CN113225883B - Intelligent electronic fence - Google Patents
Intelligent electronic fence Download PDFInfo
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- CN113225883B CN113225883B CN202110064757.7A CN202110064757A CN113225883B CN 113225883 B CN113225883 B CN 113225883B CN 202110064757 A CN202110064757 A CN 202110064757A CN 113225883 B CN113225883 B CN 113225883B
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05C—ELECTRIC CIRCUITS OR APPARATUS SPECIALLY DESIGNED FOR USE IN EQUIPMENT FOR KILLING, STUNNING, OR GUIDING LIVING BEINGS
- H05C3/00—Other circuits or apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K3/00—Pasturing equipment, e.g. tethering devices; Grids for preventing cattle from straying; Electrified wire fencing
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Catching Or Destruction (AREA)
Abstract
An intelligent electronic fence comprises an input module, a processing sensing module and an output module; the input module, the processing sensing module and the output module are matched to form an electronic fence movable area; the input module is used for inputting map information so as to form a containment range on a map and transmitting data to the processing induction module; the processing induction module is used for receiving the data transmitted by the input module, processing the database and controlling the work of the output module; and the output module is used for controlling the activities of livestock. According to the invention, through the cooperation of the input module, the processing induction module and the output module, when livestock leave the containment range, the function of the processing induction module is started, the livestock heads face out of the area, the electronic control glasses are opaque, and the eyes of the livestock are invisible; the livestock heads face the inside of the area, the electric control glasses are transparent, and the eyes of the livestock are visible, so that the livestock can only return in the original way and can not advance outside the area, and an electronic fence moving area is formed.
Description
Technical Field
The invention relates to the field of livestock containment, in particular to an intelligent electronic fence.
Background
When the livestock is bred, if the livestock is unattended, the livestock can run randomly, so that the invention avoids the situation that the animals cannot be found, the animals cannot eat crops, the wide field can be utilized to become a new pasture, the livestock can catch the conventional tethered and encircling breeding mode, the livestock can return to the nature, and people can also be liberated from complicated work.
Disclosure of Invention
Object of the invention
In order to solve the technical problems in the background technology, the invention provides an intelligent electronic fence.
(II) technical scheme
In order to solve the above problems, the present invention provides an intelligent electronic fence, which includes an input module, a processing sensing module, and an output module;
the input module, the processing sensing module and the output module are matched to form an electronic fence movable area;
the input module is used for inputting map information so as to form a containment range on a map and transmitting data to the processing induction module; the input module comprises a power supply module and an instruction module;
the processing induction module is used for receiving the data transmitted by the input module, processing the database and controlling the work of the output module; the processing induction module comprises an integrated positioning processing module, an antenna, an electronic compass sensor, a nine-axis sensor, a storage/functional module, a microphone/camera, a WIFI/Bluetooth module, a step counting module, a battery management module and a mobile module;
the output module is used for controlling the activities of livestock; the output module comprises electric control glasses, a signal feedback APP, a loudspeaker/video module, a charging display lamp and/or a mobile signal lamp.
Preferably, the power supply module comprises a charging interface, a photovoltaic panel, a battery and a battery low-temperature starting module; the charging interface is used for charging the battery, the photovoltaic panel is used for automatically charging the battery, and the battery low-temperature starting module controls the battery to work normally at low temperature; the instruction module sends out an instruction through the APP and transmits the instruction and map information to the processing induction module; wherein, the interface that charges is pogpin interface.
Preferably, the signal feedback APP receives and processes the signal of the induction module, and controls the loudspeaker/video module, the charging display lamp and the electric control glasses to work.
Preferably, the active area of the intelligent fence is created by a user, and the user clicks on a screen to obtain coordinates of corresponding points on a corresponding map, and three or more points are continuously selected to generate the corresponding fence area;
determining whether the point is within the polygon by the processing device to determine whether the animal has moved out of the area, including four determination cases S1, S2, S3, and S4, S3 including two cases S31 and S32, as follows:
s1: any given point is considered to be within a polygon if it is the vertex of the polygon;
s2: traversing each vertex, and if the X axis of the current point p (X, y) is outside the quadrangle formed by any 2 vertexes, considering the X axis as outside the quadrangle;
s3: establishing a plane coordinate system, assuming that adjacent vertexes are p1 (x 1, y 1), p2 (x 2, y 2) and p3 (x 3, y 3), then:
s31, if x is within (x 1, x 2), excluding x1, x2, and y is within [ y1, y2], then the following cases are included:
a: if p1, p2 are on the same vertical line and p is between [ y1, y2], then p is considered to be within the polygon;
b: if p1, p2, p are on the same horizontal line, then p is considered to be within the polygon;
c: if p1, p2 are on the same horizontal line, the intersection counter is intersectcount+1, traversing the next vertex;
d: if p1, p2 are not on the same horizontal line, the slope k= (y 2-y 1)/(x 2-x 1) of p2, p1 needs to be calculated, and then the coordinate of the intersection point of p and the straight line formed by p1, p2 is obtained as follows:
p ' (x ', y '), where x ' =x, y ' =kx (x-x 1) +y1;
if y < y', then intertecount+1;
if p is close to p', then it is considered to be within the polygon;
s32, if x is outside [ x1, x2] and includes x1, x2, then the case that p and p2 are on the same vertical line needs to be considered, and p3 is assumed to be the next adjacent vertex of p2, and then the following cases are included:
e: if the x-axis of p is between p1, p3, then the ray of p-ray would intersect p1, p3, thus intersectcount+1;
f: if the x-axis of p is not between p1, p3, then the p-ray of origin will not intersect p1, p3, and therefore, the interCount+2;
s4: after traversing all the vertexes, looking at the value of the cross counter;
if even, the current point p is outside the polygon;
if odd, the current point p is within the polygon.
