RS20201177A1 - Self-propelled system for herd keeping and grazing - Google Patents

Abstract

The invention relates to a self-propelled system for keeping, forcing and returning herds to pasture. The self-propelled system is a robotic shepherd in the form of an electric fence, which surrounds the cattle during grazing, forcing and returning from grazing. The system comprises a minimum of four robotic units (1) interconnected by wire (200) of an electric fence (2) which simultaneously move together with the animals adjusting the shape of the self-propelled system in accordance with the planned trajectory. The wires (200) of the electric fence (2) are connected in pairs alternately to the positive and negative power poles (63). The robotic unit (1) is a self-propelled vehicle, which includes a moving platform (3), a moving device (4) and a wire tensioning device (5). The robotic unit (1) also includes a power supply device (6), a metering system (7), a communication system (8) and a control system (101).

Description

SELF-PROPELLED SYSTEM FOR

GUARDING AND DRIVENING THE HERD

ON GRAZING

Technical field

The invention belongs to the field of agriculture and to the field of animal breeding. More closely, the invention can be classified as electrified fences.

The designation according to the International Patent Classification of the field in which the invention is classified is A01K 3/00.

Technical problem

The technical problem that is solved by the invention is: how to construct an independent, flexible, self-propelled system in the form of an electric fence, which guards the herd.

The invention solves the even bigger and more difficult to solve technical problem of herding herds on different terrains, without people, i.e. shepherds, and without watchdogs.

State of the art

The solution from patent application RS 20050171 submitted on February 22, 2005 is known from the domestic patent fund. year under the title: "Procedure of breeding small animals". The aforementioned application was published on December 31, 2007. year. The solution from the aforementioned application includes the installation of an open mobile corral with a certain number of animals in the grazing area. After some time, the corral is moved by external force to another place where there is fresh grazing.

The solution from the mentioned application differs from the invention in that it only serves for grazing, and not for driving the herd from the farm to the pasture. The essential difference is that the aforementioned application does not describe the shape or construction of the pen, as well as the force used to move the pen from one place for grazing to another place of the same grazing.

From the state of the art, an invention called: "Rolling electric fence" is known. That solution is protected by patent US4078771, which was published on March 14, 1978. year. The solution from the mentioned patent includes an electric fence for cattle where one part of the fence is movable. The movement of the part of the fence is achieved through mechanical assemblies. The movable part of the fence, according to this solution, includes a series of wheels on one axle, connected to each other by a wire, where the ends of the axle are connected to the device on stationary, parallel parts of the fence via springs. The fence has the shape of a parallelogram where only the length of the parallelogram can be changed.

The electric fence from the mentioned US patent is quite different from the self-propelled system according to the invention because only one part of the fence is moved on the fixed fence in the pasture and the movement of that part of the fence is realized by mechanical devices.

The patent document of the Chinese utility model CN201123293 is also in the state of the art. In that patent document entitled: "Electric fence for sheep" a solution of an electric movable fence is described, which includes a solar panel through which the fence is supplied with electricity. The mobility of the fence inside the pasture is realized in such a way that the wire of the fence is light, so the shepherds can easily move it from place to place in the pasture.

The aforementioned solution shows an electric fence that is not self-moving, but also requires maintenance of the fence by a shepherd.

Also, the Canadian patent application CA3060738 published on April 30, 2020 is known from the patent literature. year. That application described a solution called: "Robotized Rotary Grazing System". According to this solution, the system is robotically controlled and includes an electric fence that is independently and automatically movable without manual intervention. The robot controls the movement of the fence on the pasture and at the same time allows the fence to be contracted and expanded in order to cover the optimal area of the pasture during grazing.

The movable electric fence from the mentioned patent application differs from the invention in that it moves only on the pasture where it is installed and is used only for guarding livestock, but not for driving livestock to pasture.

All described solutions of mobile electric fences from the state of the art differ from the invention in that they only have the function of guarding livestock, but not driving and guiding livestock to pasture. Also, based on the description and patent claims, it is not possible to establish a way to close the circuit when the animal comes in contact with the fence, because there is no or no way of grounding the mobile robotic units.

Presentation of the essence of the invention

The self-propelled system for guarding and herding herds, according to the invention, is a robotic shepherd in the form of an electric fence, which surrounds the cattle during grazing and herding.

The system, according to the invention, is a mobile pen, the movement of which directs the movement of animals inside the fence and along a predefined path.

The application of the system according to the invention increases the efficiency of animal breeding on farms, while at the same time a very important reduction in the cost of breeding livestock and all products obtained from them by reducing the resources employed: shepherds and watchdogs.

The self-propelled system meets the strictest requirements of world standards regarding the safety of exploitation. The system provides optimal protection of animals, people and the environment.

The electric fence, which is an integral part of the self-propelled system, controls the movement of animals and at the same time protects animals from predators. The low strength of the current passing through the fence makes it impossible to endanger the lives of people and animals that come into contact with the fence.

The self-propelled system, according to the invention, has two basic and two auxiliary modes of operation. The basic modes of operation are: the mode of movement along the road from the farm to the pasture, in which the cattle that are kept are brought from the farm to the place for grazing and back, and the resting mode in which the cattle are kept in the pasture. Auxiliary modes of operation are: mode of zero position on the farm, which allows bringing the self-propelled system to the initial position on the farm when cattle are received into the system, as well as when cattle leave the system after returning cattle from grazing, and energy charging mode when charging the battery of robotic unit 1 of the system.

