CN109917802B - Unmanned aerial vehicle-based herd traveling track monitoring method and system - Google Patents
Unmanned aerial vehicle-based herd traveling track monitoring method and system Download PDFInfo
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Abstract
The invention relates to a herd advancing track monitoring method and system based on an unmanned aerial vehicle. The method for monitoring the herd traveling track based on the unmanned aerial vehicle comprises the following steps: receiving the current position information of each livestock in the herd in real time; determining the current grazing area of each livestock according to the current position information of each livestock; acquiring a boundary distance threshold of a current grazing area in a direction perpendicular to a grazing route; drawing a circle by taking the current position of each livestock as the circle center and the boundary distance threshold as the diameter, calculating the intersection point of the circle and the grazing route, and counting the number of the intersection points; if the number of the intersection points is zero, confirming that the traveling track of the livestock deviates from the current grazing area; controlling the unmanned aerial vehicle to drive the livestock to travel from the current position to the current grazing area. The invention can automatically monitor the advancing track of the herd without being watched by a grammer, thereby reducing the difficulty of herd management and saving human resources.
Description
Technical Field
The invention relates to the technical field of grazing of unmanned aerial vehicles, in particular to a method and a system for monitoring a herd advancing track based on an unmanned aerial vehicle.
Background
The animal husbandry in China enters a new development stage, the traditional animal husbandry is transformed into the modern animal husbandry, and the establishment of resource-saving and environment-friendly animal husbandry is in the trend.
For some pastures with complex terrains, fields, creeks, sloping fields or other pastures may be arranged around the grazing route along the way, and grazing personnel are required to drive along the way in order to prevent the herds from eating crops in the farmland along the way, preventing the herds from entering dangerous sloping fields, preventing the herds from eating pastures in other pastures, or preventing the herds from going to the creeks for drinking water to rest when the herds are tired after being half-full, and the like, so that the herds can travel along the planned route. However, the number of herders is small, the number of stocked livestock is large, and the spreading range is large, so that the herders are difficult to comprehensively view each livestock in management.
Along with the gradual development of unmanned aerial vehicle technique, also have some in the prior art and use unmanned aerial vehicle in the attempt of grazing management, although there is unmanned aerial vehicle to assist and take care of the herd and can reduce some herds personnel, still need the state of managers real time monitoring herd, the whole effect of grazing management still is limited.
Disclosure of Invention
The invention aims to provide a herd advancing track monitoring method and system based on an unmanned aerial vehicle, which can automatically monitor the advancing track of a herd and control the herd to advance along a preset grazing route.
On one hand, the embodiment of the invention provides a herd travel track monitoring method based on an unmanned aerial vehicle, which comprises the following steps: receiving the current position information of each livestock in the herd in real time; determining the current grazing area of each livestock according to the current position information of each livestock; acquiring a boundary distance threshold of a current grazing area in a direction perpendicular to a grazing route; drawing a circle by taking the current position of each livestock as the circle center and the boundary distance threshold as the diameter, calculating the intersection point of the circle and the grazing route, and counting the number of the intersection points; if the number of the intersection points is zero, confirming that the traveling track of the livestock deviates from the grazing route; controlling the unmanned aerial vehicle to drive the livestock to travel from the current position to the current grazing area.
According to an aspect of the embodiments of the present invention, further comprising: planning a grazing route in advance, dividing a pasture into more than two grazing areas along the grazing route, and storing coordinate information for defining the more than two grazing areas.
According to an aspect of an embodiment of the invention, determining the current grazing area of each animal based on its current position information comprises: the current position of each animal is analyzed in relation to the coordinates defining more than two grazing zones to determine the current grazing zone in which each animal is located.
According to an aspect of an embodiment of the present invention, obtaining the boundary distance threshold of the current grazing area in a direction perpendicular to the grazing route comprises: boundary distance thresholds of more than two grazing areas in the direction perpendicular to the grazing route are obtained respectively.