Preferably, when the fence is created, the app will first determine whether the longitude and latitude of the point on the circle is inside the fence, if so, mark different colors, and flag is set to 1; if not, re-creating the fence, wherein the flag is set to 0; after the app creates the fence, transmitting the coordinates of the fence and the value of the flag to the equipment end; the device side knows whether the device side is an internal fence or an external fence according to the value of the flag;
if the fence is an external fence, normally judging the boundary;
if the internal fence is the internal fence, judging that the boundary result is to be inverted; an inner fence for avoiding crops and farmlands.
Preferably, the integrated positioning processing module comprises a CPU, a storage module and a positioning system.
Preferably, the positioning system comprises the chinese beidou satellite navigation system, the american GPS system, the russian GLONASS system and the european galileo satellite navigation system.
According to the invention, through the cooperation of the input module, the processing induction module and the output module, when livestock leave the containment range, the function of the processing induction module is started, the livestock heads face out of the area, the electronic control glasses are opaque, and the eyes of the livestock are invisible; the livestock heads face the inside of the area, the electric control glasses are transparent, and the eyes of the livestock are visible, so that the livestock can only return in the original way and can not advance outside the area, and an electronic fence moving area is formed.
Drawings
FIG. 1 is a schematic view of an intelligent electronic fence according to the present invention.
FIG. 2 is a logical block diagram of an intelligent electronic fence according to the present invention.
FIG. 3 is an operational diagram of the intelligent electronic fence according to the present invention.
Fig. 4 to 9 are schematic diagrams of the intelligent electronic fence according to the present invention in the cases of A, B, C, D, E and F.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
1-3, the intelligent electronic fence provided by the invention comprises an input module, a processing sensing module and an output module;
the input module, the processing sensing module and the output module are matched to form an electronic fence movable area;
the input module is used for inputting map information so as to form a containment range on a map and transmitting data to the processing induction module; the input module comprises a power supply module and an instruction module;
the processing induction module is used for receiving the data transmitted by the input module, processing the database and controlling the work of the output module; the processing induction module comprises an integrated positioning processing module, an antenna, an electronic compass sensor, a nine-axis sensor, a storage/functional module, a microphone/camera, a WIFI/Bluetooth module, a step counting module, a battery management module and a mobile module;
the output module is used for controlling the activities of livestock; the output module comprises electric control glasses, a signal feedback APP, a loudspeaker/video module, a charging display lamp and/or a mobile signal lamp.
In an alternative embodiment, the power supply module includes a charging interface, a photovoltaic panel, a battery, and a battery low temperature start module; the charging interface is used for charging the battery, the photovoltaic panel is used for automatically charging the battery, and the battery low-temperature starting module controls the battery to work normally at low temperature; the instruction module sends out an instruction through the APP and transmits the instruction and map information to the processing induction module; wherein, the interface that charges is pogpin interface.
In an alternative embodiment, the signal feedback APP receives the signal from the processing sensing module and controls the speaker/video module, the charging display light, and the electronically controlled glasses.
According to the invention, through the cooperation of the input module, the processing induction module and the output module, when livestock leave the containment range, the function of the processing induction module is started, the livestock heads face out of the area, the electronic control glasses are opaque, and the eyes of the livestock are invisible; the livestock heads face the inside of the area, the electric control glasses are transparent, and the eyes of the livestock are visible, so that the livestock can only return in the original way and can not advance outside the area, and an electronic fence moving area is formed.
It should be noted that, the electronically controlled glasses are started only when livestock go out of the world, and are invisible, only the directivity is invisible, 270 degrees are invisible, and the other 90 degrees are visible; the animal can find the light by only shaking the head, so that the animal is not subjected to safety problems.