The system, according to the invention, includes at least four robotic units. The robotic units include the movable posts necessary to form the fence. The robotic units are connected to each other by a wire, through which an electric current is passed. When the animal touches the wire fence, the circuit is closed, which creates a short and safe electric shock, which keeps the animal away from the fence. The same principle is used to protect animals inside the fence from possible attacks by predators from outside the fence. Mild electric shocks also have a function in controlling the movement of animals inside the fence during the movement of the entire system.

The system can be used on terrains intended for grazing animals, including terrains with a slope.

It moves on land and in shallow water and withstands different weather conditions.

By using four robotic units, a simpler form of fence is formed. By adding robotic units, which are positioned in pre-selected places, more complex fence shapes are obtained, which facilitate the movement of the entire system. With four robotic units, the system is in the shape of any quadrilateral, which can be in the form of a narrow rectangle when it is suitable for moving on the road. With a larger number of robotic units, the system can also make sharp turns.

An already existing system can always be upgraded by adding additional robotic units.

The possibility of changing the distance between the robotic units, i.e. the poles and the device for automatic tensioning of the wire that connects them, allows the system to maintain a certain shape and to maintain space within the fenced system.

Upon arrival at the pasture, the robotic units, i.e. the posts, are moved away from each other and placed in a position suitable for grazing according to the configuration of the terrain, with the optimal area for grazing in relation to the number of animals inside the fence. The system, according to the invention, remains in the set position throughout the day with minimal movements to manage grazing. The self-propelled system can fully automatically take the herd out to graze in the morning, guard the herd during the day and return to the farm for the night in the evening.

According to the invention, the self-propelled system for guarding and herding herds includes at least four robotic units and an electric fence.

The robotic unit is equipped with sensors and communication devices for navigation, environmental detection and communication with other robotic units with which it moves in the system, thus enabling efficient mobility through moderately rocky fields, over soft ground, through low vegetation, mud and over slopes.

The robotic unit includes a vertical column. The column is fixedly attached to the robotic platform. Changing the inclination of the column is possible by changing the inclination of the platform via linear actuators. The pillar includes a device that always keeps it in a vertical position regardless of the slope of the terrain on which the robotic unit moves. The rotation around the vertical axis of the column allows the system to form a geometric figure that does not have right angles during movement on the ground.

Depending on the type of animals for which the system is used, the number of wires on the fence and the height at which they are placed are different.

The wire tensioning device, which is part of the robotic unit, ensures that the wire between the poles is always taut. The wire tensioning device consists of a reel on which the wire is wound and a device that tightens the wire. The columns are regularly connected with a wire, so that a closed loop is formed. During the entry and exit of livestock, the connection between the two poles is broken in a controlled manner.

The self-propelled system, according to the invention, is powered by batteries. The batteries are charged with electricity from the mains through a socket, solar energy or installed induction infrastructure, as needed.

For the detection of obstacles, as well as for monitoring the herd, the self-propelled system includes video and other sensors with which the system forms the perception of the environment.

Description of the draft images

Figure 1 shows a schematic layout of the system according to the invention with four robotic units in the form of a parallelogram;

Figure 2 shows a schematic path of the system from the barn on the farm to the pasture with the different shapes of the fence shown with six robotic units during the path of the system;

Figure 3 shows a schematic enlargement of the fenced grazing area with four robotic units;

Figure 4 shows the robotic unit in axonometry;

Figure 5 shows the robotic unit in axonometry with parts in an open moving platform;

Figure 6 shows the section A-A of Figure 4;

Figure 7 shows the construction of the moving platform frame in axonometry;

Figure 8 shows a projection of the upper armor of the moving platform;

Figure 9 shows a projection of the lower armor of the moving platform;

Figure 10 shows the column in front view;

Figure 11 shows the column in top view;

Figure 12 shows detail A from Figure 10;

Figure 13 shows detail B from Figure 10;

Figure 14 shows detail C from Figure 4;

Figure 15 shows detail A from Figure 5;

Fig. 16 shows the support mechanism in a top view;

Figure 17 shows the wheel in axonometry;

Figure 18 shows a variant execution of the device for movement in axonometry;

Fig. 19 shows a front view of the power transmission device;

Fig. 20 shows a power transmission device with a belt transmission in a frame in axonometric view; Figure 21 shows the braking device in axonometry;

Figure 22 shows the position of the braking device in the frame of the robotic unit;

Figure 23 shows a block diagram of the control system;

Figure 24 schematically shows the central control system;

Figure 25 shows the position of the elements of the control system on the frame of the robotic unit;

Figure 26 shows a schematic of the hierarchical level of action selection;

Figure 27 shows the schematic of the communication system;

Figure 28 shows the scheme of the measuring system;

Figure 29 shows the wheel control block diagram;

Figure 30 shows a block diagram of the wire tension control.

Detailed description of the invention

The self-propelled system for guarding and driving herds to pasture includes at least four robotic units 1 and an electric fence 2. The number of robotic units 1 in the system depends on the configuration of the terrain on which the system is used, the shape of the road from the farm to the pasture along which the system drives cattle, and on the size of the herd, i.e. the required area of the pasture for grazing. For straight roads, four robotic units 1 are sufficient, but for sharp turns in the road, more robotic units 1 are added to the system.

The self-propelled system according to the invention is controlled via the communication system 8 and the control system 101.

The robotic unit 1 is a self-propelled vehicle, which includes a moving platform 3, a moving device 4 and a wire tensioning device 5.

The movement device 4, in addition to the movement function, also has the function of adjusting the distance of the moving platform 3 from the ground, as well as changing the inclination of the moving platform 3 of the robotic unit 1.

The robotic unit 1 also includes a power supply device 6, a measuring system 7.

The moving platform 3 is the horizontal base of the robotic unit 1 with a vertical column 9 in the middle.

