Intelligent necklace for shepherds based on multi-mode fusion positioning and control method of intelligent necklace

Abstract

The invention discloses an intelligent necklace for a shepherd based on multimode fusion positioning and a control method of the intelligent necklace. The intelligent necklace for the shepherd based on multimode fusion positioning comprises a necklace body of a strip-shaped structure. A multi-mode hybrid positioning unit, a dual-mode communication unit and a power supply unit are arranged on the necklace body; the multimode hybrid positioning unit is composed of a speed sensing module, a satellite positioning module, an inertial navigation compensation module and a UWB auxiliary positioning module, and is used for generating a positioning signal. The dual-mode communication unit is electrically connected with the multi-mode hybrid positioning unit, and signal interaction between the multi-mode hybrid positioning unit and the mobile terminal is realized through 4G / Cat-M1 and LoRa protocols; the power supply unit supplies power to the multi-mode hybrid positioning unit and the dual-mode communication unit.

Description

Technical Field

[0001] The present invention relates to the field of intelligent management technology for animal husbandry, and in particular to an intelligent collar for shepherding based on multi-mode fusion positioning and a control method thereof, which specifically includes a multi-mode hybrid positioning system and an adaptive anti-falling structure. Background Art

[0002] Existing positioning collars for shepherding sheep have the following technical defects: 1. Insufficient positioning accuracy: Relying on a single satellite signal, the error exceeds 20 meters in obstructed environments such as mountainous areas and dense forests, and dynamic tracking delays are significant.

[0003] 2. Poor equipment reliability: Collars are easily detached or damaged due to collisions or gnawing by sheep, and the waterproof and dustproof rating is insufficient (generally lower than IP65).

[0004] 3. Weak battery life: The high power consumption of the positioning module results in short battery life (usually ≤7 days), and performance deteriorates in extreme temperatures.

[0005] 4. Low communication security: Data transmission is not encrypted, and there is a risk of location information leakage. Summary of the Invention

[0006] The present invention aims to overcome the deficiencies of the prior art and provide a smart collar for herding sheep based on multi-mode fusion positioning and a control method thereof.

[0007] In order to achieve the above object, the technical solution provided by the present invention is: The smart collar for shepherding based on multi-mode fusion positioning comprises a collar body (1) with a strip-shaped structure; a multi-mode hybrid positioning unit (2), a dual-mode communication unit (3) and a power supply unit (4) are provided on the collar body (1); the multi-mode hybrid positioning unit (2) is composed of a speed sensing module (21), a satellite positioning module (22), an inertial navigation compensation module (23) and a UWB auxiliary positioning module (24), and is used to generate a positioning signal; the dual-mode communication unit (3) is electrically connected to the multi-mode hybrid positioning unit (2), and realizes signal interaction between the multi-mode hybrid positioning unit (2) and a mobile terminal through 4G / Cat-M1 and LoRa protocols; the power supply unit (4) supplies power to the multi-mode hybrid positioning unit (2) and the dual-mode communication unit (3).

[0008] Preferably, the satellite positioning module (22) integrates a three-mode dual-frequency chip supporting GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric errors through frequency band differential technology; the inertial navigation compensation module (23) has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when the satellite signal is lost; the UWB auxiliary positioning module (24) has a built-in UWB receiver, and realizes centimeter-level positioning within the fence through the UWB deployed at a fixed point in the pasture.

[0009] More preferably, the collar body (1) is further provided with a dynamic energy consumption management unit (5); the dynamic energy consumption management unit (5) is electrically connected to the speed sensing module (21), the satellite positioning module (22), the inertial navigation module (23) and the UWB auxiliary positioning module (24) respectively; the dynamic energy consumption management unit (5) realizes the switching activation of the satellite positioning module (22), the inertial navigation module (23) and the UWB auxiliary positioning module (24) in the multi-mode hybrid positioning unit (2) through the signal feedback of the speed sensing module (21), and realizes the switching of the 4G / Cat-M1 and LoRa protocols in the dual-mode communication unit (3) through the signal feedback of the multi-mode hybrid positioning unit (2); the dynamic energy consumption management unit (5) is powered by a power supply unit (4). The power supply unit (4) can be a rechargeable battery or a solar cell.

[0010] More preferably, the collar body (1) has a built-in Flash memory for storing data when the network is disconnected.

