CN107229289B - Unmanned aerial vehicle grazing management system - Google Patents
Unmanned aerial vehicle grazing management system Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract description 15
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- 230000033001 locomotion Effects 0.000 claims description 21
- 238000000605 extraction Methods 0.000 claims description 15
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- 230000015572 biosynthetic process Effects 0.000 claims description 2
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- 241000196324 Embryophyta Species 0.000 claims 1
- 230000036541 health Effects 0.000 abstract description 3
- 244000144980 herd Species 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
- 238000007726 management method Methods 0.000 description 7
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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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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
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Abstract
The invention provides an unmanned aerial vehicle grazing management system, which comprises an unmanned aerial vehicle, a hangar, an electronic fence and a control station, wherein the control station and the unmanned aerial vehicle are in wireless transmission, the electronic fence limits a grazing overall area, a main control system is arranged for driving the unmanned aerial vehicle, and an auxiliary control system is arranged for tracking the unmanned aerial vehicle; the central control unit is electrically connected with the main data acquisition unit in the main control system, the main data acquisition unit acquires livestock position information and body temperature information in the grazing process, the main data acquisition unit stores the acquired information in the main storage unit, the main storage unit is connected with the control station, the timing unit is connected with the analysis unit, the analysis unit calls set time in the timing unit and the main storage unit for comparison, and the analysis unit transmits comparison signals to the main driving unit; the main flight unit is used for controlling and driving the unmanned aerial vehicle to fly; unmanned aerial vehicle is independent to graze in the automatic mode, operation of a grazing user is not needed, and meanwhile health monitoring can be conducted on livestock.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle grazing management system.
Background
Currently, some herders use remote controllers to perform livestock operations on unmanned aerial vehicle controls, or single-machine livestock canine systems. The main problems at present are: when independent unmanned aerial vehicle carries out the operation of livestock, because only can drive in the one side of animal herd, can not be fine with the direction that the animal herd is caught up with needs. If the livestock escapes or is lost, and if the unmanned aerial vehicle is used for driving the escaped livestock back, other livestock are in an unattended state, so that problems are easy to occur; if the animal is not driven back to escape or lost, the animal will be lost; meanwhile, when the grazing distance of livestock is far, the grazing user is difficult to give the livestock to the management at ease, the safety of the livestock in the grazing process cannot be guaranteed, and the grazing user is required to monitor the livestock in real time. The utility model discloses a grazing system based on unmanned aerial vehicle cluster, including ground station and unmanned aerial vehicle cluster system, be equipped with route planning system and unmanned aerial vehicle control system in the ground station, unmanned aerial vehicle control system is connected with unmanned aerial vehicle cluster system communication, unmanned aerial vehicle cluster system comprises a plurality of groups flight control system, arbitrary a set of flight control system comprises a plurality of unmanned aerial vehicle bodies, flight control system and the power device electric connection in the unmanned aerial vehicle body, be equipped with monitoring device and stereo set on the unmanned aerial vehicle body, the stereo set is connected with unmanned aerial vehicle control system communication, owing to adopted technologies such as cluster control, route planning and independently take off, has simplified the operation flow to unmanned aerial vehicle, has improved the management efficiency that the herder was put in good order to the livestock. The grazing system only relates to the driving process, but in the grazing process, the pasture group has too long feeding time in the same area, so that vegetation is damaged, and meanwhile, the quality of the vegetation fed by livestock is poor, so that the health of the livestock is affected; in addition, in the driving process, the grazing area is not limited, so that the grazing area is too far, and the unmanned aerial vehicle is required to have higher performance requirements under the condition, so that the use cost of grazing households can be increased. Just as chinese patent CN205029771U discloses an intelligent grazing system. The system comprises: the system comprises an aerial unmanned aerial vehicle, a flight control center for controlling the flight route of the aerial unmanned aerial vehicle, a remote server, main equipment worn on the head of livestock and slave equipment worn on a plurality of slave livestock, wherein the number of the slave equipment is the same as that of the slave livestock; the master device is connected with the slave device, and the master device and the slave device are built into a wireless mesh network; the main equipment is in communication connection with the remote server; the remote server is in communication connection with the flight control center; the flight control center is connected with the aerial unmanned aerial vehicle. The system realizes digital remote monitoring and enables herding citizens to easily check the survival state of herd. Thereby realizing unmanned grazing. In the system, the condition of falling equipment is not considered, once the equipment falls, data transmission errors are easy to occur, meanwhile, the grazing area is not limited, a high-performance unmanned aerial vehicle is needed, and the purchase cost of a grazing user can be increased.
