CN107608374A - Apparatus and system is herded based on aircraft - Google Patents
Apparatus and system is herded based on aircraft Download PDFInfo
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- CN107608374A CN107608374A CN201710755351.7A CN201710755351A CN107608374A CN 107608374 A CN107608374 A CN 107608374A CN 201710755351 A CN201710755351 A CN 201710755351A CN 107608374 A CN107608374 A CN 107608374A
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Abstract
The present invention is applied to raise technical field, there is provided a kind of to herd apparatus and system based on aircraft, the device includes：Photographing module, for carrying out annular shooting to pasture ground, the image of shooting is sent to disengaging judge module；Depart from judge module and identify whether there is livestock to depart from herds based on shooting image, if judging to there is livestock to depart from herds, obtain the position for departing from herds livestock and depart from walking orientation of the herds livestock relative to herds；Flight control modules, flown to based on the position control aircraft for departing from herds livestock and depart from the top of herds livestock position；When flight to the top for departing from herds livestock position, module is driven based on launch angle of the herds livestock relative to the walking orientation adjustment laser of herds is departed from, laser is driven, so that livestock walks towards the direction of herds.The embodiment of the present invention is positioned and driven to the livestock for departing from herds by the image that capture apparatus is shot, and effectively can prevent livestock from losing.
Description
Technical field
The invention belongs to raise technical field, there is provided a kind of to herd apparatus and system based on aircraft.
Background technology
It is to have certain free degree during herding as ox, sheep, horse these livestocks in existing herding work, can be on grassland
Free activity, in order to prevent livestock from departing from herds, traditional approach is to follow nurse by experienced caregiver, will be sent out
The livestock for now departing from herds comes back herds in time, but artificial energy is limited, the situation of livestock loss easily occurs.
The content of the invention
Offer of the embodiment of the present invention is a kind of to herd apparatus and system based on aircraft, it is intended to solves traditional Grazing system and holds
Easily there is the problem of livestock loss.
The present invention be achieved in that it is a kind of device is herded based on aircraft, described device includes：On aircraft
Photographing module, depart from and judge module, flight control modules and drive module, wherein,
The photographing module, for carrying out annular shooting to pasture ground scene, and the image of shooting is sent to described
Depart from judge module；
The disengaging judge module identifies whether have livestock to depart from herds based on the shooting image, if judging to have livestock to take off
From herds, then obtain the position for departing from herds livestock and depart from herds livestock relative to the walking orientation of herds, will obtain
The position for departing from herds livestock is sent to the flight control modules, while will be disengaged from row of the herds livestock relative to herds
Walk orientation and send to described to drive module；
Flight control modules, flown to based on the position control aircraft for departing from herds livestock and depart from herds livestock place
The top of position；
When the flight to the top for departing from herds livestock position, drive module and be based on the disengaging herds livestock
Relative to the launch angle of the walking orientation adjustment laser of herds, laser is driven, so that livestock walks towards the direction of herds.
Further, the disengaging judge module includes：Contours extract unit, statistic unit, metrics calculation unit and sentence
Order member, wherein,
The contours extract unit, for extracting livestock profile in the shooting image；
The statistic unit, for counting the quantity of the livestock profile in designated area；
The first designated area that livestock outlines are less than amount threshold is obtained, then metrics calculation unit calculates first and specified
Distance of each livestock away from adjacent designated area in region,
If the distance value is more than distance threshold, the identifying unit judges corresponding livestock to depart from the livestock of herds.
Further, the deviation determining module includes：Thing extraction unit and position determination unit are demarcated, wherein,
Thing extraction unit is demarcated, for the extraction demarcation thing from the image of the shooting, the demarcation thing is herded for mark
Field position；
Position determination unit, based on demarcation thing and de- herds livestock relative position in the picture and demarcate the pantograph ratio of thing
Example, calculate the position for departing from herds livestock.
Further, the device of herding also includes:Locating module on leading livestock, the locating module are used for
The position of leading livestock is detected, and the leading livestock position is sent to the flight control modules；
Before the photographing module is imaged, neck of the flight control modules based on locating module timing transmission
Head livestock position controls aircraft flight to the top of leading livestock.
Further, the device of herding also includes：Distance measuring sensor,
At aircraft flight to the top for departing from herds livestock, the distance measuring sensor detection laser is to departing from herds
The distance of livestock, and the distance value is sent to described and drives module, the module of driveing is swashed based on distance value regulation
The emissive porwer of light.
Further, the system includes：At least two frame aircraft and the processor being connected with aircraft communication, it is described
It is each equipped with herding device as described in claim 1 to 5 any claim on aircraft；
The processor is used for the operating area for distributing aircraft,
The aircraft is responsible for the management of herds in distribution region.
