the livestock fallen behind is rushed into herd again by the location information of the livestock, until unmanned plane
Livestock number in the livestock number of detection, current livestock region is identical with quantity is herded, then sounds all clear；
The third situation, quantity is herded when the livestock number that unmanned plane infrared sensor is detected is equal to, and control station passes through
Current livestock number, which is less than, herds quantity, shows livestock number with herding quantity phase by the livestock location information herded in region
Together, show that the label with indivedual livestocks drops, now control station by label drop position mark, after end is herded,
Retrieved it by herding family.
The preferred embodiments of the present invention have shown and described in described above, as previously described, it should be understood that not office of the invention
Be limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and
Environment, and can be changed in invention contemplated scope described herein by the technology or knowledge of above-mentioned teaching or association area
It is dynamic., then all should be appended by the present invention and the change and change that those skilled in the art are carried out do not depart from the spirit and scope of the present invention
In scope of the claims.
Claims (10)
1. a kind of unmanned plane grazing management system, including unmanned plane, hangar, fence and control station, control station and unmanned plane
Between by wireless transmission information, fence, which is limited, herds general area, and fence connects with unmanned plane and control station respectively
Connect, hangar is used to park unmanned plane, and unmanned plane includes driveing unmanned plane and follows the trail of unmanned plane, drives unmanned plane and be provided with main control
System, follows the trail of unmanned plane and is provided with supplementary controlled system；It is characterized in that：Master control system includes main flying unit, master data
Collecting unit, centralized control unit, main memory unit, main positioning unit, timing unit, master drive unit and analytic unit；In
Heart control unit and master data collection unit are electrically connected with, during the collection of master data collection unit is herded livestock positional information and
Body temperature information, master data collection unit is deposited in information is gathered in main memory unit, and main memory unit is connected with control station, meter
Shi Danyuan is connected with analytic unit, and analytic unit calls setting time in timing unit and main memory unit to be contrasted, analysis
Unit, which transmits contrast signal to master, drives unit；Main flying unit drives unmanned plane during flying for control；The fence
In be divided into several fences for independently herding region provided with will totally herd region, set on the electronic map by control station solely
Stand up pastoral area domain rotation grazing order.
2. the unmanned plane grazing management system according to claim 1, it is characterised in that：The supplementary controlled system includes auxiliary
Help flying unit, auxiliary data acquisition unit, Auxiliary Control Element, ASU auxiliary storage unit and auxiliary positioning unit, assisting in flying
Unit is used to control to follow the trail of unmanned plane during flying, and assisting in flying unit is divided into manual mode, automatic mode and tracking pattern, automatic mold
Under formula and tracking pattern Auxiliary Control Element under centralized control unit management and control, manual mode Auxiliary Control Element by control station control
System, follows the trail of between unmanned plane cuts off and driven unmanned plane and contacts；Auxiliary data acquisition unit, auxiliary master data collection unit are to domestic animal
Positional information and body temperature information collection are raiseeed, ASU auxiliary storage unit deposits the gathered data of auxiliary data acquisition unit, auxiliary positioning
Cell location follows the trail of unmanned plane during flying position.
3. the unmanned plane grazing management system according to claim 1, it is characterised in that：It is divided into hand in the main flying unit
Unmanned plane is driven under dynamic model formula and automatic mode, manual mode and drives unmanned plane under family control flight path, automatic mode by herding
Flight path is flown according to movement locus set in advance.
4. the unmanned plane grazing management system according to claim 1, it is characterised in that：The master data collection unit includes
Image capture module, data processing module and behavioral module, image capture module and the two-way electric connection of centralized control unit, figure
As acquisition module is deposited to main memory unit by data processing module by information is gathered；Behavioral module is double with video storage modules
Electrotropism is connected.
5. the unmanned plane grazing management system according to claim 4, it is characterised in that：The data processing module is by encoding
Compression module and converter are constituted, and main memory unit is by picture storage module, video storage modules and formation module composition, coding
Picture in compression module compression image capture module, picture storage module is deposited in after compression；Converter is by image capture module
Middle live video is converted into three-dimensional live video, and three-dimensional live video is deposited to video storage modules；Preset in formation module
Difference follows the trail of the formation arrangement of unmanned plane quantity.
6. the unmanned plane grazing management system according to claim 4, it is characterised in that：The behavioral module is carried including video
Modulus block, Target Segmentation module, characteristic extracting module and behavioural analysis module, video extraction is transferred live in video module
Video, alignment sensor numbering of the live video by Target Segmentation module according to livestock carries out moving Object Segmentation to video, point
Target after cutting extracts target signature in characteristic extracting module；Behavioural analysis module presets normal livestock behavior pattern, behavior
Analysis module is by the target signature in characteristic extracting module and normal livestock behavior pattern comparative analysis, and analysis result is preserved to regarding
In frequency memory module.
7. the unmanned plane grazing management system according to claim 1, it is characterised in that：The centralized control unit includes meter
Digital-to-analogue block, counting module is connected with control station, and control station sets in the counting module during herding and follows the trail of unmanned plane quantity.
8. the unmanned plane grazing management system according to claim 4, it is characterised in that：The master data collection unit is also wrapped
Locating and monitoring unit, infrared sensor and speed acquisition unit are included, locating and monitoring unit monitors movement locus in real time, will move rail
Mark sends control station after being stored in main memory unit；Infrared sensor is used to monitor livestock head number, by head number quantity and body temperature
Information transfer is to control station；Speed acquisition unit gathers leading livestock movement velocity.
9. the unmanned plane grazing management system according to claim 1, it is characterised in that：When the timing unit is divided into feed
Between unit and grazing time unit, wherein eating time unit enters by grazing time unit and speed acquisition unit co- controlling
Food time quantum is connected with control station.
10. the unmanned plane grazing management system according to claim 4, it is characterised in that：The master data collection unit is also
Including alarm unit, inspection unit, standby unit and main electric power detection unit, alarm unit respectively with infrared sensor and control
Stand connection, the current livestock zone of action that infrared sensor detection livestock number is irised out with control station by unmanned plane positioning signal
Interior livestock number contrasts to control alarm unit on off state；Unit of patrolling is electrically connected with main flying unit, main electric power detection
Unit connects the power supply and main flying unit for driveing unmanned plane respectively, and it is remaining that unmanned plane is driven in the monitoring in real time of main electric power detection unit
Electricity；Standby unit connects control station and hangar respectively, drives unmanned plane positioned at standby unit starting in hangar, control station setting
The stand-by time of standby unit.
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