CN109917802A - Herds travel track monitoring method and system based on unmanned plane - Google Patents
Herds travel track monitoring method and system based on unmanned plane Download PDFInfo
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Abstract
The present invention relates to a kind of herds travel track monitoring method and system based on unmanned plane.Herds travel track monitoring method based on unmanned plane includes the following steps: the current location information of every livestock in real-time reception herds；It is determined according to the current location information of every livestock and currently herds region where it；Acquisition currently herds region perpendicular to the frontier distance threshold value on the direction for herding route；It is that diameter draws circle using the current location of every livestock as the center of circle, frontier distance threshold value, calculates circle and herd the intersection point of route, and count the quantity of intersection point；If the quantity of intersection point is zero, confirms that the travel track of the livestock has deviateed and currently herd region；Control unmanned plane, which is driven the livestock and marched to from current location, currently herds within region.The present invention can monitor the travel track of herds automatically, and keep an eye on without grazier, reduce herds management difficulty, save human resources.
Description
Technical field
The present invention relates to unmanned planes to herd technical field, supervises more particularly to a kind of herds travel track based on unmanned plane
Control method and system.
Background technique
China's animal husbandry had entered new developing stage already, was made the transition from conventional animal husbandry to Modern Animal Husbandry, construction
Resource-effective, environmentally friendly herding is trend of the times already.
For some pastures with a varied topography, herding route might have field, brook, hillside fields or other around on the way
Pasture, herds gnaw the crops in farmland on the way in order to prevent, prevent herds from entering dangerous hillside fields, prevent herds feeding other
Brook bank drinking-water rest etc. is needed when feeling tired after the herbage in pasture or herds feeding are half-full, needs the personnel of herding
It drives on the way, so that herds are advanced along the route planned.But herd that personnel are less, and the livestock put in a suitable place to breed is more, spreads
Range is larger, and the personnel of herding is caused to be difficult to look after every livestock comprehensively in management.
With the gradually development of unmanned air vehicle technique, there are also unmanned plane is used for tasting for grazing management in the prior art
Examination, although have unmanned plane assistance keep an eye on herds can reduce it is some herd personnel, but still need administrative staff real time monitoring herd
The state of group, the overall effect of grazing management are still limited.
Summary of the invention
The object of the present invention is to provide a kind of herds travel track monitoring method and system based on unmanned plane, can be certainly
The travel track of dynamic monitoring herds, and control herds and advance along scheduled route of herding.
On the one hand, the herds travel track monitoring method based on unmanned plane that the embodiment of the invention provides a kind of comprising
Following steps: the current location information of every livestock in real-time reception herds；It is determined according to the current location information of every livestock
Region is currently herded where it；Acquisition currently herds region perpendicular to the frontier distance threshold value on the direction for herding route；
It is that diameter draws circle using the current location of every livestock as the center of circle, frontier distance threshold value, calculates circle and herd the intersection point of route, and unite
Count the quantity of intersection point；If the quantity of intersection point is zero, confirms that the travel track of the livestock has deviateed and herd route；Control nobody
Machine, which is driven the livestock and marched to from current location, currently herds within region.
According to an aspect of an embodiment of the present invention, further comprise: route is herded in planning in advance, and along herding route
By pasture divide it is more than two herd region, more than two coordinate informations for herding region are defined in storage.
According to an aspect of an embodiment of the present invention, it is determined according to the current location information of every livestock current where it
The corresponding relationship that region includes: the current location for analyzing every livestock with defines more than two coordinates for herding region is herded,
Currently to herd region where every livestock of determination.
According to an aspect of an embodiment of the present invention, it obtains and currently herds region on perpendicular to the direction for herding route
Frontier distance threshold value includes: to obtain more than two regions of herding respectively perpendicular to the frontier distance on the direction for herding route
Threshold value.