Disclosure of Invention
The invention provides an unmanned aerial vehicle grazing system for solving the problems of error data after label falling, overlong feeding time in a single area and incomplete monitoring in the prior art.
The invention provides an unmanned aerial vehicle grazing management system, which comprises an unmanned aerial vehicle, a hangar, an electronic fence and a control station, wherein the control station and the unmanned aerial vehicle are in wireless transmission, the electronic fence is used for limiting a grazing overall area, the electronic fence is respectively connected with the unmanned aerial vehicle and the control station, the hangar is used for parking the unmanned aerial vehicle, the unmanned aerial vehicle comprises a driving unmanned aerial vehicle and a tracking unmanned aerial vehicle, the driving unmanned aerial vehicle is provided with a main control system, and the tracking unmanned aerial vehicle is provided with an auxiliary control system; the innovation point is that: the main control system comprises a main flight unit, a main data acquisition unit, a central control unit, a main storage unit, a main positioning unit, a timing unit, a main driving unit and an analysis unit; the central control unit is electrically connected with the main data acquisition unit, the main data acquisition unit acquires livestock position information and body temperature information in the grazing process, the main data acquisition unit stores the acquired information in the main storage unit, the main storage unit is connected with the control station, the timing unit is connected with the analysis unit, the analysis unit calls the timing unit to compare with the set time in the main storage unit, and the analysis unit transmits a comparison signal to the main driving unit; the main flight unit is used for controlling and driving the unmanned aerial vehicle to fly; the electronic fence is internally provided with a fence for dividing the overall grazing area into a plurality of independent grazing areas, and the control station sets the rotation grazing sequence of the independent grazing areas on the electronic map.
Further, the auxiliary control system comprises an auxiliary flight unit, an auxiliary data acquisition unit, an auxiliary control unit, an auxiliary storage unit and an auxiliary positioning unit, wherein the auxiliary flight unit is used for controlling and tracking the flight of the unmanned aerial vehicle, the auxiliary flight unit is divided into a manual mode, an automatic mode and a tracking mode, the auxiliary control unit is controlled by the central control unit in the automatic mode and the tracking mode, the auxiliary control unit is controlled by the control station in the manual mode, and the unmanned aerial vehicle is tracked to cut off and drive the connection between the unmanned aerial vehicle; the auxiliary data acquisition unit assists the main data acquisition unit to acquire livestock position information and body temperature information, the auxiliary storage unit stores acquired data of the auxiliary data acquisition unit, and the auxiliary positioning unit positions and tracks the flight position of the unmanned aerial vehicle.
Further, the main flight unit is divided into a manual mode and an automatic mode, the unmanned aerial vehicle is driven in the manual mode to control the flight track by the herd, and the unmanned aerial vehicle is driven in the automatic mode to fly according to the preset movement track.
Further, the main data acquisition unit comprises an image acquisition module, a data processing module and a behavior module, wherein the image acquisition module is in bidirectional electrical connection with the central control unit, and the image acquisition module stores acquisition information into the main storage unit through the data processing module; the behavior module is in bidirectional electrical connection with the video storage module.
Further, the data processing module is composed of a coding compression module and a converter, the main storage unit is composed of a picture storage module, a video storage module and a matrix module, the coding compression module compresses pictures in the image acquisition module, and the pictures are stored in the picture storage module after being compressed; the converter converts the live video in the image acquisition module into three-dimensional live video, and stores the three-dimensional live video in the video storage module; the array type module is preset with array type arrangement of different tracking unmanned aerial vehicle numbers.