[0011] More preferably, the collar body (1) is lined with a silicone gasket (6), and the collar body (1) is also provided with an adaptive anti-falling structure; the adaptive anti-falling structure comprises a buckle (71), a buckle locking micromotor (72) and a six-axis force sensor embedded in the silicone gasket (6), the six-axis force sensor interacts with the locking micromotor (72) in signal, and the buckle (71) and the buckle locking micromotor (72) are electrically connected.

[0012] The control method of the smart collar for shepherding based on the above multi-mode fusion positioning includes positioning frequency adaptive adjustment control, dynamic energy consumption control and adaptive anti-shedding control; ① Adaptive positioning frequency adjustment control: When the sheep is stationary, the positioning interval is controlled to 60s, and the single-frequency and inertial navigation compensation modules of the satellite positioning module are activated; when the sheep's movement speed is ≥5m / s, the positioning interval is shortened to ≤5s, and the dual-frequency and UWB auxiliary positioning modules of the satellite positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB auxiliary positioning module and inertial navigation compensation module are activated; ② Dynamic energy consumption control: When the communication distance between the sheep and the mobile terminal is less than 10km, 4G / Cat-M1 communication is adopted; when the communication distance between the sheep and the mobile terminal is ≥10km, LoRa protocol communication is adopted; communication data is encrypted; ③ Adaptive anti-fall control: When the force detected by the six-axis force sensor is lower than the threshold (≥5N), the signal is transmitted to the buckle locking micromotor, which starts and tightens the buckle.

[0013] The present invention will be further described below: The smart collar for herding sheep of the present invention is designed with: 1. Multi-mode hybrid positioning unit ① Satellite positioning module: Integrates a three-mode dual-frequency chip that supports GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric errors through frequency band differential technology.

[0014] ② Inertial Navigation Compensation Module: Built-in MEMS gyroscope (range ±2000° / s) and three-axis accelerometer (range ±16g), which continuously outputs position data through dead reckoning when satellite signals are lost.

[0015] ③ Auxiliary positioning module: UWB (ultra-wideband) beacons are deployed at fixed points on the pasture, and the collar has a built-in UWB receiver to achieve centimeter-level positioning within the fence (accuracy ≤30cm).

[0016] The three-mode satellite chip, such as model: ATGM336H-5N, UWB module DW3000 and STM32L4 main control chip are integrated into the PCB board, encapsulated in the TPU shell, and then installed on the collar.

[0017] 2. Adaptive anti-fall structure ① Buckle: It can be a stainless steel spring lock tongue structure.

[0018] ② Dynamic stress distribution design: The collar lining is made of medical silicone with a thickness of 3mm. The silicone gasket of the collar lining is embedded with a six-axis force sensor to monitor the circumferential pressure of the sheep's neck in real time. If the local pressure is lower than the threshold (≥5N), the snap-locking micromotor is triggered to tighten the collar. If it exceeds the safety threshold (≤0.3MPa), the snap-locking micromotor is triggered to loosen the collar.

[0019] Conduct an anti-shedding test: wear the collars on a group of 50 sheep and count the number of times they fall off within 30 days.

[0020] The results showed that the shedding rate of the traditional collar was 12% (6 times / 50 pieces), while the shedding rate of the collar according to the present invention was 0.4%.

[0021] 3. Dual-mode communication unit ① Dual-mode communication link (main link + backup link): Primary link: 4G Cat-M1 modem, supporting PSM (power saving mode) and eDRX extended paging cycle.

[0022] Backup link: LoRa self-organizing network module, communication distance ≥ 10km (line-of-sight environment), support relay mode.

[0023] Data encryption: AES-256 is used to encrypt positioning data, and the device identity code is bidirectionally authenticated using the national secret SM4 algorithm.

[0024] ② Dynamic energy consumption management unit: Control logic: When the sheep is stationary, the positioning interval is controlled to 60s, and the single-frequency (L1) satellite positioning module and the inertial navigation compensation module are activated; when the sheep's movement speed is ≥5m / s, the positioning interval is controlled to shorten to ≤5s, and the dual-frequency (L1 / L5) satellite positioning module and the UWB auxiliary positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB auxiliary positioning module and the inertial navigation compensation module are activated; Network disconnection data cache: The built-in 8MB Flash memory supports 72 hours of offline trajectory storage, and the breakpoint transmission is resumed after the network is restored.