The embodiment of the present invention shoots the herds on pasture ground by photographing module, is obtained based on shooting image and departs from herds domestic animal
The position of poultry and the walking orientation relative to herds, and then laser impact is controlled in livestock corresponding position, so that livestock court herds
The direction walking of group, the embodiment of the present invention are positioned and driven to the livestock for departing from herds based on the image that capture apparatus is shot
Catch up with, effectively can prevent livestock from losing.
Brief description of the drawings
Fig. 1 is the structural representation provided in an embodiment of the present invention that herd device based on aircraft；
Fig. 2 is the structural representation of the grazing system provided in an embodiment of the present invention based on aircraft；
1. photographing module, 2. depart from judge module, 21. contours extract units, 22. statistic units, 23. distances and calculate list
Member, 24. judging units, 25. demarcation thing extraction units, 26. position determination units, 3. flight control modules, 4. drive modules, 5.
Device is herded in locating module, 6. distance measuring sensors, 10. aircraft, 20. controllers, 30..
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structural representation provided by the invention that device is herded based on aircraft, for convenience of description, only show with
Related part of the invention；
Aircraft in the embodiment of the present invention is more rotary wind type unmanned vehicles, and more rotary wind type unmanned vehicles can vertically rise
Drop, it is aerial to turn to flexibly, the detecting of complex environment can be directed to, this, which herds device 30, includes：Located at carry-on photographing module
1st, depart from judge module 2, flight control modules 3 and drive module 4；
Photographing module 1 carries out annular shooting to pasture ground scene, and the image of shooting is sent to disengaging judge module
2；
In embodiments of the present invention, using infrared and visible ray dual camera picture pick-up device, this takes the photograph photographing module 1
As equipment is fixed on aircraft by head, and device location adjustment function and stabilization function can be provided so that shooting is set
It is standby to efficiently accomplish characteristics of image contrast and shoot function under circumstances.Head is can backspin in left rotation and right rotation and can
The all-directional tripod head turned, suitable for shooting on a large scale.
Depart from judge module 2 and identify whether there is livestock to depart from herds based on shooting image, if judging to there is livestock to depart from herds,
Then obtain the position for departing from herds livestock and depart from herds livestock relative to the walking orientation of herds, will be disengaged from herds livestock
Position send to flight control modules 3, while will be disengaged from herds livestock and sent relative to the walking orientation of herds to drive
Catch up with module 4；
Flight control modules 3, flown to the livestock position based on the position control aircraft for departing from herds livestock
Top；
When above aircraft flight to the position for departing from herds livestock, drive module 4 and be based on departing from herds livestock
Relative to the launch angle of the walking orientation adjustment laser of herds, laser is driven, so that livestock walks towards the direction of herds.
The embodiment of the present invention shoots the herds on pasture ground by photographing module 1, is obtained based on shooting image and departs from herds
The position of livestock and the walking orientation relative to herds, and then laser impact is controlled in livestock corresponding position, so that livestock court
The direction walking of herds, the embodiment of the present invention are positioned and driven to the livestock for departing from herds based on the image that capture apparatus is shot
Catch up with, effectively can prevent livestock from losing, in addition, entirely herding process no manual intervention, can be replicated on a large scale.
Disengaging judge module 2 in the embodiment of the present invention includes：Contours extract unit 21, statistic unit 22, distance calculate
Unit 23 and identifying unit 24, wherein,
Contours extract unit 21, for extracting the profile of livestock in shooting image；
Statistic unit 22, for counting the quantity of the livestock profile in designated area；
The first designated area that livestock number is less than amount threshold is obtained, then metrics calculation unit 23 calculates first and specifies area
Distance of each livestock away from adjacent designated area in domain,
If the distance value is more than distance threshold, identifying unit 24 judges corresponding livestock to depart from the livestock of herds.
In embodiments of the present invention, the deviation determining module 2 also includes：Demarcate thing extraction unit 25 and position determination unit
26, wherein.
Thing extraction unit 25 is demarcated, for the extraction demarcation thing from the image of shooting, the demarcation thing is used to identify pasture position
Put, the demarcation thing is eye-catching mark, and the mark carries the identification code for home position；
Position determination unit 26, based on demarcation thing and de- herds livestock relative position in the picture and demarcate the scaling of thing
Ratio, calculate the position for departing from herds livestock.
In embodiments of the present invention, this is herded device 30 and also included:Locating module 5 on leading livestock, positioning mould
Block 5 is used for the position for detecting leading livestock, and the position of leading livestock is sent to flight control modules 3 in time；
Before photographing module is imaged, the leading livestock institute that flight control modules 3 are regularly sent based on locating module 5
Aircraft flight is controlled in position, and to the top of leading livestock, aircraft follows leading livestock to move, it can be ensured that on aircraft
Capture apparatus be in herds overhead carry out image shooting, the image of shooting is relatively sharp, and covers herds as far as possible.