Further, the behavior module comprises a video extraction module, a target segmentation module, a feature extraction module and a behavior analysis module, wherein the video extraction module invokes live videos in the video module, the live videos are segmented by the target segmentation module according to the serial numbers of the positioning sensors of the livestock, and the segmented targets extract target features in the feature extraction module; the behavior analysis module presets a normal livestock behavior mode, the behavior analysis module compares and analyzes the target features in the feature extraction module with the normal livestock behavior mode, and analysis results are stored in the video storage module.
Further, the central control unit comprises a counting module, the counting module is connected with the control station, and the control station is used for tracking the number of unmanned aerial vehicles in the counting module in the grazing process.
Further, the main data acquisition unit also comprises a positioning monitoring unit, an infrared sensor and a speed acquisition unit, wherein the positioning monitoring unit monitors the motion trail in real time, stores the motion trail in the main storage unit and then sends the motion trail to the control station; the infrared sensor is used for monitoring the number of the livestock heads and transmitting the number of the heads and the body temperature information to the control station; the speed acquisition unit acquires the movement speed of the lead livestock.
Further, the timing unit is divided into a feeding time unit and a grazing time unit, wherein the feeding time unit is jointly controlled by the grazing time unit and the speed acquisition unit, and the feeding time unit is connected with the control station.
Further, the main data acquisition unit further comprises an alarm unit, a patrol unit, a standby unit and a main electric quantity detection unit, wherein the alarm unit is respectively connected with an infrared sensor and a control station, and the infrared sensor detects the quantity of livestock and the quantity of livestock in the current livestock moving area encircled by the control station through the unmanned aerial vehicle positioning signal to control the on-off state of the alarm unit. The inspection unit is electrically connected with the main flight unit, the main electric quantity detection unit is respectively connected with a power supply of the driving unmanned aerial vehicle and the main flight unit, and the main electric quantity detection unit monitors the residual electric quantity of the driving unmanned aerial vehicle in real time; the standby unit is respectively connected with the control station and the hangar, drives the unmanned aerial vehicle to be positioned in the hangar and starts the standby unit, and the control station sets the standby time of the standby unit.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the unmanned aerial vehicle grazing system disclosed by the invention, a grazing user can detect livestock information in real time through the control station; the storage unit is preset with a livestock movement track and a grass eating time of the livestock in the same area; the positioning unit is internally provided with a positioning device, and the positioning device feeds back the position information of the unmanned aerial vehicle to the control station, so that a herd can conveniently adjust the position of the unmanned aerial vehicle, and the unmanned aerial vehicle is always positioned at the periphery of the upper side of livestock; meanwhile, the flight control system is divided into an automatic mode and a manual mode, so that unmanned aerial vehicle autonomous grazing can be realized in the automatic mode, operation of a grazing user is not needed, and the unmanned aerial vehicle is only required to be switched to the manual mode under the condition that the grazing user needs to operate.
2. And setting the rotation grazing sequence of the independent grazing areas on the electronic map by the control station according to seasons or months. The grazing area is limited by the electronic fence, the condition that the grazing area is too far can not occur, damage of livestock groups to other grasslands is prevented, accurate area grazing can be achieved, meanwhile, the grasslands are prevented from being excessively developed, and ecological balance in the grasslands is maintained.
3. When the motion speed of the leading livestock collected in the speed collection unit is less than 5m/s, the speed collection unit starts the grazing time unit, the set time in the grazing time unit is 5min, the feeding time unit is started after the speed collection unit and the grazing time reach set conditions, the feeding time of the livestock is calculated, when the feeding time exceeds the set feeding time, the control station controls the unmanned aerial vehicle to send a driving signal to the livestock, so that the situation that the livestock eat grass in the same area for too long time is avoided, and meanwhile, the livestock can be prevented from biting the grassland in a transitional mode.
4. The infrared sensor monitors the number of heads of livestock in real time, transmits the number of heads to the control station, transmits the body temperature of each livestock to the control station, analyzes the body temperature of each livestock by the control station, and compares the body temperature with the livestock data monitored in the livestock area encircled by the control station through the unmanned aerial vehicle positioning signal, so that the tag of each individual livestock is prevented from falling and information errors are avoided.