The intelligent fence active area is created by a user, the user clicks on a screen to obtain coordinates of corresponding points on a corresponding map, three or more points are continuously selected, and a corresponding fence area is generated;
determining whether the point is within the polygon by the processing device to determine whether the animal has moved out of the area, including four determination cases S1, S2, S3, and S4, S3 including two cases S31 and S32, as follows:
s1: any given point is considered to be within a polygon if it is the vertex of the polygon;
s2: traversing each vertex, and if the X axis of the current point p (X, y) is outside the quadrangle formed by any 2 vertexes, considering the X axis as outside the quadrangle;
s3: establishing a plane coordinate system, assuming that adjacent vertexes are p1 (x 1, y 1), p2 (x 2, y 2) and p3 (x 3, y 3), then:
s31, if x is within (x 1, x 2), excluding x1, x2, and y is within [ y1, y2], then the following cases are included:
as shown in fig. 4, a: if p1, p2 are on the same vertical line and p is between [ y1, y2], then p is considered to be within the polygon;
as shown in fig. 5, B: if p1, p2, p are on the same horizontal line, then p is considered to be within the polygon;
as shown in fig. 6, C: if p1, p2 are on the same horizontal line, the intersection counter is intersectcount+1, traversing the next vertex;
as shown in fig. 7, D: if p1, p2 are not on the same horizontal line, the slope k= (y 2-y 1)/(x 2-x 1) of p2, p1 needs to be calculated, and then the coordinate of the intersection point of p and the straight line formed by p1, p2 is obtained as follows:
p ' (x ', y '), where x ' =x, y ' =kx (x-x 1) +y1;
if y < y', then intertecount+1;
if p is close to p', then it is considered to be within the polygon;
s32, if x is outside [ x1, x2] and includes x1, x2, then the case that p and p2 are on the same vertical line needs to be considered, and p3 is assumed to be the next adjacent vertex of p2, and then the following cases are included:
as shown in fig. 8, E: if the x-axis of p is between p1, p3, then the ray of p-ray would intersect p1, p3, thus intersectcount+1;
as shown in fig. 9, F: if the x-axis of p is not between p1, p3, then the p-ray of origin will not intersect p1, p3, and therefore, the interCount+2;
s4: after traversing all the vertexes, looking at the value of the cross counter;
if even, the current point p is outside the polygon;
if it is odd, the current point p is within the polygon
In the invention, longitude and latitude coordinates of the position of the equipment can be obtained through the chip. The heading of the livestock (the X axis of the e-compatibility is the same as the direction of the livestock) can be obtained through the electronic compass. After Cpu reads the data, the data is sent to the server through the mqtt protocol. After receiving the coordinate data, the server stores the coordinate information in a database and calls the Gordon/hundred degrees/Gordon/Tengyou/day map sdk to query whether the current coordinate is outside the fence. If not, the feedback device is not out of bounds and the device is informed of the coordinates of the specific center point. The device sets the time interval for reporting to the server coordinates next time according to the distance. If the feedback device is out of bounds, the feedback device is out of bounds. And after the equipment receives the out-of-bounds information, starting an algorithm on the equipment. According to the current coordinate and the coordinate of the center point, the azimuth angle alpha, alpha-45, alpha+45 of the current coordinate in the coordinate of the center point can be obtained, namely the visible range considered by the scheme, and the invisible range is not in the range. The x-axis of the e-compare, i.e. the heading angle of the animal, is read, and if the heading angle is in the visible range, i.e. the glasses are opened by gpio, and if not, the glasses are closed by gpio.
In an alternative embodiment, when creating the fence, app will first determine whether the longitude and latitude of the point on the circle is inside the fence, if so, mark a different color, and flag is set to 1; if not, re-creating the fence, wherein the flag is set to 0;
after the app creates the fence, transmitting the coordinates of the fence and the value of the flag to the equipment end; the device side knows whether the device side is an internal fence or an external fence according to the value of the flag;
if the fence is an external fence, normally judging the boundary;
if the internal fence is the internal fence, judging that the boundary result is to be inverted; an inner fence for avoiding crops and farmlands.
In an alternative embodiment, the integrated positioning processing module includes a CPU, a memory module, and a positioning system.