The moving platform 3 includes the frame 10, the upper armor 11 and the lower armor 12. The base of the frame 10 consists of two side profiles 13 of square or rectangular cross-section. The side profiles 13 are of the same length as the moving platform 3, and they are inextricably connected to each other by the front profiles 14. In the inner gap 113 of the side profiles 13, a movement device 4 is placed.

The side profiles 13 are inextricably connected to the column support 15. The column support 15 includes four transverse profiles 16 and four longitudinal profiles 17, which are inextricably connected and arranged in pairs in two parallel planes. Transverse profiles 16 and longitudinal profiles 17 in one plane are connected to transverse profiles 16 and longitudinal profiles 17 in another plane by vertical profiles 18.

Two fans 19 are placed on each front profile 14. Fans 19 create forced air flow inside the moving platform 3.

Forced air flow in the moving platform 3 is necessary to avoid a drastic increase in temperature due to the release of heat from electronic devices and high temperatures during the warm months. During the application, the system is exposed to high temperatures and direct sunlight all day when it stands stretched out in the pasture. Without the fan 19 inside the moving platform 3, the temperature can exceed 55° C, which will permanently reduce the battery capacity. Also, overheating of other electronic components located in and on the mobile platform 3 may occur. The fans 14 also serve to avoid the occurrence of condensation inside the mobile platform 3, because they form an air flow through the interior of the mobile platform 3.

The frame 10 of the moving platform 3 is covered and connected with a thin armor, which consists of the lower armor 12 and the upper armor 11. The function of the lower armor 12 and the upper armor 11 is to protect the interior of the moving platform 3.

A power supply device 6 is connected to the frame 10 and the lower casing 12 of the mobile platform 3.

A solar panel 61 can be placed on the upper shell 11 of the mobile platform 3, which generates electricity to drive the entire system. The solar panel 61 is connected to the power supply device 6 via appropriate electronics.

Thermal insulation 20 is placed on the inside or outside of the upper casing 11 of the mobile platform 3. Insulation 20 is installed to eliminate the temperature effects of the environment on the robotic unit 1. The role of the thermal insulation 20, as well as the fan 19, is to prevent a drastic increase in temperature inside the robotic unit 1 during the warm months while the system is grazing. At low temperatures, the thermal insulation 20 protects the battery from temporary loss of capacity.

On the sides of the upper armor 11 are ultrasonic proximity sensors 21. Proximity sensors 21 detect and evaluate the distance from a possible obstacle on the road.

A vertical column 9 is placed in the middle of the moving platform 3, firmly attached to the moving platform 3.

The column 9 includes two parallel vertical guides 91 and 92 and the middle supporting profile 93. The axes of the vertical guides 91, 92 and the profile 93 are not in the same vertical plane, which increases the rigidity of the vertical column 9. The guides 91 and 92 have a circular or annular cross-section. Guides 91 and 92 are linear guides in the vertical direction. On the guide 91, one or more sliders 94 are placed, and on the guide 92, there are also one or more wire tensioning devices 5. The sliders 94 and the wire tensioning devices 5 are at the same heights on the guides 91 and 92.

Column 9 also includes three horizontal plates: lower plate 95, middle plate 96 and upper plate 97. Plates 95, 96 and 97 are parallel to each other and at a certain distance. The lower plate 95 and the middle plate 96 are releasably connected to the pillar support 15. The guide 91 is connected to the lower plate 95, the middle plate 96 and the upper plate 97 via three flanges 98. Also, the guide 92 is connected to the lower plate 95, the middle plate 96 and the upper plate 97 via three flanges. 93 is connected via three flanges 901 to the lower plate 95, the middle plate 96 and the upper plate 97. At the junction of the upper armor 11 of the mobile platform 3, the guide 91, 92 and the support 93 are seals 99. Seals 99 prevent the penetration of atmospheric precipitation and impurities into the interior of the robotic unit.

Two sets 22 with connectors and switches and a camera 23 are placed on the upper plate 97.

Set 22 includes a switch 24 that turns robotic unit 1 on and off, connector 25 and connector 26. Connector 25 is a power supply connector and is connected to power supply device 6. Computer input device 106 is connected to connector 26. System diagnostics are performed via computer input device 106. Also, all changes to the parameters of the measuring and control device 7 are made through the computer input device 106 if the robotic unit cannot be accessed via remote access. A protective cover 29 is placed over the set 22, which protects the connectors 25, 26 and the switch 24 from atmospheric influences. A set of sensors is placed on the protective cover 29, which have the function of perceiving the environment and remotely monitoring the animals inside the fence.

As alternative solutions, instead of the camera 23, a laser scanner 27 or a radar 28 is used.

The sliders 94 are placed on the vertical guide 91. The number of sliders 94 on the guide 91 depends on the height of the fence 2, i.e. on the number of wires 200 in the fence 2. The drawings show the implementation of the invention with three guides 91, i.e. with six wires 200 in the fence 2.

The slider 94 via the intermediate plate 30 is connected to the force sensor 31 which is used to tighten the wire 200. The position of the slider 94 on the guide 91 is defined and secured by the axial fuse 32, which is mounted on the guide 91 below the slider 94. The force sensor 31 for measuring the tension force of the wire 200 is connected to the board 33 via an electrical insulator. the eyelet 34 holds the spring 35. The spring 35 is a spiral part of the wire 200 of the fence 2. Multiple wires 200 can be connected to one plate 33. The other end of the wire 200 is connected to the wire tensioning reel 51 of the wire tensioning device 5 of the adjacent robotic unit 1.