5. The main data acquisition unit comprises a behavior module, and the animal health and comfort conditions are analyzed through the behavior module, so that the result is more objective compared with the artificial experience observation; the array type arrangement of the number of the unmanned aerial vehicles is preset in the array type module, the array type is changed according to the number of the unmanned aerial vehicles tracked in the counting module, and the unmanned aerial vehicles are guaranteed to monitor the herd in all directions in the grazing process.
6. The converter in the data processor converts the live video acquired by the image acquisition module into three-dimensional live video, stores the three-dimensional live video in the video storage module, and the control station checks the three-dimensional live video through the main storage unit by adopting VR equipment to check the grazing process at a first visual angle.
7. Set up inspection unit, standby unit in the main control system, guaranteed unmanned aerial vehicle be in the abundant condition of power throughout through setting for inspection time to set for unmanned aerial vehicle need not to be in operating condition for a long time, prolonged unmanned aerial vehicle's life. And meanwhile, the standby time in the hangar is set in the standby unit, so that the unmanned aerial vehicle has a patrol function.
Drawings
FIG. 1 is a schematic diagram of a drone management system;
fig. 2 is a schematic diagram of a driving unmanned aerial vehicle main control system.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
This embodiment discloses unmanned aerial vehicle grazing management system, including unmanned aerial vehicle, hangar, electronic fence and control station, through wireless transmission information between control station and the unmanned aerial vehicle, the electronic fence is installed and is circled overall grazing region on the grassland, and the electronic fence links to each other with the control station, is equipped with the electronic map that pairs with the electronic fence in the control station, is equipped with the rail that divides into a plurality of independent grazing region with overall grazing region in the electronic fence, sets for the grazing sequence of independent grazing region on the electronic map by the control station according to season or month. And displaying the grazing area and the GPS positioning information of the livestock on the electronic map. The grazing area is limited by the electronic fence, the condition that the grazing area is too far can not occur, damage of livestock groups to other grasslands is prevented, accurate area grazing can be achieved, meanwhile, the grasslands are prevented from being excessively developed, and ecological balance in the grasslands is maintained. Divide into among the unmanned aerial vehicle and drive unmanned aerial vehicle and trace unmanned aerial vehicle, drive unmanned aerial vehicle and drive livestock to eat the grass region, trace unmanned aerial vehicle and be arranged in will falling single individual livestock and drive back in the livestock crowd, at the in-process of grazing, unmanned aerial vehicle total number N is greater than or equal to 3, wherein drive unmanned aerial vehicle quantity N 1 =1, track number of drones n 2 More than or equal to 2, driving unmanned aerial vehicles and tracking unmanned aerial vehicles are distributed on the periphery of the upper side of the livestock, a current livestock moving area is formed among the unmanned aerial vehicles, and the moving area is larger than the actual current livestockIn the area; the hangar is used for parking unmanned aerial vehicle and can charge to unmanned aerial vehicle, and the charging mode adopts bluetooth to charge or wired charging. Each unmanned aerial vehicle is provided with an independent flight control system, the flight control system for driving the unmanned aerial vehicle to be installed is a main control system, and the flight control system for tracking the unmanned aerial vehicle to be installed is an auxiliary control system. Before grazing, a tag is arranged on the body of each livestock, a positioning sensor is arranged in the tag, and the positioning sensor of each livestock is provided with a specific number.