According to an aspect of an embodiment of the invention, controlling the drone to propel the animal from the current location to within the current grazing area comprises: controlling the unmanned aerial vehicle to reach above the current position of the livestock, and driving the livestock to travel from the current position to the current grazing area by the unmanned aerial vehicle in one or a combination of several of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
In another aspect, an embodiment of the present invention provides a herd travel track monitoring system based on an unmanned aerial vehicle, including: the device comprises a positioning device, a remote control device, a flight control device and an unmanned aerial vehicle; the positioning device is worn on the body of each livestock in the herd and is distributed with corresponding serial numbers; the positioning device is configured to receive GPS positioning signals in real time, generate current position information of the positioning device, and send the current positioning information and corresponding serial number information to the remote control device; the remote control device is in communication connection with the positioning device and is configured to determine the current position of each animal in the herd and the current grazing area where the animal is located according to the received current position information and the corresponding number information; the remote control device is further configured to obtain a boundary distance threshold of the current grazing area in a direction perpendicular to the grazing route, draw a circle by taking the current position of each animal as a circle center and the boundary distance threshold as a diameter, calculate intersection points of the circle and the grazing route, and count the number of the intersection points; if the number of the intersection points is zero, confirming that the advancing track of the livestock deviates from the grazing route, and sending an instruction to the flight control device; the flight control device is configured to receive the instruction sent by the remote control device and control the unmanned aerial vehicle to drive the livestock to move from the current position to the current grazing area according to the instruction.
According to an aspect of an embodiment of the present invention, the remote control apparatus is further configured to plan a grazing route in advance, divide the pasture into two or more grazing areas along the grazing route, and store coordinate information defining the two or more grazing areas.
According to an aspect of an embodiment of the invention, the remote control device is further configured to analyze the correspondence of the current position of each animal with the coordinates defining more than two grazing zones to determine the current grazing zone in which each animal is located.
According to an aspect of an embodiment of the present invention, the remote control device is further configured to acquire boundary distance thresholds of two or more grazing areas in a direction perpendicular to the grazing route, respectively.
According to an aspect of an embodiment of the invention, the flight control device controls the drone to reach above the current location of the animal and drives the animal from the current location into the current grazing area by the drone in one or a combination of several of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
According to the method and the system for monitoring the herd advancing track based on the unmanned aerial vehicle, provided by the embodiment of the invention, the multifunctional remote control device is adopted to replace grazing management personnel to monitor the state of the herd in real time, and whether the livestock deviates from a grazing route is judged by monitoring the distance between the current position of each livestock and the pre-planned grazing route, so that the advancing track of the herd can be automatically monitored, the grazing person is not required to take care of the advancing track, the difficulty in herd management is reduced, and the human resources are saved.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for monitoring a herd travel track based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a herd travel track monitoring system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of an application scenario of the method for monitoring the herd travel track based on the unmanned aerial vehicle according to the embodiment of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the described embodiments.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means one or more than one; "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred device or element must have a predetermined orientation, be constructed and operated in a predetermined orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
For better understanding of the present invention, the following describes in detail a method and a system for monitoring a herd traveling track based on a drone according to an embodiment of the present invention with reference to fig. 1 to 3.
Referring to fig. 1, an embodiment of the present invention provides a method for monitoring a herd traveling track based on an unmanned aerial vehicle, including the following steps:
and step S1, receiving the current position information of each livestock in the herd in real time. The current position information may be information such as, but not limited to, longitude, latitude, and moving direction of the animal of the current position. For example, the current position information of the leading livestock is E120 degrees 30 'N69 degrees 75', namely east longitude 120 degrees 30 minutes and north latitude 69 degrees 75 minutes.
And step S2, determining the current grazing area of each livestock according to the current position information of each livestock.
In step S3, a boundary distance threshold value of the current grazing area in a direction perpendicular to the grazing route is acquired.
And step S4, drawing a circle by taking the current position of each livestock as the center of the circle and the boundary distance threshold as the diameter, calculating the intersection point of the circle and the grazing route, and counting the number of the intersection points.
Step S5, if the number of the intersection points is zero, confirming that the travel track of the livestock deviates from the grazing route;
and step S6, controlling the unmanned aerial vehicle to drive the livestock to move from the current position to the current grazing area.
Further, the method for monitoring the herd travel track based on the unmanned aerial vehicle according to the embodiment of the present invention further includes step S1': planning a grazing route in advance, dividing a pasture into more than two grazing areas along the grazing route, and storing coordinate information for defining the more than two grazing areas.
Wherein the size of each grazing area is determined according to the pasture resources. The coordinate information defining more than two grazing areas may be represented by longitude, latitude of the current location. For example, one boundary of a certain grazing area has coordinates of E100 ° 20 'N50 ° 10', namely 100 degrees 20 minutes east longitude and 50 degrees 10 minutes north latitude, and a plurality of coordinates define the boundary of the grazing area.