On the guide 92 of the vertical column 9, in the same horizontal plane with the corresponding slide 94, a wire tensioning device 5 is placed. The wire tensioning device 5 can freely rotate around the axis of the guide 92. In this way, the formation of the fence is ensured regardless of the mutual position of the two robotic units 1, because the wire tensioning device 5 is always directed towards the other robotic unit 1 due to the force of the wire tensioning force.

The wire tensioning device 5 includes a motor-reducer 53, which is connected to the upper plate 54 and the lower plate 55. Sliding carriages 56, 57 are connected to the upper and lower plates 54, 55. Sliding carriages 56, 57 are on the guide 92 of the pillar 9.

On the upper plate 54, as well as on the lower plate 55, the lead 52 for the wire 200 is placed, which is connected at the other end to the slide 94 of the adjacent pillar 3. The lead 52 for the wire 200 is directly in front of the wire tensioning pulley 51. The wire tensioning device 5 includes two lead wires 52 for the wire 200 and two wire tensioning pulleys 51. Tension pulleys the wires 51 are placed at the ends of the output shaft 58 of the moto-reducer 53. The pulleys for tensioning the wire 51 on the output shaft 58 of the moto-reducer 53 are secured by a plate 59, which is fixed to the output shaft 58. Axial securing of the sliding carriages 56, 57 in the vertical direction is performed by an axial fuse 32, which is mounted on the guide 94, under the sliding carriage 56, 57. That's how it is determined position of the device for tensioning the wire in the vertical direction, so that it is in the same plane as the slide 94 of the adjacent column 9.

Each robotic unit 1 includes four movement devices 4. The movement device 4 has a triple function. The function of the movement of the robotic unit 1, the settings of the distance of the moving platform 3 from the ground and the change of the inclination of the moving platform 3 of the robotic unit 1.

The movement device 4 is placed in the inner gap 113 of the side profile 13 of the frame 10 of the robotic unit 1.

The movement device 4 includes the wheel 41, the electric motor 42, the carrying mechanism 43, the power transmission device 44 and the braking device 45 of the robotic unit 1.

The supporting mechanism 43 includes three mutually parallel plates-forks, namely: outer fork 46, middle fork 47 and inner fork 48. Forks 46, 47, and 48 are placed at a certain distance, interconnected through several elements into one rigid unit.

The outer 46 and the inner fork 48 are connected to each other by a fixed shaft 49, and both are connected to the frame 10 by a cylindrical joint 402. Between the outer fork 46 and the inner fork 48 is a wheel 41. The position of the wheel 41 between the outer 46 and the inner fork 48 is determined by the shape of the fixed shaft 49 and the spacer 407. Fixed shaft 49 connects both the outer 46 and the inner fork 48 to the wheel 41. All three forks 46,47,48 are connected to each other by the connecting shaft 401. The fixed shaft 49, the shape of the connecting shaft 401 and the spacer 407 determine the distance between the outer fork 46 and the inner fork 48.

The central 47 and the inner fork 48 are connected to the shaft of the electric motor 42 via the connecting shaft 408, if the electric motor 42 whose body rotates around a stationary shaft is used. If an electric motor 42 with a stationary body is used and the torque output is on the shaft of the electric motor 42, then the central 47 and the inner fork 48 are connected to the body of the electric motor 42 via the connecting shaft 408.

The outer fork 46 is connected to the central fork 47 by the connecting shaft 408 and the cylindrical joint 409. The cylindrical joint 409 is connected to the vibration damping element 410. The vibration damping element 410 is placed between the outer fork 46 and the central fork 47 and is separated from them by two spacers 411.

The wheel 41 includes a tire, which can be a solid tire, a rim 404 and a bearing 405. The bearing 405 is installed in the rim 404. The wheel 41 rotates around the stationary axle 49 via the bearing 405.

The vibration damping element 410 is connected to the linear actuator 412. The linear actuator 412 is connected to the frame 10 of the robotic unit 1 via a cylindrical joint 409.

By moving the piston 413 of the linear actuator 412, the movement is transmitted through the vibration damping element 410, the cylindrical joint 409 and the connecting shaft 408 and causes a change in the position of the rigidly connected forks 46, 47 and 48. The rigidly connected forks 46, 47 and 48 rotate around the cylindrical joint 402 and thus the distance of the robotic unit 1 changes. from the ground.

As the distance of the robotic unit 1 from the ground can be changed independently in four points, by controlled change of the position of the piston 413 of the individual linear actuators 412, the rotation of the frame 10 of the robotic unit 1 around the transverse and lateral directions can be caused, and thus the change of the inclination of the frame 10 in the lateral and longitudinal directions in relation to the surface on which the vehicle moves. Changing the position of the piston 413 of the linear actuator is performed based on the data from the angular position sensor. By changing the position of the piston 413 of individual linear actuators 412, it can be achieved that the frame 10 of the robotic unit 1 is always horizontal in relation to the lateral and transverse directions. In the same way, the slope of the frame 10 of the robotic unit 1 is defined in relation to the neighboring robotic units 1 connected to each other by the electric fence 2. Thus, the parallelism of the electric fence 2 with the ground on which the system moves is achieved.

In a variant version, the movement device 4 includes a step mechanism 414. The step mechanism 414 enables a discrete change in the distance of the robotic unit 1 from the ground by pulling in or out the wheel 41 via the supporting mechanism 43. In the variant version with the step mechanism 414, the possibility of adjusting the inclination of the frame 10 of the robotic unit 1 around the longitudinal and lateral directions is lost.