The main control system comprises a main flight unit, a main data acquisition unit, a central control unit, a main storage unit, a main positioning unit, a timing unit, a main driving unit and an analysis unit; the central control unit is electrically connected with the main data acquisition unit, the main data acquisition unit acquires livestock position information and body temperature information in the grazing process, the main data acquisition unit stores the acquired information in the main storage unit, the main storage unit is connected with the control station, and a grazing user can detect the livestock information in real time through the control station; the main storage unit is preset with a livestock movement track and a grass eating time of the livestock in the same area; be equipped with positioner in the main positioning unit, will drive unmanned aerial vehicle positional information feedback to the control station through main positioner, make things convenient for the herd owner to adjust and drive unmanned aerial vehicle position for it is in livestock upside periphery all the time to drive unmanned aerial vehicle. The timing unit is connected with the analysis unit, the analysis unit calls the timing unit to compare with the set time in the main storage unit, and the analysis unit transmits a comparison signal to the main driving unit. The master driving unit can pre-record the driving sound of the grazing family. When the time of the timing unit exceeds the set time, the driving unmanned aerial vehicle starts the driving unit to send driving signals to the livestock, so that the livestock is prevented from eating grass in the same area for too long, and meanwhile, the livestock can be prevented from biting the grassland in a transitional mode. The main flight unit is used for controlling the unmanned aerial vehicle to fly, the main flight unit is divided into a manual mode and an automatic mode, the unmanned aerial vehicle to be driven in the manual mode is controlled by a herder to fly in a track, and the unmanned aerial vehicle to be driven in the automatic mode flies in accordance with a preset motion track. The auxiliary control system comprises an auxiliary flight unit, an auxiliary data acquisition unit, an auxiliary control unit, an auxiliary storage unit and an auxiliary positioning unit, wherein the auxiliary flight unit is used for controlling and tracking the unmanned aerial vehicle to fly, the auxiliary flight unit is divided into a manual mode and an automatic mode, the auxiliary control unit is controlled by the central control unit in the automatic mode, the auxiliary control unit is controlled by the control station in the manual mode, and the unmanned aerial vehicle is tracked to switch and drive the unmanned aerial vehicle. The auxiliary data acquisition unit assists the main data acquisition unit to acquire livestock position information and body temperature information, the auxiliary storage unit stores acquired data of the auxiliary data acquisition unit, and the auxiliary positioning unit positions and tracks the flight position of the unmanned aerial vehicle.
As a further preferred mode of the embodiment, the main data acquisition unit comprises a positioning monitoring unit, an infrared sensor and a speed acquisition unit, the positioning monitoring unit is used for monitoring the motion trail of the lead livestock in real time, the motion trail of the lead livestock is stored in the main storage unit and then is sent to the control station, the motion trail of the lead livestock is analyzed and known in advance by the driving unmanned aerial vehicle analysis unit, so that a grazing user can observe the livestock conveniently, an automatic grazing mode can be adopted in the next grazing through the motion trail of the lead livestock, grazing information is not required to be always detected by the grazing user, and automatic grazing is realized; the infrared sensor is used for monitoring the number of the livestock heads in real time, transmitting the number of the heads to the control station, and transmitting the body temperature of each livestock to the control station, and analyzing the body temperature of each livestock by the control station. The speed acquisition unit is used for acquiring the movement speed of the leading livestock. The timing unit is divided into a feeding time unit and a grazing time unit, wherein the feeding time unit is jointly controlled by the grazing time unit and the speed acquisition unit, the feeding time unit is connected with the control station, when the movement speed of the lead livestock acquired in the speed acquisition unit is less than 5m/s, the speed acquisition unit starts the grazing time unit, the set time in the grazing time unit can be automatically adjusted by a grazing user, the feeding time unit is started after the speed acquisition unit and the grazing time reach the set conditions, the feeding time of livestock starts to be calculated, and when the feeding time exceeds the set feeding time, the driving unmanned aerial vehicle sends driving signals to the livestock. The main data acquisition unit further comprises an alarm unit, a patrol unit, a standby unit and a main electric quantity detection unit, wherein the alarm unit is respectively connected with the infrared sensor and the control station, the infrared sensor detects the quantity of livestock and the control station controls the on-off state of the alarm unit through the quantity comparison of livestock in the current livestock moving area encircled by the unmanned aerial vehicle positioning signal, and the alarm unit is triggered when the quantity of livestock detected by the infrared sensor is lower than the grazing quantity. The inspection unit is electrically connected with the main flight unit, working time is preset in the inspection unit, the working time starts to be calculated when the unmanned aerial vehicle takes off, when the working time reaches a set value, the inspection unit controls the main flight unit of the driving unmanned aerial vehicle to return to the control station, and at the moment, the driving unmanned aerial vehicle drives the tracking unmanned aerial vehicle to return to the control station together; the power and the main flight unit of unmanned aerial vehicle are driven respectively to main electric quantity detecting element, the main electric quantity detecting element real-time supervision drives unmanned aerial vehicle residual capacity, sets up minimum electric quantity in the main electric quantity detecting element, is less than minimum electric quantity when driving the residual capacity in the unmanned aerial vehicle power, and the main flight unit control drives unmanned aerial vehicle and pursues unmanned aerial vehicle and return the hangar. The standby unit is respectively connected with the control station and the hangar, the driving unmanned aerial vehicle is located in the hangar and started by the standby unit, the control station sets the standby time of the standby unit, the standby time is calculated when the driving unmanned aerial vehicle returns to the hangar, the working time is set to 20-30min in the embodiment, after the standby time is finished, the standby unit is closed, the control station sends a signal to the driving unmanned aerial vehicle flight control system, and at the moment, the driving unmanned aerial vehicle controls and tracks the unmanned aerial vehicle to fly to the upper part of the herd according to the current herd position to carry out inspection. Unmanned aerial vehicle possesses the inspection function, has guaranteed that unmanned aerial vehicle is in the condition that the power is sufficient all the time, because unmanned aerial vehicle need not to be in operating condition for a long time, has prolonged unmanned aerial vehicle's life.