Further, the step S2, determining the current grazing area of each animal according to the current position information thereof includes: the current position of each animal is analyzed in relation to the coordinates defining more than two grazing zones to determine the current grazing zone in which each animal is located.
For a complex terrain pasture, the boundary of each grazing zone may be different, for example, the width of the boundary of the grazing zone is relatively small in the peri-partway around the pasture, while for a more open pasturing zone, the width of the boundary is larger, so the threshold distance of the boundary is different for each grazing zone.
Specifically, in step S3, the acquiring the boundary distance threshold value of the current grazing area in the direction perpendicular to the grazing route includes: boundary distance thresholds of more than two grazing areas in the direction perpendicular to the grazing route are obtained respectively.
Therefore, the pasture can be divided into the pasturing areas with different boundary widths according to different scenes along the pasturing route, so that the monitoring of the traveling track of the pasture is more in line with the actual pasturing environment of the pasture.
Further, in step S6, controlling the drone to propel the animal from the current location to within the current grazing area includes: controlling the unmanned aerial vehicle to reach above the current position of the livestock, and driving the livestock to travel from the current position to the current grazing area by the unmanned aerial vehicle in one or a combination of several of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
Generally speaking, social animals such as cattle, sheep, horses, etc. need to be trained to normalize herd behavior so that the herd establishes a corresponding conditioned response. Prerecorded sound of driving can be for the commonly used password of "preceding, back, left and right" when the daily training of herdsman, and the livestock hears the sound of driving of unmanned aerial vehicle broadcast after, can advance to the assigned position according to the password. The pre-recorded repelling sound may also be the howling of the wild animal, forcing the animal away from the current location to a designated location.
The rope can be pulled by releasing the rope by the unmanned aerial vehicle, and one end of the rope hooks or sucks a neck ring of the neck of the livestock, so that the livestock can be pulled to travel according to a preset route. Alternatively, the liquid spray may be drinking water or other anorexic agents that are not harmful to livestock, and the like.
According to the method for monitoring the herd advancing track based on the unmanned aerial vehicle, provided by the embodiment of the invention, whether the livestock deviates from the grazing route is judged by monitoring the distance between the current position of each livestock and the pre-planned grazing route, and the unmanned aerial vehicle is controlled to drive the livestock to the grazing area, so that the advancing track of the herd can be automatically monitored, the grazing person does not need to take care of the advancing track, the difficulty in herd management is reduced, and the human resources are saved.
Referring to fig. 2, an embodiment of the present invention further provides a herd travel track monitoring system based on an unmanned aerial vehicle, which includes a positioning device 10, a remote control device 20, a flight control device 30, and an unmanned aerial vehicle 40.
The positioning device 10 is worn on the body of each animal in the herd, for example, but not limited to, the neck of each animal by a collar, and is assigned a corresponding number. The positioning device 10 includes a GPS module and a mobile communication module, and is configured to receive a GPS positioning signal transmitted from a positioning satellite in real time, generate current position information of itself, and transmit the current position information to the remote control device 20. Wherein the positioning device 10 is communicatively connected to the remote control device 20 via a mobile communication network, such as but not limited to a GSM network, a CDMA network or a GPRS network.
The remote control device 20 may be, for example and without limitation, a server with grazing control function, which is in communication connection with the positioning device 10 and configured to determine the current position of each animal in the herd and the current grazing area where the animal is located according to the received current position information and the corresponding number information; the remote control device 20 is further configured to obtain a boundary distance threshold of the current grazing area in a direction perpendicular to the grazing route, draw a circle with the current position of each animal as a center of the circle and the boundary distance threshold as a diameter, calculate intersection points of the circle and the grazing route, and count the number of the intersection points; if the number of intersections is zero, it is confirmed that the travel locus of the animal has deviated from the grazing route, and an instruction is sent to the flight control device 30.
The flight control device 30 is configured to receive the instruction sent by the remote control device 20, and control the unmanned aerial vehicle 40 to propel the livestock from the current position to the current grazing area according to the instruction.
Further, the remote control device 20 is also configured to plan a grazing route in advance, divide the pasture into two or more grazing areas along the grazing route, and store coordinate information defining the two or more grazing areas.
Further, the remote control device 20 is further configured to analyze the correspondence of the current position of each animal with the coordinates defining more than two grazing zones to determine the current grazing zone in which each animal is located.
Further, the remote control device 20 is also configured to acquire two or more boundary distance thresholds of the grazing area in the direction perpendicular to the grazing route, respectively.