According to an aspect of an embodiment of the present invention, control unmanned plane, which is driven the livestock and marched to from current location, currently puts
Include: within the domain of pastoral area control unmanned plane reach the livestock current location top, and by unmanned plane in the following manner in
The combinations of one or more of modes marched to from current location driving the livestock and currently herd within region: play record in advance
System drives sound, cable traction or sprinkling liquid spray.
On the other hand, the herds travel track monitoring system based on unmanned plane that the embodiment of the invention provides a kind of, packet
Include: positioning device, flies control device and unmanned plane at remote control apparatus；Positioning device is worn in herds on the body of every livestock,
And it is assigned corresponding number；Positioning device is configured to real-time reception GPS positioning signal, generates the current location information of itself,
And current location information and corresponding number information are sent to remote control apparatus；Remote control apparatus is communicated with positioning device
Connection, is configured to, and current location information and corresponding number information determine in herds the current of every livestock based on the received
Position and its current of place herd region；Remote control apparatus is further configured to, obtain currently herd region perpendicular to
The frontier distance threshold value on the direction of route is herded, is diameter by the center of circle, frontier distance threshold value of the current location of every livestock
Circle is drawn, circle is calculated and herds the intersection point of route, and counts the quantity of intersection point；If the quantity of intersection point is zero, the livestock is confirmed
Travel track deviateed and herd route, and send and instruct to winged control device；Fly control device to be configured to, receives remote control apparatus
The instruction of transmission, and drive the livestock according to instruction control unmanned plane and marched to from current location and currently herd within region.
According to an aspect of an embodiment of the present invention, remote control apparatus is further configured to, and route is herded in planning in advance,
And along herd route by pasture divide it is more than two herd region, more than two coordinates letters for herding region are defined in storage
Breath.
According to an aspect of an embodiment of the present invention, remote control apparatus is further configured to, and analyzes working as every livestock
Front position and the corresponding relationship for defining more than two coordinates for herding region, with the current grazing district where every livestock of determination
Domain.
According to an aspect of an embodiment of the present invention, remote control apparatus is further configured to, and is obtained respectively more than two
Herd region perpendicular to the frontier distance threshold value on the direction for herding route.
According to an aspect of an embodiment of the present invention, winged control device control unmanned plane reaches the upper of the current location of the livestock
Side, and marched to by the combination of unmanned plane one or more of in the following manner mode to drive the livestock from current location
Currently herd within region: played pre-recorded drives sound, cable traction or sprinkling liquid spray.
Herds travel track monitoring method and system, use provided in an embodiment of the present invention based on unmanned plane are multi-functional
Remote control apparatus replaces grazing management personnel to monitor the states of herds in real time, by monitor the current location of every livestock with
That plans in advance herds the distance between route to judge whether the livestock deviates and herd route, so as to monitor herds automatically
Travel track, and kept an eye on without grazier, reduce herds management difficulty, save human resources.
Detailed description of the invention
The feature, advantage and technical effect of exemplary embodiment of the present described below with reference to the accompanying drawings.
Fig. 1 is the flow diagram of the herds travel track monitoring method based on unmanned plane of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the herds travel track monitoring system based on unmanned plane of the embodiment of the present invention；
Fig. 3 is the application scenarios schematic diagram of the herds travel track monitoring method based on unmanned plane of the embodiment of the present invention.
In the accompanying drawings, identical component uses identical appended drawing reference.The attached drawing is not drawn according to the actual ratio.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment it is detailed
Thin description and attached drawing cannot be used to limit the scope of the invention for illustratively illustrating the principle of the present invention, i.e., of the invention
It is not limited to described embodiment.
In the description of the present invention, it should be noted that unless otherwise indicated, " several " are meant that one or one
More than；The meaning of " plurality " is two or more；Term " on ", "lower", "left", "right", "inner", "outside", " front end ",
The orientation or positional relationship of the instructions such as " rear end ", " head ", " tail portion " is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have scheduled side
Position is constructed and is operated with scheduled orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two ", " third " etc. is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
For a better understanding of the present invention, below with reference to the herds according to an embodiment of the present invention based on unmanned plane of Fig. 1 to 3
Travel track monitoring method and system are described in detail.