As a further preferred mode of this embodiment, the auxiliary control system further includes an auxiliary power detection unit, the auxiliary power detection unit is respectively connected with the power supply of the tracking unmanned aerial vehicle, the auxiliary flight unit and the control station, and sets the minimum power, when the power of the tracking unmanned aerial vehicle is lower than the minimum power, the auxiliary power detection unit controls the auxiliary flight unit to switch to the manual mode, and the control station controls the tracking unmanned aerial vehicle to return to the hangar for charging.
As a further preferred mode of implementation, the main data acquisition unit further comprises an image acquisition module, a data processing module and a behavior module, wherein the image acquisition module is in bidirectional electrical connection with the central control unit, and the image acquisition module stores acquisition information into the main storage unit through the data processing module; the behavior module is in bidirectional electrical connection with the video storage module, and the behavior module invokes the live video in the video module. The image acquisition module adopts an aerial photographing image head, video live broadcasting and photographing can be carried out in the grazing process, and a grazing user sets photographing interval time; the image acquisition module and the data processing module are composed of an encoding compression module and a converter, the main storage unit is composed of a picture storage module, a video storage module and a matrix module, and the encoding compression module compresses pictures acquired by the image acquisition module and stores the compressed pictures in the picture storage module; the converter converts the live video acquired by the image acquisition module into three-dimensional live video, the three-dimensional live video is stored in the video storage module, the control station checks the three-dimensional live video through the main storage unit by adopting VR equipment, and the grazing process is checked at a first view angle; the array type module guarantees the omnibearing monitoring of unmanned aerial vehicle to pasture groups in the grazing process, and array type arrangement of the number of unmanned aerial vehicles is preset in the array type module. The behavior analysis module comprises a video extraction module, a target segmentation module, a feature extraction module and a behavior analysis module, wherein the video extraction module invokes a live video in the video module, the live video is subjected to moving target segmentation by the target segmentation module according to the number of a positioning sensor of livestock, and the segmented target extracts target features in the feature extraction module; the behavior analysis module presets a normal livestock behavior mode, the behavior analysis module compares and analyzes target features in the feature extraction module with the normal livestock behavior mode, and the analysis structure is stored in the video storage module of the main storage unit. Further preferably, the central control unit comprises a counting module, the counting module is connected with the control station, the control station sets the counting module in the grazing process to track the number of unmanned aerial vehicles, the central control unit invokes the array type arrangement in the array type module according to the number in the counting module, and the central control unit sends signals to the auxiliary control unit, so that unmanned aerial vehicles are driven and unmanned aerial vehicles are tracked to change formation array types. When the tracking unmanned aerial vehicle is in a manual mode, the tracking unmanned aerial vehicle is directly controlled by the control station to fly and is not controlled by the driving unmanned aerial vehicle, and the tracking unmanned aerial vehicle does not respond to the array type arrangement signal sent by the central control unit.
Three situations may occur in grazing with infrared sensor detection:
first, when unmanned aerial vehicle infrared sensor detects the livestock quantity be the grazing quantity, its quantity is the same with the current livestock in the livestock district of circling, indicates that the livestock quantity is correct, continues to graze.