The discrete stepper mechanism 414 comprises a hollow profile 415, a profile 416 and a locking pin 417. The outer shape of the profile 416 corresponds to the cavity of the profile 415. The profile 416 is inside the profile 415 and slides freely in the longitudinal direction. Both profiles 415 and 416 along their length on the side include several openings 418. The distance between the openings 418 corresponds to the step of the step mechanism 414. By placing the shaft with the fuse 417 in the openings 418 of both profiles 415 and 416, the step mechanism 414 is fixed in a certain position, which corresponds to a certain position of the rigidly connected forks 46, 47 and 48. By changing opening 418 in which the pin with the fuse 417 is placed, a change in the position of the rigidly connected forks 46, 47 and 48 is achieved, and this leads to a change in the distance of the frame 10 of the robotic unit 1 from the ground.

The power transmission device 44 is located between the inner 48 and the central fork 47 and transmits rotational movement from the electric motor 42 to the wheel 41 with a reduction in the number of revolutions and an increase in the torque.

The power transmission device 44 includes: a smaller sprocket 419 and a larger sprocket 420, a chain 421 and a chain tensioner 422. The smaller sprocket 419 is rigidly connected to the body of the electric motor 42, if the electric motor 42 whose body rotates around the stationary shaft 49 is used. the sprocket 419 is connected to the shaft of the electric motor 42. The larger sprocket 420 is rigidly connected to the rim 404 of the wheel 41. The protective housing of the transmission 423 is connected to the inner fork 47. The protective housing of the transmission 423 protects the sprockets 419, 420 and the chain 421 from the influence of the surface on which the robotic unit 1 moves and prevents the penetration of impurities into the transmission device strength 44.

In addition to the chain transmission, it is also possible to use a belt transmission in the same configuration. Then the power transmission device 44 includes a smaller belt 424, a larger belt 425, a belt 426 and a belt tensioner 427. The belt 426 can be: belts, ribbed or toothed.

Braking device 45 includes brake disc 451, brake pads 453, brake force transmission device 454 and two actuators with their supports: brake actuator 452, brake actuator support 455, linear actuator 456 and linear actuator support 457.

The brake disc 451 is rigidly connected to the wheel rim 404. The brake disc 451 is placed between the brake pads 453. The brake pads 453 are connected to the jaws of the brake actuator 452. When activating, i.e. approaching the brake actuator jaws 452, the brake pads 453 come into contact with the sides of the brake disc 451. Activating the jaws brake actuator 452 is caused by the linear actuator 456 via the brake force transmission device 454. The brake force transmission device 454 is connected on one side to the piston of the linear actuator 456 and on the other side it is connected to the brake actuator 452. The linear actuator 456 is connected to the frame 10 of the robotic unit 1 via the support of the linear actuator 456. Brake actuator 452 over the brake bracket actuator 452 is connected to the outer fork 46 of the carrier mechanism 43 of the movement device 4.

The power supply device 6 includes: a direct current source 62, a pulsed power supply 63 and electronics 64. The electronics 64 adjust the voltage from the direct current source 62 to individual components that require a power source. The pulse power supply 63 generates a voltage greater than a minimum of 4000 V and sends a high voltage current at certain time intervals. The pulse power supply 63 is connected to the direct current source 62 and to the wires 200 of the electric fence 2. The wires 200 are alternately connected to the positive and negative poles of the pulse power supply 63, thus forming pairs of wires that the animal must touch in order to close the circuit. A high voltage pulse power supply 63 can be introduced into the fence 2 from the side of the slide 94 or from the side of the wire tensioning reel 51.

The control system 101 of the self-propelled system, according to the invention, ensures the desired behavior of the system in all operating modes.

The control system 101 of the self-propelled system includes two physically separate systems: the central control system 102 and the system 103 for controlling the robotic unit 1. These two control systems 102 and 103 are connected and exchange information through the communication system 8 or by directly loading the target, the corresponding path and other parameters in the system 103 for controlling the robotic unit 1. The system 103 for controlling the robotic unit 1 is connected to the system for measurement 7, which establishes a connection with the real environment of exploitation.

The central control system 102 includes the Harvard 121 and the software part 122. The Harvard part includes a computer 104 with one or more monitors and various peripheral devices 105. The software part consists of the software realization and implementation of intelligent control algorithms with a user interface as well as a software system for visualization and monitoring of the self-propelled system.

The central management system 102 has the function of realizing a higher level of management, monitoring and supervision of the self-propelled system, according to the invention, if a sudden and unforeseen need arises. In this way, the central management system 102 can also function as a system for supervised management of the self-propelled system, that is, as an alternative mode of management by the operator-farmer, if the need arises. The usual management mode is automatic with the assistance of the operator - farmer when switching from auxiliary to basic modes of operation and vice versa.

The system 103 for controlling the robotic unit 1 also includes a hardware and software part. The Harvard part includes a computer 106, which has the function of a basic controller and a number of controllers 107 which are controlled by the lower levels of the system that need control, such as e.g. the wire tensioning device 5, the battery charging device, the movement device 45, i.e. for steering the wheels 41. The computer 106 controller of robotic unit 1 communicates with other computers 106 controllers of other robotic units. The computer 106 controller of the robotic unit 1 processes the data obtained from the other computers 106 of the controllers of the other robotic units 1 and the force sensor 31 and, based on this, sends the control algorithms to the controllers 107 that control the lower levels.

The system 103 for managing the robotic unit 1 includes two basic subsystems for managing lower levels, namely:

- subsystem 113 for controlling the movement of wheel 41;

- the subsystem 114 for controlling the tension/stretching of the wire 200.