In embodiments of the present invention, this is herded device 30 and also included：Distance measuring sensor 6,
At aircraft flight to the top for departing from herds livestock, the detection laser of distance measuring sensor 6 to disengaging herds domestic animal
The distance of poultry, and the distance value is sent to module 4 is driven, the module 4 of driveing is based on distance value regulation laser
Emissive porwer.Laser intensity is adjusted to the distance for departing from herds livestock based on laser, can be effectively ensured and produce cusalgia sense
While will not damage, be also not in and the not up to dispersion effect because laser intensity is excessively weak.
Fig. 2 is the grazing system provided in an embodiment of the present invention based on aircraft, for convenience of description, is only shown and this hair
The related part of bright embodiment.
The grazing system includes：At least two frame aircraft 10, the aircraft 10 communicate to connect with controller 20, aircraft 10
On be equipped with and herd device 30, controller 20 is used for the operating area for distributing aircraft 10, and aircraft 10 is responsible in distribution region
The management of herds.
This, which herds device 30, includes：Located at carry-on photographing module 1, depart from judge module 2, flight control modules 3,
And drive module 4；
Photographing module 1 carries out annular shooting to pasture ground scene, and the image of shooting is sent to disengaging judge module
2；
In embodiments of the present invention, using infrared and visible ray dual camera picture pick-up device, this takes the photograph photographing module 2
As equipment is fixed on aircraft by head, and device location adjustment function and stabilization function can be provided so that shooting is set
It is standby to efficiently accomplish characteristics of image contrast and shoot function under circumstances.Head is can backspin in left rotation and right rotation and can
The all-directional tripod head turned, suitable for shooting on a large scale.
Depart from judge module 2 and identify whether there is livestock to depart from herds based on shooting image, if judging to there is livestock to depart from herds,
Then obtain the position for departing from herds livestock and depart from herds livestock relative to the walking orientation of herds, will be disengaged from herds livestock
Position send to flight control modules 3, while will be disengaged from herds livestock and sent relative to the walking orientation of herds to drive
Catch up with module 4
Flight control modules 3, flown to the livestock position based on the position control aircraft for departing from herds livestock
Top；
When aircraft flight to the top for departing from herds livestock position, drive module 4 and be based on departing from herds livestock
Relative to the launch angle of the walking orientation adjustment laser of herds, laser is driven, so that livestock walks towards the direction of herds.
The grazing system being made up of multiple aircraft 10, it is possible to achieve herd on a large scale, progress will be herded on a large scale
Decompose, 10 herd the herds that device is responsible in designated area on aircraft；In addition, by herding photographing module in device 30
The herds on pasture ground are shot, is obtained based on shooting image and departs from the position of herds livestock and the walking orientation relative to herds,
And then laser impact is controlled in livestock corresponding position, so that livestock walks towards the direction of herds, the embodiment of the present invention is based on clapping
The image for taking the photograph equipment shooting is positioned and driven to the livestock for departing from herds, effectively can prevent livestock from losing.
Disengaging in the embodiment of the present invention judges that 2 pieces of mould includes：Contours extract unit 21, statistic unit 22, distance calculate
Unit 23 and identifying unit 24, wherein,
Contours extract unit 21, for extracting the profile of livestock in shooting image；
Statistic unit 22, for counting the quantity of the livestock profile in designated area；
The first designated area that livestock number is less than amount threshold is obtained, then metrics calculation unit 23 calculates first and specifies area
Distance of each livestock away from adjacent designated area in domain,
If the distance value is more than distance threshold, identifying unit 24 judges corresponding livestock to depart from the livestock of herds.
In embodiments of the present invention, the deviation determining module 2 also includes：Demarcate thing extraction unit 25 and position determination unit
26, wherein.
Thing extraction unit 25 is demarcated, for the extraction demarcation thing from the image of shooting, the demarcation thing is used to identify pasture position
Put, the demarcation thing is eye-catching mark, and the mark carries the identification code for home position；
Position determination unit 26, based on demarcation thing and de- herds livestock relative position in the picture and demarcate the scaling of thing
Ratio, calculate the position for departing from herds livestock.
In embodiments of the present invention, this is herded device 30 and also included:Locating module 5 on leading livestock, positioning mould
Block 5 is used for the position for detecting leading livestock, and the position of leading livestock is sent to flight control modules 3 in time；
Before photographing module is imaged, the leading livestock institute that flight control modules 3 are regularly sent based on locating module 5
Aircraft flight is controlled in position, and to the top of leading livestock, aircraft follows leading livestock to move, it can be ensured that on aircraft
Capture apparatus be in herds overhead carry out image shooting, the image of shooting is relatively sharp, and covers herds as far as possible.