Refering to fig. 1, the herds travel track monitoring method based on unmanned plane that the embodiment of the invention provides a kind of comprising
Following steps:
Step S1, the current location information of every livestock in real-time reception herds.Current location information can for for example but
It is not limited to the information such as the longitude, latitude and livestock moving direction of current location.For example, the current location information of leading livestock is
E120 ° 30 ' N69 ° 75 ', i.e. 120 degree 30 points of east longitude, 69 degree 75 points of north latitude.
Step S2 is determined according to the current location information of every livestock and is currently herded region where it.
Step S3, acquisition currently herd region perpendicular to the frontier distance threshold value on the direction for herding route.
Step S4 is that diameter draws circle using the current location of every livestock as the center of circle, frontier distance threshold value, calculates circle and herd
The intersection point of route, and count the quantity of intersection point.
Step S5 confirms that the travel track of the livestock has deviateed and herds route if the quantity of intersection point is zero；
Step S6, control unmanned plane, which is driven the livestock and marched to from current location, currently herds within region.
Further, the herds travel track monitoring method provided in an embodiment of the present invention based on unmanned plane further includes step
S1 ': route is herded in planning in advance, and along herd route by pasture divide it is more than two herd region, storage defines two
Above coordinate information for herding region.
Wherein, the size in region is each herded depending on Forage Germplasm Resources.Define more than two coordinates for herding region
Information can be indicated with the longitude of current location, latitude.For example, a certain coordinate for herding the one of boundary in region is
E100 ° 20 ' N50 ° 10 ', i.e. 100 degree 20 points of east longitude, 50 degree 10 points of north latitude, multiple coordinates define the boundary for herding region.
Further, it in step S2, is determined according to the current location information of every livestock and currently herds region where it
The corresponding relationship for including: the current location for analyzing every livestock and defining more than two coordinates for herding region, it is every to determine
Region is currently herded where head livestock.
For pasture with a varied topography, the boundary for each herding region may be different, for example, there is field around on the way
Place, the border width for herding region is relatively small, and it is more spacious for pasture herd region, border width is larger,
Therefore the frontier distance threshold value for each herding region is also different.
Specifically, in step S3, acquisition currently herds region perpendicular to the frontier distance on the direction for herding route
Threshold value includes: to obtain more than two regions of herding respectively perpendicular to the frontier distance threshold value on the direction for herding route.
Thus, it is possible to different and pasture is divided into the grazing district of different boundary width according to route scene on the way is herded
Domain, so that more meeting the monitoring of the travel track of herds the practical grazing habit in pasture.
Further, in step S6, control unmanned plane drive the livestock from current location march to currently herd region with
Inside include: control the top for the current location that unmanned plane reaches the livestock, and by unmanned plane one of in the following manner or
The combination of several ways is marched to driving the livestock from current location and currently herded within region: played pre-recorded is driven
Sound, cable traction or sprinkling liquid spray.
In general, the needs such as social animal such as ox, sheep, horse are trained with the behavior of specification herds, establish herds
Corresponding conditioned reflex.That prerecords drives common " front, rear, left and right " when sound can be grazier's daily workout
Password, livestock hear unmanned plane play drive sound after, designated position can be marched to according to password.That prerecords drives sound
Sound may be the sound of yelping of wild beast, and livestock is forced to leave current location and reach designated position.
The mode of cable traction can be to discharge rope by unmanned plane, and livestock neck is hooked or be sucked in one end of rope
Necklace is advanced so as to draw livestock according to projected route.In addition, liquid spray can be drinking water or harmless to livestock
Other anoretics etc..
Herds travel track monitoring method provided in an embodiment of the present invention based on unmanned plane passes through every livestock of monitoring
The distance between route is herded with what is planned in advance to judge whether the livestock deviates and herd route in current location, and controls nobody
Machine is driven the livestock and is herded within region to this, so as to monitor the travel track of herds automatically, and keeps an eye on without grazier,
Herds management difficulty is reduced, human resources are saved.