[0025] This device utilizes a multi-mode hybrid positioning system (satellite + UWB + inertial navigation) to achieve positioning accuracy of ≤3 meters in complex terrain. It employs a magnetic-mechanical dual-locking mechanism and a dynamic stress adjustment mechanism to reduce the risk of falling off. Its adaptive energy management strategy based on motion state extends battery life to 14 days. This solution addresses the pain points of traditional collars, such as drift, fragility, and short battery life, making it suitable for mountain pastures and specialized livestock management scenarios.

[0026] In summary, the present invention is a high-precision, long-endurance, and anti-shedding smart collar suitable for complex terrain. Through multi-mode positioning fusion, dynamic energy consumption optimization, and biocompatibility design, it solves problems such as positioning drift, equipment fragility, and data security risks in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 : Schematic diagram of the structure of the present invention.

[0028] In the figure: 1. Collar body; 2. Multi-mode hybrid positioning unit; 21. Speed sensing module; 22. Satellite positioning module; 23. Inertial navigation compensation module; 24. UWB auxiliary positioning module; 3. Dual-mode communication unit; 4. Power supply unit; 5. Dynamic energy consumption management unit; 6. Silicone gasket; 71. Buckle; 72. Buckle locking micromotor. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and examples. Example 1

[0030] See also Figure 1 The smart collar for shepherding based on multi-mode fusion positioning includes a collar body 1 with a strip-shaped structure; the collar body 1 is provided with a multi-mode hybrid positioning unit 2, a dual-mode communication unit 3 and a power supply unit 4; the multi-mode hybrid positioning unit 2 is composed of a speed perception module 21, a satellite positioning module 22, an inertial navigation compensation module 23 and a UWB auxiliary positioning module 24, and is used to generate a positioning signal; the dual-mode communication unit 3 is electrically connected to the multi-mode hybrid positioning unit 2, and realizes signal interaction between the multi-mode hybrid positioning unit 2 and the mobile terminal through 4G / Cat-M1 and LoRa protocols; the power supply unit 4 supplies power to the multi-mode hybrid positioning unit 2 and the dual-mode communication unit 3.

[0031] Among them, the satellite positioning module 22 integrates a three-mode dual-frequency chip that supports GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric errors through frequency band differential technology; the inertial navigation compensation module 23 has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when the satellite signal is lost; the UWB auxiliary positioning module 24 has a built-in UWB receiver, and achieves centimeter-level positioning within the fence through UWB deployed at fixed points in the pasture.

[0032] The collar body 1 is also provided with a dynamic energy consumption management unit 5; the dynamic energy consumption management unit 5 is electrically connected to the speed sensing module 21, the satellite positioning module 22, the inertial navigation module 23 and the UWB auxiliary positioning module 24 respectively; the dynamic energy consumption management unit 5 realizes the switching activation of the satellite positioning module 22, the inertial navigation module 23 and the UWB auxiliary positioning module 24 in the multi-mode hybrid positioning unit 2 through the signal feedback of the speed sensing module 21, and realizes the switching of the 4G / Cat-M1 and LoRa protocols in the dual-mode communication unit 3 through the signal feedback of the multi-mode hybrid positioning unit 2; the dynamic energy consumption management unit 5 is powered by the power supply unit 4.

[0033] The collar body 1 has a built-in Flash memory for storing offline data.

[0034] The collar body 1 is lined with a silicone gasket 6, and the collar body 1 also has an adaptive anti-falling structure; the adaptive anti-falling structure includes a buckle 71, a buckle locking micromotor 72 and a six-axis force sensor embedded in the silicone gasket 6, the six-axis force sensor and the locking micromotor 72 exchange signals, and the buckle 71 and the buckle locking micromotor 72 are electrically connected. Example 2

[0035] The control method of the smart collar for shepherding based on multi-mode fusion positioning described in Example 1 includes positioning frequency adaptive adjustment control, dynamic energy consumption control and adaptive anti-falling control; ① Adaptive positioning frequency adjustment control: When the sheep is stationary, the positioning interval is controlled to 60s, and the single-frequency and inertial navigation compensation modules of the satellite positioning module are activated; when the sheep's movement speed is ≥5m / s, the positioning interval is shortened to ≤5s, and the dual-frequency and UWB auxiliary positioning modules of the satellite positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB auxiliary positioning module and inertial navigation compensation module are activated; ② Dynamic energy consumption control: When the communication distance between the sheep and the mobile terminal is less than 10km, 4G / Cat-M1 communication is adopted; when the communication distance between the sheep and the mobile terminal is ≥10km, LoRa protocol communication is adopted; communication data is encrypted; ③ Adaptive anti-fall control: When the force detected by the six-axis force sensor is lower than the threshold (≥5N), the signal is transmitted to the buckle locking micromotor, which starts and tightens the buckle.