In embodiments of the present invention, this is herded device 30 and also included：Distance measuring sensor 6,
At aircraft flight to the top for departing from herds livestock, the detection laser of distance measuring sensor 6 to disengaging herds domestic animal
The distance of poultry, and the distance value is sent to module 4 is driven, the module 4 of driveing is based on distance value regulation laser
Emissive porwer.Laser intensity is adjusted to the distance for departing from herds livestock based on laser, can be effectively ensured and produce cusalgia sense
While will not damage, be also not in and the not up to dispersion effect because laser intensity is excessively weak.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (6)
1. a kind of herd device based on aircraft, it is characterised in that the device of herding includes：Located at carry-on shooting
Module, depart from judge module, flight control modules and drive module, wherein,
The photographing module, for carrying out annular shooting to pasture ground scene, and the image of shooting is sent to the disengaging
Judge module；
The disengaging judge module identifies whether have livestock to depart from herds based on the shooting image, if judging, having livestock to depart from herds
Group, then obtain the position for departing from herds livestock and depart from walking orientation of the herds livestock relative to herds, depart from obtaining
The position of herds livestock is sent to the flight control modules, while will be disengaged from walking side of the herds livestock relative to herds
Position sends to described and drives module；
Flight control modules, flown to based on the position control aircraft for departing from herds livestock and depart from herds livestock position
Top；
When the flight to the top for departing from herds livestock position, it is relative based on the disengaging herds livestock to drive module
In the launch angle of the walking orientation adjustment laser of herds, laser is driven, so that livestock walks towards the direction of herds.
2. device is herded based on aircraft as claimed in claim 1, it is characterised in that the disengaging judge module includes：
Contours extract unit, statistic unit, metrics calculation unit and identifying unit, wherein,
The contours extract unit, for extracting livestock profile in the shooting image；
The statistic unit, for counting the quantity of the livestock profile in designated area；
The first designated area that livestock outlines are less than amount threshold is obtained, then metrics calculation unit calculates the first designated area
Interior distance of each livestock away from adjacent designated area,
If the distance value is more than distance threshold, the identifying unit judges corresponding livestock to depart from the livestock of herds.
3. device is herded based on aircraft as claimed in claim 1 or 2, it is characterised in that the deviation determining module bag
Include：Thing extraction unit and position determination unit are demarcated, wherein,
Thing extraction unit is demarcated, for the extraction demarcation thing from the image of the shooting, the demarcation thing is used to identify pasture position
Put；
Position determination unit, based on demarcation thing and de- herds livestock relative position in the picture and demarcate the scaling of thing,
Calculate the position for departing from herds livestock.
4. device is herded based on aircraft as claimed in claim 1 or 2, it is characterised in that the device of herding also includes:
Locating module on leading livestock, the locating module are used for the position for detecting leading livestock, and will be described leading
Livestock position is sent to the flight control modules；
Before the photographing module is imaged, leading domestic animal of the flight control modules based on locating module timing transmission
Raise position and control aircraft flight to the top of leading livestock.
5. device is herded based on aircraft as claimed in claim 1 or 2, it is characterised in that the device of herding also includes：
Distance measuring sensor,
At aircraft flight to the top for departing from herds livestock, the distance measuring sensor detection laser to disengaging herds livestock
Distance, and the distance value is sent to described and drives module, the module of driveing is based on distance value regulation laser
Emissive porwer.
6. a kind of grazing system based on aircraft, it is characterised in that the system includes：At least two frame aircraft and with fly
The processor of row device communication connection, is each equipped with herding as described in claim 1 to 5 any claim on the aircraft
Device；
The processor is used for the operating area for distributing aircraft,
The aircraft is responsible for the management of herds in distribution region.
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| CN201710755351.7A CN107608374A (en) | 2017-08-29 | 2017-08-29 | Apparatus and system is herded based on aircraft |
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| CN110058610A (en) * | 2019-05-07 | 2019-07-26 | 南京信息工程大学 | A kind of auxiliary of real-time inspection flock of sheep number is put sheep out to pasture method and system |
| CN110197500A (en) * | 2019-05-29 | 2019-09-03 | 南京信息工程大学 | Herd unmanned plane and herds tracking |
| 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 |
| CN112527014A (en) * | 2020-12-02 | 2021-03-19 | 电子科技大学 | Unmanned aerial vehicle cluster grazing method based on packing algorithm |
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Application publication date: 20180119 |