Referring to Fig.2, the embodiment of the present invention further provides a kind of herds travel track monitoring system based on unmanned plane,
It includes positioning device 10, remote control apparatus 20, flies control device 30 and unmanned plane 40.
Positioning device 10 is worn in herds on the body of every livestock, such as can be worn on through but not limited to necklace often
The neck of head livestock, and it is assigned corresponding number.Positioning device 10 includes GPS module and mobile communication module, is configured to reality
When receive position location satellite issue GPS positioning signal, generate the current location information of itself, and current location information is sent to
Remote control apparatus 20.Wherein, positioning device 10 passes through mobile communications network (such as, but not limited to GSM network, cdma network
Or GPRS network) communicated to connect with remote control apparatus 20.
Remote control apparatus 20 can be such as but not limited to the server with grazing control function, with positioning device
10 communication connections, are configured to, and current location information and corresponding number information determine in herds every livestock based on the received
Current location and its current of place herd region；Remote control apparatus 20 is further configured to, and acquisition currently herds region and exists
Perpendicular to the frontier distance threshold value on the direction for herding route, using the current location of every livestock as the center of circle, frontier distance threshold value
It draws and justifies for diameter, calculate circle and herd the intersection point of route, and count the quantity of intersection point；If the quantity of intersection point is zero, confirm
The travel track of the livestock, which has deviateed, herds route, and sends and instruct to winged control device 30.
Fly control device 30 to be configured to, receives the instruction that remote control apparatus 20 is sent, and unmanned plane 40 is controlled according to instruction
It drives the livestock and is marched to from current location and currently herded within region.
Further, remote control apparatus 20 is additionally configured to, and route is herded in planning in advance, and along herding route for pasture
Divide it is more than two herd region, more than two coordinate informations for herding region are defined in storage.
Further, remote control apparatus 20 is additionally configured to, and is analyzed the current location of every livestock and is defined two or more
The coordinate for herding region corresponding relationship, currently to herd region where every livestock of determination.
Further, remote control apparatus 20 is additionally configured to, and obtains more than two regions of herding respectively perpendicular to putting
Frontier distance threshold value on the direction of drift way line.
Further, fly the instruction control unmanned plane 40 that control device 30 is sent according to remote control apparatus 20 and reach the domestic animal
The top of the current location of poultry, and the domestic animal is driven by the combination of one or more of the in the following manner mode of unmanned plane 40
Poultry marches to from current location currently to be herded within region: played pre-recorded drives sound, cable traction or flushing liquor
Spray body.
In addition, multiple UAVs 40 can be set and be used alternatingly, by winged control since the cruising ability of unmanned plane 40 is limited
Device 30 automatically controls.When wherein certain frame unmanned plane remaining capacity deficiency, the charging for herding areas adjacent can be drop to
Station is charged, and is controlled other unmanned plane by winged control device 30 and is gone guiding herds.
It is understood that the herds travel track monitoring system provided in an embodiment of the present invention based on unmanned plane is aforementioned
The executing subject of herds travel track monitoring method based on unmanned plane, before may refer to about the specific executive mode of each device
The content in the herds travel track monitoring method based on unmanned plane is stated, details are not described herein.
Herds travel track monitoring system provided in an embodiment of the present invention based on unmanned plane, using multi-functional long-range control
Device 20 processed replaces grazing management personnel to monitor the state of herds, and the positioning by being worn on the livestock of herds in real time
Device 10 obtains the current locations of herds, and that plans by the current location of monitoring every livestock and in advance herds between route
Distance herd route to judge whether the livestock deviates, and control unmanned plane 40 by flying control device 30 and drive the livestock to working as
Before herd within region, so as to monitor the travel track of herds automatically, and kept an eye on without grazier, reduce herds management
Difficulty saves human resources.