The subsystem 113 for controlling the movement of the wheel 41 includes the controller 107 and the driver 116 of the electric motor of the wheel. The controller 107 for controlling the movement of the wheel 41 generates control signals and sends them to the driver 116 of the electric motor of the wheel 41. The driver 116 of the electric motor of the wheel 41 is attached to the wheel 41 and has the function of controlling the speed of the wheel 41. The control signals are generated based on the control algorithms, which the controller 107 for controlling the movement of the wheel 41 receives from the computer 106

Subsystem 114 for controlling wire tension/extension 200 includes controller 107 for controlling wire tension 200, driver 118 for DC motor for wire tensioning 200. Control signals are generated based on control algorithms, which the controller 107 for controlling wire tension receives from computer 106 - controller of robotic unit 1. Driver 118 for DC motor for wire tensioning 200 is coupled to the DC motor of the motor-reducer 53 and the controller 107 for controlling the tension of the wire 200. The function of the driver 118 is to control the motor of the motor-reducer 53.

Electronics 119 supplies voltage from power source 62, adjusts it to the required voltage level, and passes it to wheel 41 electric motor drivers 116, wire tension DC motor drivers 118 200, and wheel 41 motion control and wire tension control 200 controllers 107.

The measuring amplifier 120 forwards the values of the force sensor 31 to the computer 106 - the controller of the robotic unit 1.

All the mentioned elements of the system 103 for controlling the robotic unit 1 are located in the moving platform 3 of the robotic unit 1.

The management of the self-propelled system, according to the invention, is based on the following:

- Algorithm for planning the path of the self-propelled system;

- Algorithm for a possible change of the planned path;

- Algorithm for monitoring the movement, ie navigation of the self-propelled system;

- Detection and avoidance of static and dynamic known and unknown obstacles; - Management of the arrangement of robotic units 1 in the self-propelled system, where it is necessary to ensure movement in a constant arrangement of robotic units as well as the possibility of changing the shape of the self-propelled system due to the need to avoid obstacles or adapt to the configuration parameters of the path.

Off-line route planning is realized through the software part 122 of the central management system 102 using the user interface 130. For efficient route planning, a map with GPS coordinates of the route from farm to pasture and vice versa is provided. This GPS map is the basis for generating the coordinates of the path. In addition to this map, images of the terrain of the route, videos of the route, images and videos of static obstacles located on the path of the self-propelled system are also used. Based on the available data, the required parameters of the path are defined from the aspect of forming the shape of the self-propelled system and are entered into the system 102 for central control through the user interface. Additional data used to define the shape of the self-propelled system are the type of livestock and the number of grazing animals. In this way, the overall dimensions of the self-propelled system are calculated and, along with the known path data, they represent the input parameters for the implementation of the path planning algorithm, by managing the shape and avoiding known static obstacles. The result of the implementation of the above-mentioned algorithms are the trajectories of each individual robotic unit.

The problem of managing the shape of the self-propelled system is solved by a combination of three approaches: - approach based on behavior,

- dynamic virtual structures,

-leader-follower.

Retention of the desired shape of the self-propelled system during the movement of the system is further conditioned by the tight connection via the wire 200 between the robotic units 1 and the constant requirements that the wire be tensioned with a certain range of tolerance.

The self-propelled system, according to the invention, has two basic and two auxiliary modes of operation. The basic operating modes are:

- Mode of movement along the road from the farm to the pasture, by which the livestock being kept is brought from the farm to the place for grazing and back;

- Dormant mode in which cattle are kept on pasture.

Auxiliary operating modes are:

- The zero position mode on the farm, which enables the self-propelled system to be brought to the initial position on the farm when cattle are received into the system, as well as when cattle leave the system after the cattle return from grazing;

- Energy charging mode when charging the battery of the robotic unit 1 of the system.

The communication system 8 ensures reliable information transmission and smooth operation of the self-propelled system.

Communication between the central control system 102 and the self-propelled system is realized via the 3G/4G/5G network. This connection provides two-way data transmission from the parts of the measuring system 7 of the self-propelled system to the central control system 102 and from the central control system 102 to the computer 106 of the basic controller of each robotic unit 1.

To establish a connection, each robotic unit 1 includes a 3G/4G/5G network card 81 connected to a computer. In this way, the 3G/4G/5G connection is used to exchange information directly between the computer 104 of the central control system 102 and the computer 106 of each robotic unit1.

Communication between the system 102 for central management and the self-propelled system can also be achieved via a wireless WiFi internet connection. If the distance between the farm and the pasture is up to 10 km, by installing an Internet WiFi booster and a WiFi repeater, the connection can be made available for the entire time the self-propelled system is moving.

The communication system 8 includes devices that provide GPS/GNSS positioning of the self-propelled system. A base station 82 is installed on the farm, and one receiving unit-rover 73 is installed on each robotic unit. Rover 73 receives signals from satellites and from base station 82.

The measuring system 7 includes several sensors that are placed on each individual robotic unit 1. The sensors are connected by a wire connection to the computer 106 controller of each robotic unit 1. Such information from the sensors is transmitted via the computer 106 controller of the robotic unit 1 to the central control system 102. This creates conditions for monitoring the movement and monitoring of the self-propelled system, as well as the detection of obstacles and their avoidance.

A measuring system 7 is installed on each robotic unit 1, which includes the following parts: inertial measuring unit 71- IMU; force sensor 31; camera 23; LIDAR 72; radar 28; receiver unit 73-rover and proximity sensor 21.

Inertial measuring unit 71 is an electronic device for measuring navigation parameters of robotic unit 1. Inertial measuring unit 71 measures angular velocity, linear acceleration and magnetic field strength. It has the function of determining the orientation of each robotic unit 1 and its speed in real time.