Further, the flight control device 30 controls the drone 40 to reach above the current position of the animal according to the instruction sent by the remote control device 20, and drives the animal to travel from the current position to the current grazing area by the drone 40 in one or a combination of several of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
In addition, because unmanned aerial vehicle 40's duration is limited, can set up many unmanned aerial vehicles 40 and use in turn, come automatic control by flight control device 30. When wherein a certain unmanned aerial vehicle residual capacity is not enough, can descend to charging station near the pasturing area and charge, go the guide herd by flying other unmanned aerial vehicle of controlling device 30 control.
It can be understood that the system for monitoring the herd advancing track based on the unmanned aerial vehicle provided by the embodiment of the present invention is an execution main body of the method for monitoring the herd advancing track based on the unmanned aerial vehicle, and specific execution modes of the devices may refer to the contents of the method for monitoring the herd advancing track based on the unmanned aerial vehicle, which are not described herein again.
According to the system for monitoring the herd advancing track based on the unmanned aerial vehicle, the multifunctional remote control device 20 is adopted to replace grazing management personnel to monitor the state of the herd in real time, the positioning device 10 worn on the livestock of the herd is used for acquiring the current position of the herd, the distance between the current position of each livestock and the planned grazing route is monitored to judge whether the livestock deviates from the grazing route, the unmanned aerial vehicle 40 is controlled by the flight control device 30 to drive the livestock to the current grazing area, the advancing track of the herd can be automatically monitored, the grazing person does not need to take care of the advancing track, the difficulty in herd management is reduced, and human resources are saved.
For ease of understanding, the application scenario shown in fig. 3 will be described as an example. The herd travels along a pre-planned grazing route L in the direction indicated by the arrow in the figure. The herd has n animals, which are respectively marked as M1 and M2 … … Mn. Each body of each livestock is provided with a positioning device, and the remote control device can acquire the current position information of each livestock in real time.
Fig. 3 shows two of the grazing zones Z1 and Z2 of the pre-planned grazing route division, where the boundary coordinates of the pasture zone Z1 are S1, S2, S3 and S4, respectively, and the boundary coordinates of the pasture zone Z2 are S5, S6, S7 and S8, respectively, each coordinate being represented by longitude, latitude of the current location. The boundary distance threshold of the pasture zone Z1 is D1, and the boundary distance threshold of the pasture zone Z2 is D2.
It may be determined that animals M1 and M2 are within the grazing zone Z1 based on their current position information.
And drawing a circle C1 by taking the current position of the livestock M1 as a circle center and the boundary distance threshold D1 as the diameter, calculating the intersection point of the circle C1 and the grazing route L to obtain two intersection points J1 and J2, and confirming that the traveling track of the livestock M1 does not deviate from the grazing route L.
And drawing a circle C2 by taking the current position of the livestock M2 as a circle center and the boundary distance threshold D1 as the diameter, calculating the intersection point of the circle C2 and the grazing route L, obtaining that the number of the intersection points is zero, and confirming that the advancing track of the livestock M2 deviates from the grazing route L. Then, the remote control device sends an instruction to the flight control device, the flight control device controls the unmanned aerial vehicle P to reach the position above the current position of the livestock M2 according to the instruction, and the livestock M2 is driven to move to the grazing area Z1 through any one mode of the unmanned aerial vehicle playing prerecorded driving sound, rope traction and liquid spraying.
It may be determined that animals M3 and M4 are within the grazing zone Z2 based on their current position information.
The circle C3 is drawn with the current position of the animal M3 as the center of the circle and the boundary distance threshold D2 as the diameter, the intersection point of the circle C3 and the grazing route L is calculated, the number of the intersection points is zero, and similarly, it can be confirmed that the traveling trajectory of the animal M3 has deviated from the grazing route L. Then, the remote control device sends an instruction to the flight control device, the flight control device controls the unmanned aerial vehicle P to reach the position above the current position of the livestock M3 according to the instruction, and the livestock M3 is driven to move to the grazing area Z2 through any one mode of the unmanned aerial vehicle playing prerecorded driving sound, rope traction and liquid spraying.
Drawing a circle C4 by taking the current position of the livestock M4 as a circle center and the boundary distance threshold D2 as the diameter, calculating the intersection point of the circle C4 and the grazing route L to obtain an intersection point J3, wherein the livestock M4 just runs on the boundary line at the moment, and the running track of the livestock M4 is confirmed to be temporarily not deviated from the current grazing route L.