For ease of understanding, it is illustrated by taking application scenarios shown in Fig. 3 as an example.Herds herd route along what is planned in advance
L advances towards the direction of arrow meaning in figure.There are n livestocks in herds, marker number is M1, M2 ... Mn respectively.Every domestic animal
Positioning device is respectively installed, remote control apparatus can obtain the current location information of every livestock in real time on the body of poultry.
Fig. 3 shows the two of them for herding route division planned in advance and herds region Z1 and Z2, wherein farming areas
The boundary coordinate of Z1 is respectively S1, S2, S3 and S4, and the boundary coordinate of farming areas Z2 is respectively S5, S6, S7 and S8, each coordinate
It is indicated with the longitude of current location, latitude.The frontier distance threshold value of farming areas Z1 is D1, the frontier distance of farming areas Z2
Threshold value is D2.
It can determine that they are being herded in the Z1 of region according to the current location information of livestock M1 and M2.
It is that diameter draws circle C1 using the current location of livestock M1 as the center of circle, frontier distance threshold value D1, calculates circle C1 and herd road
The intersection point of line L obtains two intersection points J1 and J2, can be confirmed the travel track of livestock M1 without departing from herding route L.
It is that diameter draws circle C2 using the current location of livestock M2 as the center of circle, frontier distance threshold value D1, calculates circle C2 and herd road
The intersection point of line L show that the quantity of intersection point is zero, can be confirmed that the travel track of livestock M2 has deviateed and herds route L.Then, far
Process control device sends to winged control device and instructs, and flies the current location that control device reaches livestock M2 according to instruction control unmanned plane P
Top, by unmanned plane played pre-recorded drive sound, cable traction, sprinkling liquid spray in any mode come
It drives livestock M2 and marches to and herd within the Z1 of region.
It can determine that they are being herded in the Z2 of region according to the current location information of livestock M3 and M4.
It is that diameter draws circle C3 using the current location of livestock M3 as the center of circle, frontier distance threshold value D2, calculates circle C3 and herd road
The intersection point of line L show that the quantity of intersection point is zero, likewise it is possible to which confirming that the travel track of livestock M3 has deviateed herds route L.
Then, remote control apparatus sends to winged control device and instructs, and flies control device according to instruction control unmanned plane P and reaches working as livestock M3
Any one of sound, cable traction, sprinkling liquid spray are driven by unmanned plane played pre-recorded in the top of front position
Mode is marched to driving livestock M3 and is herded within the Z2 of region.
It is that diameter draws circle C4 using the current location of livestock M4 as the center of circle, frontier distance threshold value D2, calculates circle C4 and herd road
The intersection point of line L obtains an intersection point J3, and livestock M4 is traveling on boundary line just at this time, and the traveling rail of livestock M4 can be confirmed
Mark temporarily herds route L without departing from current.
As a result, herds along it is scheduled herd route and continue on herded in region each, monitor every livestock in real time
Current location, once have livestock deviate plan in advance herd route, then control unmanned plane P and drive the livestock from current location
It marches to and currently herds within region.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in predetermined embodiment, but include all technical solutions falling within the scope of the claims.
Claims (10)
1. a kind of herds travel track monitoring method based on unmanned plane, which comprises the steps of:
The current location information of every livestock in real-time reception herds；
It is determined according to the current location information of every livestock and currently herds region where it；
It obtains and described currently herds region perpendicular to the frontier distance threshold value on the direction for herding route；
It is that diameter draws circle using the current location of every livestock as the center of circle, the frontier distance threshold value, calculates the circle and institute
The intersection point for herding route is stated, and counts the quantity of the intersection point；
If the quantity of the intersection point is zero, confirm that the travel track of the livestock herds route described in having deviateed；
Control unmanned plane, which is driven the livestock and marched to from current location, described currently herds within region.
2. the herds travel track monitoring method according to claim 1 based on unmanned plane, which is characterized in that further packet
Include: herding route described in planning in advance, and along it is described herd route and be divided into pasture more than two herd region, storage
Define described two above coordinate informations for herding region.