The wire tensioning force sensor 31 200 is connected to the slider 94 and belongs to the wire tensioning device 5. It measures the wire tensioning force 200 as a control parameter for turning on/off the wire tensioning device 5.

The camera 23 is mounted on the armor 29 on the top of the pillar 9 and is connected by wire to the computer controller 106 of the robotic unit 1. The function of the camera is video monitoring of the movement of the self-propelled system, recognition of obstacles and monitoring of animals during grazing. Monitoring is performed in motion mode and in stationary mode.

LIDAR 72 is an optical measuring instrument. It is placed on the frame 10 of the robotic unit 1. It is connected by wire to the computer 106 of the controller of the robotic unit 1. With this method of recording, high accuracy spatial data is collected.

Radar 29 is a wireless measuring instrument and performs the same function as LIDAR 72.

The rover receiving unit 73 is part of the measuring system 7 and the communication system 8. It is placed on each robotic unit on the frame 10. It receives signals from the satellite and the base station 82. The speed of the robotic unit 1 is measured using the receiving unit 73.

The proximity sensor 21 is placed on the upper armor 11 of the moving platform 3. It is connected to the computer 106 controller of the robotic unit 1. Its function is to detect obstacles during movement. When detecting an unknown obstacle, it gives a signal that is translated into the action of braking and stopping the self-propelled system. After stopping the self-propelled system, the steering is activated based on the obstacle avoidance algorithm implemented in the computer 106, the path is changed, the obstacle is avoided and the movement continues.

The self-propelled system according to the invention has multiple applications. In addition to the basic application of guarding and driving the herd to pasture, the self-propelled system can also be used for the controlled transport of smaller groups of animals from the pasture where they graze to the place where they are milked, for example. Such is the case of New Zealand farms where from a large pasture where there are 1000 cows, they are led in groups of 50 cows to milking parlors with a capacity of 50 milking parlors, in the morning and in the afternoon.

The self-propelled system can be used to transport a large number of animals from 1 to 5000, at distances that the animals can walk on foot in one day, and can last for several days, if food and water for the animals are provided on the daily distance, as well as electricity supply. For example transporting a large number of animals to the slaughterhouse or selling them to another farm. Instead of transporting 1000 cows with 50 trucks (or 50 truck trips).

The system also solves the problem of providing animals in the form of nomadic animal husbandry, a way of husbandry where there is no facility where the animals live, because they live in an open space, under a clear sky. In this case, the animals live within a self-propelled herding system.

The system according to the invention can also solve the problem of controlled plant maintenance between plantings of those crops that are edible by animals. For example rows of pear trees are located a few meters away. If the soil between those pear trees grows into tall vegetation, it will take nutrients from the pears, and will make it impossible for agricultural machinery to move between those rows of trees. The existing way of controlling this vegetation is mechanically (by plowing or cutting), or by herbicides and other chemical means. With the help of a self-propelled system, organized and controlled movement between rows of trees is possible in such a way that cows, for example, they cannot eat pears or parts of the tree, leaves and branches, and the desired level of vegetation is maintained without chemical means or mechanical treatment.

Maintenance of plants next to highways and roads is also possible with the help of a self-propelled system, without fear that animals will get on the road, and with huge savings.

Claims (25)