In an alternative embodiment, the positioning system includes the chinese beidou satellite navigation system, the us GPS system, the russian GLONASS system, and the european galileo satellite navigation system.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (5)
1. An intelligent electronic fence is characterized by comprising an input module, a processing induction module and an output module;
the input module, the processing sensing module and the output module are matched to form an electronic fence movable area;
the input module is used for inputting map information so as to form a containment range on a map and transmitting data to the processing induction module; the input module comprises a power supply module and an instruction module;
the processing induction module is used for receiving the data transmitted by the input module, processing the database and controlling the work of the output module; the processing induction module comprises an integrated positioning processing module, an antenna, an electronic compass sensor, a nine-axis sensor, a storage/functional module, a microphone/camera, a WIFI/Bluetooth module, a step counting module, a battery management module and a mobile module;
the output module is used for controlling the activities of livestock; the output module comprises electric control glasses, a signal feedback APP, a loudspeaker/video module, a charging display lamp and/or a mobile signal lamp;
the intelligent fence active area is created by a user, the user clicks on a screen to obtain coordinates of corresponding points on a corresponding map, three or more points are continuously selected, and a corresponding fence area is generated;
determining whether the point is within the polygon by the processing device to determine whether the animal has moved out of the area, including four determination cases S1, S2, S3, and S4, S3 including two cases S31 and S32, as follows:
s1: any given point is considered to be within a polygon if it is the vertex of the polygon;
s2: traversing each vertex, and if the X axis of the current point p (X, y) is outside the quadrangle formed by any 2 vertexes, considering the X axis as outside the quadrangle;
s3: establishing a plane coordinate system, assuming that adjacent vertexes are p1 (x 1, y 1), p2 (x 2, y 2) and p3 (x 3, y 3), then:
s31, if x is within (x 1, x 2), excluding x1, x2, and y is within [ y1, y2], then the following cases are included:
a: if p1, p2 are on the same vertical line and p is between [ y1, y2], then p is considered to be within the polygon;
b: if p1, p2, p are on the same horizontal line, then p is considered to be within the polygon;
c: if p1, p2 are on the same horizontal line, the intersection counter is intersectcount+1, traversing the next vertex;
d: if p1, p2 are not on the same horizontal line, the slope k= (y 2-y 1)/(x 2-x 1) of p2, p1 needs to be calculated, and then the coordinate of the intersection point of p and the straight line formed by p1, p2 is obtained as follows:
p ' (x ', y '), where x ' =x, y ' =kx (x-x 1) +y1;
if y < y', then intertecount+1;
if p is close to p', then it is considered to be within the polygon;
s32, if x is outside [ x1, x2] and includes x1, x2, then the case that p and p2 are on the same vertical line needs to be considered, and p3 is assumed to be the next adjacent vertex of p2, and then the following cases are included:
e: if the x-axis of p is between p1, p3, then the ray of p-ray would intersect p1, p3, thus intersectcount+1;
f: if the x-axis of p is not between p1, p3, then the p-ray of origin will not intersect p1, p3, and therefore, the interCount+2;
s4: after traversing all the vertexes, looking at the value of the cross counter;
if even, the current point p is outside the polygon;
if the current point p is odd, the current point p is within the polygon;
when the fence is created, the app firstly judges whether the longitude and latitude of a point on the circle are inside the fence, if so, different colors are marked, and the flag is set to be 1; if not, re-creating the fence, wherein the flag is set to 0;
after the app creates the fence, transmitting the coordinates of the fence and the value of the flag to the equipment end; the device side knows whether the device side is an internal fence or an external fence according to the value of the flag;
if the fence is an external fence, normally judging the boundary;
if the internal fence is the internal fence, judging that the boundary result is to be inverted; an inner fence for avoiding crops and farmlands;
when the livestock leaves the containment range, the function of the processing sensing module is started, the livestock heads face out of the area, the electronic control glasses are opaque, and the eyes of the livestock are invisible; in the livestock head facing area, the electrically controlled glasses are transparent and can be seen by the eyes of livestock.
2. The intelligent electronic fence of claim 1, wherein the power module comprises a charging interface, a photovoltaic panel, a battery, and a battery low temperature start module; the charging interface is used for charging the battery, the photovoltaic panel is used for automatically charging the battery, and the battery low-temperature starting module controls the battery to work normally at low temperature; the instruction module sends out an instruction through the APP and transmits the instruction and map information to the processing induction module; wherein, the interface that charges is pogpin interface.
3. The intelligent electronic fence of claim 1, wherein the signal feedback APP receives signals from the processing sensing module and controls the operation of the speaker/video module, the charging display light, and the electronically controlled glasses.
4. The intelligent electronic fence of claim 1, wherein the integrated positioning processing module comprises a CPU, a memory module, and a positioning system.
5. The intelligent electronic fence of claim 4, wherein the positioning system comprises a chinese beidou satellite navigation system, a us GPS system, a russian GLONASS system, and a european galileo satellite navigation system.
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| CN202022658398 | 2020-11-17 | ||
| CN2020226583981 | 2020-11-17 |
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| CN113225883B true CN113225883B (en) | 2023-10-27 |
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