Thereby, the herd continues to travel within each grazing area along the predetermined grazing route, the current position of each animal is monitored in real time, and in case there is an animal deviating from the pre-planned grazing route, the drone P is controlled to propel that animal from the current position into the current grazing area.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the predetermined embodiments disclosed herein but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. A herd advancing track monitoring method based on an unmanned aerial vehicle is characterized by comprising the following steps:
receiving the current position information of each livestock in the herd in real time;
determining the current grazing area of each livestock according to the current position information of each livestock;
acquiring a boundary distance threshold of the current grazing area in a direction perpendicular to a grazing route;
drawing a circle by taking the current position of each livestock as a circle center and the boundary distance threshold as a diameter, calculating the intersection point of the circle and the grazing route, and counting the number of the intersection points;
if the number of the intersection points is zero, confirming that the travel track of the livestock deviates from the grazing route;
and controlling the unmanned aerial vehicle to drive the livestock to move from the current position to the current grazing area.
2. The drone-based herd travel track monitoring method of claim 1, further comprising: the grazing route is planned in advance, a pasture is divided into more than two grazing areas along the grazing route, and coordinate information defining the more than two grazing areas is stored.
3. The drone-based herd travel track monitoring method of claim 2, wherein the determining the current grazing area in which each animal is located according to the current location information of the animal comprises: analyzing the corresponding relation between the current position of each animal and the coordinates defining the more than two grazing areas to determine the current grazing area where each animal is located.
4. The drone-based herd travel track monitoring method of claim 3, wherein the obtaining the boundary distance threshold for the current grazing area in a direction perpendicular to the grazing route comprises: boundary distance thresholds of the two or more grazing areas in the direction perpendicular to the grazing route are respectively obtained.
5. The drone-based herd travel track monitoring method of claim 1, wherein the controlling the drone to propel the animal from the current location to within the current grazing area includes: controlling the unmanned aerial vehicle to reach above the current position of the animal, and driving the animal to travel from the current position to within the current grazing area by the unmanned aerial vehicle in one or a combination of several of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
6. The utility model provides a herd track monitored control system that advances based on unmanned aerial vehicle which characterized in that includes: the device comprises a positioning device (10), a remote control device (20), a flight control device (30) and an unmanned aerial vehicle (40);
the positioning device (10) is worn on the body of each livestock in the herd and is assigned with a corresponding number; the positioning device (10) is configured to receive GPS positioning signals in real time, generate current position information of itself, and send the current position information and the corresponding number to the remote control device (20);
the remote control device (20) is in communication connection with the positioning device (10), and is configured to determine the current position of each animal in the herd and the current grazing area where the animal is located according to the received current position information and the corresponding number information; the remote control device (20) is configured to obtain a boundary distance threshold of the current grazing area in a direction perpendicular to a grazing route, draw a circle with the current position of each animal as a center of the circle and the boundary distance threshold as a diameter, calculate intersection points of the circle and the grazing route, and count the number of the intersection points; if the number of the intersection points is zero, confirming that the traveling track of the livestock deviates from the grazing route, and sending an instruction to the flight control device (30);
the flight control device (30) is configured to receive the instruction sent by the remote control device (20) and control the unmanned aerial vehicle (40) to drive the livestock to move from the current position to the current grazing area according to the instruction.
7. The drone-based herd travel track monitoring system of claim 6, wherein the remote location
The control device (20) is further configured to plan the grazing route in advance, divide the pasture into two or more grazing areas along the grazing route, and store coordinate information defining the two or more grazing areas.
8. The drone-based herd travel track monitoring system of claim 7, wherein the remote control device (20) is further configured to analyze the current position of each animal with the coordinates defining the two or more grazing zones to determine the current grazing zone in which each animal is located.
9. The drone-based herd travel track monitoring system of claim 8, wherein the remote control device (20) is further configured to obtain boundary distance thresholds for the two or more grazing areas in a direction perpendicular to the grazing route, respectively.
10. The drone-based herd travel track monitoring system of claim 6 wherein the flight control device (30) controls the drone (40) to reach above the current location of the animal and to propel the animal from the current location into the current grazing area by the drone (40) in one or a combination of the following ways: play a prerecorded expelling sound, cord pull, or spray liquid spray.
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| CN112527014B (en) * | 2020-12-02 | 2022-05-17 | 电子科技大学 | Unmanned aerial vehicle cluster grazing method based on packing algorithm |
| CN115879649B (en) * | 2023-02-21 | 2023-05-09 | 成都工业学院 | Herd 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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