In the second case, when the number of the livestock detected by the infrared sensor of the unmanned aerial vehicle is smaller than the grazing number, the number of the livestock is the same as the number of the livestock in the current livestock area, which is encircled, indicating that individual livestock fall behind, the unmanned aerial vehicle starts an alarm system, at the moment, the unmanned aerial vehicle is tracked to switch a tracking mode, and the falling livestock are driven to the livestock group again through the positioning information of the livestock until the number of the livestock detected by the unmanned aerial vehicle, the number of the livestock in the current livestock area and the grazing number are the same, and then the alarm is released;
in a third case, when the number of the livestock detected by the infrared sensor of the unmanned aerial vehicle is equal to the grazing number, and the control station is smaller than the grazing number through the current number of the livestock, the number of the livestock is identical to the grazing number through the livestock positioning information in the grazing area, the falling of the tags on individual livestock is indicated, the tag falling position is marked by the control station, and after the grazing is finished, the tags are retrieved by a grazing user.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, as noted above, it is to be understood that the invention is not limited to the forms disclosed herein but is not to be construed as excluding other embodiments, and that various other combinations, modifications and environments are possible and may be made within the scope of the inventive concepts described herein, either by way of the foregoing teachings or by those of skill or knowledge of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (2)
1. The unmanned aerial vehicle grazing management system comprises an unmanned aerial vehicle, a hangar, an electronic fence and a control station, wherein the control station and the unmanned aerial vehicle are in wireless transmission, the electronic fence defines a grazing overall area, the electronic fence is respectively connected with the unmanned aerial vehicle and the control station, the hangar is used for parking the unmanned aerial vehicle, the unmanned aerial vehicle comprises a driving unmanned aerial vehicle and a tracking unmanned aerial vehicle, the driving unmanned aerial vehicle is provided with a main control system, and the tracking unmanned aerial vehicle is provided with an auxiliary control system; the method is characterized in that: the main control system comprises a main flight unit, a main data acquisition unit, a central control unit, a main storage unit, a main positioning unit, a timing unit, a main driving unit and an analysis unit; the central control unit is electrically connected with the main data acquisition unit, the main data acquisition unit acquires livestock position information and body temperature information in the grazing process, the main data acquisition unit stores the acquired information in the main storage unit, the main storage unit is connected with the control station, the timing unit is connected with the analysis unit, the analysis unit calls the timing unit to compare with the set time in the main storage unit, and the analysis unit transmits a comparison signal to the main driving unit; the main flight unit is used for controlling and driving the unmanned aerial vehicle to fly; the electronic fence is internally provided with a fence which divides the overall grazing area into a plurality of independent grazing areas, and a control station sets the rotation grazing sequence of the independent grazing areas on an electronic map; the driving unmanned aerial vehicle drives the livestock to the weed eating area, and the tracking unmanned aerial vehicle is used for driving the individual livestock falling on the bill back to the livestock group;
the auxiliary control system comprises an auxiliary flight unit, an auxiliary data acquisition unit, an auxiliary control unit, an auxiliary storage unit and an auxiliary positioning unit, wherein the auxiliary flight unit is used for controlling and tracking the flight of the unmanned aerial vehicle, the auxiliary flight unit is divided into a manual mode, an automatic mode and a tracking mode, the auxiliary control unit is controlled by the central control unit in the automatic mode and the tracking mode, the auxiliary control unit is controlled by the control station in the manual mode, and the unmanned aerial vehicle is tracked to cut off and drive the unmanned aerial vehicle; the auxiliary data acquisition unit and the auxiliary main data acquisition unit acquire livestock position information and body temperature information, the auxiliary storage unit stores acquired data of the auxiliary data acquisition unit, and the auxiliary positioning unit positions and tracks the flight position of the unmanned aerial vehicle;
the main flight unit is divided into a manual mode and an automatic mode, wherein the driving unmanned aerial vehicle in the manual mode controls the flight track by a herder, and the driving unmanned aerial vehicle in the automatic mode flies according to a preset movement track;
the main data acquisition unit comprises an image acquisition module, a data processing module and a behavior module, wherein the image acquisition module is in bidirectional electrical connection with the central control unit, and the image acquisition module stores acquisition information into the main storage unit through the data processing module; the behavior module is in bidirectional electrical connection with the video storage module;