Claims

1. A smart collar for sheep herding based on multi-mode fusion positioning, characterized in that: The smart collar for shepherding comprises a collar body (1) in a strip-shaped structure; a multi-mode hybrid positioning unit (2), a dual-mode communication unit (3) and a power supply unit (4) are provided on the collar body (1); the multi-mode hybrid positioning unit (2) is composed of a speed sensing module (21), a satellite positioning module (22), an inertial navigation compensation module (23) and a UWB auxiliary positioning module (24), and is used to generate a positioning signal; the dual-mode communication unit (3) is electrically connected to the multi-mode hybrid positioning unit (2), and realizes signal interaction between the multi-mode hybrid positioning unit (2) and a mobile terminal through 4G / Cat-M1 and LoRa protocols; the power supply unit (4) supplies power to the multi-mode hybrid positioning unit (2) and the dual-mode communication unit (3).

2. The smart collar for shepherding based on multi-mode fusion positioning as claimed in claim 1, characterized in that: The satellite positioning module (22) integrates a three-mode dual-frequency chip supporting GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric errors through frequency band differential technology; the inertial navigation compensation module (23) has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when the satellite signal is lost; the UWB auxiliary positioning module (24) has a built-in UWB receiver, and realizes centimeter-level positioning within the fence through UWB deployed at a fixed point in the pasture.

3. The smart collar for shepherding based on multi-mode fusion positioning as claimed in claim 2, characterized in that: The collar body (1) is further provided with a dynamic energy consumption management unit (5); the dynamic energy consumption management unit (5) is electrically connected to the speed sensing module (21), the satellite positioning module (22), the inertial navigation module (23) and the UWB auxiliary positioning module (24) respectively; the dynamic energy consumption management unit (5) realizes switching activation of the satellite positioning module (22), the inertial navigation module (23) and the UWB auxiliary positioning module (24) in the multi-mode hybrid positioning unit (2) through signal feedback from the speed sensing module (21), and realizes switching of the 4G / Cat-M1 and LoRa protocols in the dual-mode communication unit (3) through signal feedback from the multi-mode hybrid positioning unit (2); the dynamic energy consumption management unit (5) is powered by the power supply unit (4).

4. The smart collar for shepherding based on multi-mode fusion positioning as claimed in claim 3, characterized in that: The collar body (1) has a built-in Flash memory for storing off-network data.

5. The smart collar for shepherding based on multi-mode fusion positioning as claimed in claim 4, characterized in that: The collar body (1) is lined with a silicone gasket (6), and the collar body (1) is also provided with an adaptive anti-falling structure; the adaptive anti-falling structure comprises a buckle (71), a buckle locking micromotor (72), and a six-axis force sensor embedded in the silicone gasket (6); the six-axis force sensor interacts with the locking micromotor (72) in signal exchange, and the buckle (71) and the buckle locking micromotor (72) are electrically connected.

6. A control method for a smart collar for shepherding based on multi-mode fusion positioning according to claim 5, characterized in that: The method includes positioning frequency adaptive adjustment control, dynamic energy consumption control and adaptive anti-falling control; ① Adaptive positioning frequency adjustment control: When the sheep is stationary, the positioning interval is controlled to 60s, and the single-frequency and inertial navigation compensation modules of the satellite positioning module are activated; when the sheep's movement speed is ≥5m / s, the positioning interval is shortened to ≤5s, and the dual-frequency and UWB auxiliary positioning modules of the satellite positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB auxiliary positioning module and inertial navigation compensation module are activated; ② Dynamic energy consumption control: When the communication distance between the sheep and the mobile terminal is less than 10km, 4G / Cat-M1 communication is adopted; when the communication distance between the sheep and the mobile terminal is ≥10km, LoRa protocol communication is adopted; communication data is encrypted; ③ Adaptive anti-fall control: When the force detected by the six-axis force sensor is lower than the threshold, the signal is transmitted to the buckle locking micromotor, which starts and tightens the buckle.

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