PATENT REQUESTS 1. A self-propelled system for guarding and driving herds to pasture, characterized by the fact that it includes at least four robotic units (1) interconnected by an electric fence (2) with a wire (200), a power supply device (6) and a measuring system (7), whereby the power supply device (6) and the measuring system (7) are placed on the robotic unit (1), which includes a communication system (8) and a control system (101). 2. System according to claim 1, characterized in that the robotic unit (1) is a self-propelled vehicle comprising a moving platform (3), four movement devices (4) and a wire tensioning device (5), wherein the movement devices (4) are inside the moving platform (3). 3. System according to claim 1 and 2, indicated by the fact that the mobile platform (3) is the horizontal base of the robotic unit (1) with a vertical column (9) in the middle, that the mobile platform (3) includes the frame (10), the upper armor (11) and the lower armor (12), where the thermal insulation (20) is placed on the inside or outside of the upper armor (11). 4. The system according to claim 1, 2 and 3, characterized by the fact that the base of the frame (10) consists of two side profiles (13) of square or rectangular cross-section, the same length as the mobile platform (3), whereby the side profiles (13) are inextricably connected to the front profiles (14) and the column support (15). 5. The system according to claim 1, 2, 3 and 4, indicated by the fact that the pillar support (15) includes four transverse profiles (16) and four longitudinal profiles (17), connected by unbreakable connections in pairs arranged in two parallel planes, whereby the transverse profiles (16) and longitudinal profiles (17) in one plane are connected to the transverse profiles (16) and longitudinal profiles (17) in the other plane by vertical profiles (18). 6. System according to claim 1, 2 and 3, indicated by the fact that the column (9) includes two parallel vertical guides (91, 92) of circular or annular cross-section and an intermediate supporting profile (93), where the axes of the vertical guides (91, 92) and the profile (93) are not in the same vertical plane, that the guides (91) are equipped with sliders (94) and on the guide (92) devices for wire tensioning (5), where the number of sliders (94) and wire tensioning devices (5) are the same and are in the same horizontal planes. 7. The system according to claim 1, 2, 3 and 4, indicated by the fact that the column (9) includes three mutually parallel horizontal plates at a certain distance, the lower plate (95), the middle plate (96) and the upper plate (97), which are the lower plate (95) and the middle plate (96) connected to the support of the column (15) by releasable connections, where they are connected to the plates (95, 96, 97) via three flanges (98) connected guides (91,92) and via three flanges (901) connected support column (93), where at the junction of the upper armor (11), guide (91, 92) and support (93) there are seals (99). 8. System according to claim 1, 2, 3 and 6, indicated by the fact that a fuse (32) is placed under the slider (94) on the guide (91), that the slider (94) is connected to the force sensor (31) for tensioning the wire (200) via the intermediate plate (30), and the force sensor (31) is connected via an electrical insulator to the plate (33) that holds the spring (35) via eyelets. (34). 9. The system according to claim 1, 2, 3 and 6, characterized in that the wire tensioning device (5) includes a motor-reducer (53) with an output shaft (58) connected to the upper plate (54) and the lower plate (55) to which the sliding carriages (56, 57) mounted on the guide (92) and secured by an axial fuse (32) are connected, which the wire tensioning device (5) includes two wire guide (52) for wire (200) placed on top plate (54) and bottom plate (55) just below the two wire tension pulleys (51) on the ends of the output shaft (58). 10. The system according to claim 1 and 2, characterized in that the movement device (4) includes an electric motor (42) from which the rotational movement is transmitted to the wheel (41) via the power transmission device (44), which includes the carrier mechanism (43) and the braking device (45). 11. System according to claim 1, 2 and 10, characterized in that the power transmission device (44) includes a smaller sprocket (419) rigidly connected to the electric motor (42), a larger sprocket (420) rigidly connected to the rim (404) of the wheel (41), a chain 421, a chain tensioner (422) and a protective transmission housing (423). 12. The system according to claim 1, 2 and 10, characterized in that the supporting mechanism (43) includes an outer fork (46), a middle fork (47) and an inner fork (48), which are at a certain distance, parallel to each other and connected into one rigid unit by a connecting shaft (401). 13. The system according to claim 1, 2, 10 and 12, characterized in that between the outer fork (46) and the inner fork (48) is a wheel (41), the position of which is determined by the spacer (407), wherein the fixed axle (49) connects the outer fork (46) and the inner fork (48) to the wheel (41), where both forks (46, 48) are connected to frame (10) with cylindrical joint (402). 14. System according to claim 1, 2, 10 and 12, characterized in that the central fork (47) and the inner fork (48) are connected to the electric motor (42) via the connecting shaft (408), where the outer fork (46) is connected to the central fork (47) by the connecting shaft (408) and the cylindrical joint (409). 15. The system according to claim 1, 2, 10, 12 and 14, characterized in that the supporting mechanism (43) includes a vibration damping element (410) placed between the outer fork (46) and the central fork (47), being separated from them by two spacers (411) and connected by a cylindrical joint (409) and that the vibration damping element (410) is connected to a linear actuator (412) with piston (413). 16. System according to claim 1, 2, 10, 12, 14 and 15, characterized in that the linear actuator (412) is connected to the frame (10) via a cylindrical joint (409). 17. System according to claim 1, 2, 3, 10 and 16, characterized in that the brake force transmission device (454) is connected on one side to the piston of the linear actuator (456) and on the other side is connected to the brake actuator (452) which is connected to the outer fork (46) via the brake actuator support (452), which is the linear actuator (456) via linear actuator support (456) connected to the frame (10). 18. The system according to claim 1, characterized in that the power supply device (6) comprises a direct current source (62) with a connector (25) connected to a pulse power supply (63) and electronics (64), wherein the pulse power supply (63) is connected to the wire (200) via a slider (94) or via a wire tensioning reel (51). 19. System according to claim 1 and 18, characterized in that the wires (200) are alternately connected to the positive and negative poles of the pulse power supply (63), thereby forming pairs of wires that the animal should touch in order to close the circuit, whereby the pulse power supply (63) of high voltage current can be introduced into the fence (2) from the side of the slide (94) or from the side of the wire tensioning reel (51). 20. The system according to claim 1, characterized in that the control system (101) comprises a system for central control (102) and a system (103) for controlling the robotic unit (1) physically separated, which exchange information via the communication system (8), wherein the system (103) for controlling the robotic unit (1) is connected to the measuring and control device (7). 21. The system according to claim 1 and 20, characterized in that the central management system (102) includes a hardware part (121) and a software part (122), wherein the hardware part (121) includes a computer (104) with one or more monitors, various peripheral devices (105) and that the central management system (102) is physically located on a farm or in a computer cloud. 22. The system according to claim 1 and 20, characterized in that the system (103) for controlling the robotic unit (1) includes a hardware and software part, wherein the hardware part includes the basic controller computer (106) and several controllers (107) to the lower level controllers of the system, whereby the computer (106) communicates with the computers (106) of other robotic units (1) and sends information essential for managing the system. 23. The system according to claim 1, 20 and 22, characterized in that the system (103) for controlling the robotic unit (1) comprises a subsystem (113) for controlling the movement of the wheel (41) with a controller (107) and a driver (116) of the electric motor (42) of the wheel (41) and a subsystem (114) for controlling the tension/stretching of the wire (200) with the controller (107) and the driver (118), whereby the controllers (107) are managed via the computer (106), where the voltage is transmitted to the drivers (116, 118) by electronics (119). 24. The system according to claim 1, characterized in that the communication system (8) includes a 3G/4G/5G network card (81) connected to the computer (106) for exchanging information directly between the computer (104) and the computer (106) and that the communication system (8) includes a farm base station (82) and a receiving unit (73) on each robotic unit. 25. System according to claim 1, characterized in that the measurement system (7) includes the following measurement sensors: inertial measurement unit (71), force sensors (31), camera (23), LIDAR (72), radar (28) and ultrasonic proximity sensor 21, all connected by wire to the computer (106).