3. the herds travel track monitoring method according to claim 2 based on unmanned plane, which is characterized in that the basis
Region of currently herding where the current location information of every livestock determines it includes: the described current of every livestock of analysis
Position and the corresponding relationship for defining described two above coordinates for herding region, described in where every livestock of determination
Currently herd region.
4. the herds travel track monitoring method according to claim 3 based on unmanned plane, which is characterized in that the acquisition
It is described that currently to herd region including: to obtain described two respectively perpendicular to the frontier distance threshold value on the direction for herding route
Region is herded perpendicular to the frontier distance threshold value on the direction for herding route more than a.
5. the herds travel track monitoring method according to claim 1 based on unmanned plane, which is characterized in that the control
It includes: that the control unmanned plane arrival is somebody's turn to do that unmanned plane, which drives the livestock and marches to described currently herd within region from current location,
The top of the current location of livestock, and driven by the combination of the unmanned plane one or more of in the following manner mode
The livestock marches to from current location and described currently herds within region: played pre-recorded drive sound, cable traction or
Person sprays liquid spray.
6. a kind of herds travel track monitoring system based on unmanned plane characterized by comprising positioning device (10), long-range
Control device (20) flies control device (30) and unmanned plane (40)；
The positioning device (10) is worn in herds on the body of every livestock, and is assigned corresponding number；The positioning dress
Set (10) and be configured to real-time reception GPS positioning signal, generate the current location information of itself, and by the current location information and
Corresponding number information is sent to the remote control apparatus (20)；
The remote control apparatus (20) and the positioning device (10) communicate to connect, and are configured to, described based on the received to work as
Front position information and corresponding number information determine in the herds every livestock current location and its place it is current
Herd region；The remote control apparatus (20) is further configured to, and obtains the region of currently herding perpendicular to herding road
Frontier distance threshold value on the direction of line is straight by the center of circle, the frontier distance threshold value of the current location of every livestock
Diameter draws circle, calculates the circle and the intersection point for herding route, and count the quantity of the intersection point；If the quantity of the intersection point
It is zero, then confirms that the travel track of the livestock herds route described in having deviateed, and send instruction to the winged control device (30)；
The winged control device (30) is configured to, and receives the described instruction of the remote control apparatus (20) transmission, and according to described
Instruction, which controls the unmanned plane (40), drives the livestock and marches to from current location and described currently herd within region.
7. the herds travel track monitoring system according to claim 6 based on unmanned plane, which is characterized in that described long-range
Control device (20) is further configured to, and herds route described in planning in advance, and along the route of herding by pasture division two
Region is herded more than a, described two above coordinate informations for herding region are defined in storage.
8. the herds travel track monitoring system according to claim 7 based on unmanned plane, which is characterized in that described long-range
Control device (20) is further configured to, and is analyzed the current location of every livestock and is defined described two above grazing districts
The corresponding relationship of the coordinate in domain currently herds region with described where every livestock of determination.
9. the herds travel track monitoring system according to claim 8 based on unmanned plane, which is characterized in that described long-range
Control device (20) is further configured to, and obtains described two above regions of herding respectively perpendicular to the route of herding
Frontier distance threshold value on direction.
10. the herds travel track monitoring system according to claim 6 based on unmanned plane, which is characterized in that described to fly
Control device (30) controls the top that the unmanned plane (40) reaches the current location of the livestock, and by the unmanned plane (40) with
The combination of one or more of following manner mode marches to driving the livestock from current location and described currently herds region
Within: played pre-recorded drives sound, cable traction or sprinkling liquid spray.
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| CN115879649A (en) * | 2023-02-21 | 2023-03-31 | 成都工业学院 | Grazing behavior prediction method and system based on grazing model |
| CN117255310A (en) * | 2023-10-30 | 2023-12-19 | 汉仪科技(深圳)有限公司 | 5G communication interaction system based on electronic fence |
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| CN115879649B (en) * | 2023-02-21 | 2023-05-09 | 成都工业学院 | Herd behavior prediction method and system based on grazing model |
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