the data processing module consists of a coding compression module and a converter, the main storage unit consists of a picture storage module, a video storage module and a matrix module, the coding compression module compresses pictures in the image acquisition module, and the pictures are stored in the picture storage module after being compressed; the converter converts the live video in the image acquisition module into three-dimensional live video, and stores the three-dimensional live video in the video storage module; the array type arrangement of the number of the different tracking unmanned aerial vehicles is preset in the array type module;
the behavior module comprises a video extraction module, a target segmentation module, a feature extraction module and a behavior analysis module, wherein the video extraction module invokes a live video in the video module, the live video is subjected to moving target segmentation by the target segmentation module according to the serial numbers of the positioning sensors of the livestock, and the segmented target extracts target features in the feature extraction module; the behavior analysis module presets a normal livestock behavior mode, the behavior analysis module compares and analyzes target features in the feature extraction module with the normal livestock behavior mode, and analysis results are stored in the video storage module;
the central control unit comprises a counting module, the counting module is connected with the control station, the control station sets the number of unmanned aerial vehicles in the counting module in the grazing process, the central control unit invokes the array arrangement in the array module according to the number in the counting module, and the central control unit sends signals to the auxiliary control unit, so that the unmanned aerial vehicles are driven and the unmanned aerial vehicles are tracked to change the formation array, and the array module ensures the omnibearing monitoring of the pasture group by the unmanned aerial vehicles in the grazing process;
the main data acquisition unit also comprises a positioning monitoring unit, an infrared sensor and a speed acquisition unit, wherein the positioning monitoring unit monitors the motion trail in real time, stores the motion trail in the main storage unit and then sends the motion trail to the control station; before grazing, a tag is arranged on the body of each livestock, a positioning sensor is arranged in the tag, and the positioning sensor of each livestock is provided with a specific number; the infrared sensor is used for monitoring the number of the livestock heads and transmitting the number of the heads and the body temperature information to the control station; the speed acquisition unit acquires the movement speed of the lead livestock; when the quantity of the livestock detected by the infrared sensor of the unmanned aerial vehicle is equal to the grazing quantity, and the quantity of the livestock is smaller than the grazing quantity through the current quantity of the livestock, the quantity of the livestock is the same as the grazing quantity through the livestock positioning information in the grazing area, the condition that the labels on the individual livestock fall is indicated, at the moment, the control station marks the falling positions of the labels, and after the grazing is finished, the labels are retrieved by grazing households;
the timing unit is divided into a feeding time unit and a grazing time unit, wherein the feeding time unit is controlled by the grazing time unit and the speed acquisition unit, and the feeding time unit is connected with the control station; when the motion speed of the leading livestock collected in the speed collection unit is less than 5m/s, the speed collection unit starts the grazing time unit, the set time in the grazing time unit is 5min, the feeding time unit is started after the speed collection unit and the grazing time reach set conditions, the feeding time of the livestock is calculated, when the feeding time exceeds the set feeding time, the control station controls the unmanned aerial vehicle to send a driving signal to the livestock, so that the situation that the livestock eat grass in the same area for too long time is avoided, and meanwhile, the livestock can be prevented from biting the grassland in a transitional mode.
2. The unmanned aerial vehicle grazing management system of claim 1, wherein: the main data acquisition unit further comprises an alarm unit, a patrol unit, a standby unit and a main electric quantity detection unit, wherein the alarm unit is respectively connected with an infrared sensor and a control station, and the infrared sensor detects the quantity of livestock and the quantity of livestock in a current livestock active area encircled by the control station through an unmanned aerial vehicle positioning signal to control the on-off state of the alarm unit; the inspection unit is electrically connected with the main flight unit, the main electric quantity detection unit is respectively connected with a power supply of the driving unmanned aerial vehicle and the main flight unit, and the main electric quantity detection unit monitors the residual electric quantity of the driving unmanned aerial vehicle in real time; the standby unit is respectively connected with the control station and the hangar, drives the unmanned aerial vehicle to be positioned in the hangar and starts the standby unit, and the control station sets the standby time of the standby unit.
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