Bluetooth-based livestock positioning method and system

Abstract

The present invention discloses a method and system for positioning livestock in a house based on Bluetooth. The positioning system for livestock in a house based on Bluetooth includes: a monitoring and management system, a positioning engine, a Bluetooth gateway and a Bluetooth ear tag, wherein the Bluetooth ear tag is placed on a target object, wherein the target object is located in a to-be-determined area; the Bluetooth gateway receives a signal from the Bluetooth ear tag, calculates the location information of the target object according to the signal strength and the location information of the Bluetooth gateway, and sends the location information of the target object to the positioning engine; the positioning engine receives the location information sent by the Bluetooth gateway, calculates whether the to-be-determined area where the target object is located is the target area according to the location information, generates a calculation result, and sends the calculation result to the monitoring and management system; the monitoring and management system receives the calculation result and displays it according to the calculation result. The present invention solves the technical problem that the prior art cannot meet the existing breeding needs in the process of obtaining the location information of livestock in a house.

Description

Technical Field

[0001] The present invention relates to the application field of Internet of Things technology, and in particular to a method and system for positioning livestock in a barn based on Bluetooth. Background Art

[0002] With the development of my country's modernization, animal husbandry is developing towards scale and intensiveness. The previous breeding model no longer conforms to the current management concept of farms. In the large-scale breeding environment, higher requirements are put forward. Only fine breeding can more effectively improve breeding efficiency. To achieve fine breeding, the first requirement is to be able to accurately grasp the specific location of livestock in real time and provide basic data guarantee for fine breeding.

[0003] Take pig farming as an example. At present, pig farms still rely on traditional pig ear tags and record cards to record the location of pigs. The digitization of pig information requires manual reporting, and then the information is entered by the pig farm staff. The process is cumbersome and prone to omissions. In addition, since pigs need to be transferred to different pens many times during the breeding process, and the number of pigs raised in large-scale breeding is huge, it is impossible to manually record the status of pigs in the pens, and the presence of pigs cannot be obtained. At the same time, since large-scale farms are closed breeding, the use of traditional GPS positioning systems often cannot receive accurate location information, the error is serious, and it cannot meet production needs.

[0004] With regard to the above-mentioned problem that the existing technology cannot meet the existing breeding needs in the process of obtaining the position information of the barn-fed livestock, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method and system for locating livestock in a shed based on Bluetooth, so as to at least solve the technical problem that the prior art cannot meet the existing breeding needs in the process of obtaining the location information of livestock in a shed.

[0006] According to one aspect of an embodiment of the present invention, a Bluetooth-based livestock positioning system is provided, comprising: a monitoring and management system, a positioning engine, a Bluetooth gateway and a Bluetooth ear tag, wherein the Bluetooth ear tag is placed on a target object, wherein the target object is located in an area to be determined; the Bluetooth gateway receives a signal from the Bluetooth ear tag, calculates the location information of the target object based on the signal and the location information of the Bluetooth gateway, and sends the location information of the target object to the positioning engine; the positioning engine receives the location information sent by the Bluetooth gateway, calculates whether the area to be determined where the target object is located is the target area based on the location information, generates a calculation result, and sends the calculation result to the monitoring and management system; the monitoring and management system receives the calculation result and displays it based on the calculation result.

[0007] Optionally, the positioning system further includes: an Ethernet data return module, wherein the Ethernet data return module is used to receive calculation results sent by the positioning engine, save the calculation results, and forward the calculation results to the monitoring management system.

[0008] Optionally, the Bluetooth ear tag is made of polyurethane and has a built-in Bluetooth chip supporting the angle of arrival function.

[0009] Optionally, a Bluetooth gateway is used to calculate based on signal attenuation and transmission power to obtain the distance from the Bluetooth ear tag to the Bluetooth gateway, and calculate the location information based on the distance.

[0010] Further, optionally, the Bluetooth gateway is powered by Ethernet and has a built-in omnidirectional antenna.

[0011] Optionally, the monitoring and management system includes: a configuration module and a data display module, wherein the configuration module is used to map the space where the target area is located, configure the Bluetooth gateway, configure the information of the target object, and initialize the Bluetooth ear tag of the target object; the data display module is used to display the configuration operation of the configuration module and the calculation results of the positioning engine.

[0012] Optionally, a positioning engine is used to collect the distance between the Bluetooth gateway and the Bluetooth ear tag, determine the location coordinates of the Bluetooth ear tag based on the distance, store the location coordinates, and obtain the position relationship between the target object and the area to be determined at preset intervals. If the number of times the location coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area.

[0013] Further, optionally, the positioning engine is also used to collect the distance information sent by each Bluetooth gateway, filter the distance information, and obtain the filtered distance information; group the filtered distance information according to the filtered distance information and the corresponding Bluetooth gateway; calculate the position of the Bluetooth ear tag through at least three Bluetooth gateways after the grouped filtered distance information to obtain the position coordinates of the Bluetooth ear tag; obtain the position relationship between the target object and the area to be determined according to the position coordinates and the preset interval, and if the number of times the position coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area. According to another aspect of an embodiment of the present invention, a method for positioning livestock based on Bluetooth is provided, which is applied to the above-mentioned positioning system, including: receiving the position information sent by the Bluetooth gateway, wherein the position information is calculated by the Bluetooth gateway according to the signal strength of the Bluetooth ear tag placed on the target object; calculating whether the area to be determined where the target object is located is the target area according to the position information, and generating a calculation result; and sending the calculation result to a monitoring and management system.

[0014] Optionally, calculating whether the area to be determined where the target object is located is the target area based on the location information, and generating a calculation result includes: the distance from the Bluetooth gateway to the Bluetooth ear tag calculated by the Bluetooth gateway; determining the location coordinates of the Bluetooth ear tag based on the distance, and storing the location coordinates; obtaining the position relationship between the target object and the area to be determined at a preset interval; if the number of times the location coordinates of the target object are in the area to be determined is greater than a threshold, then determining that the area to be determined is the target area. In an embodiment of the present invention, a Bluetooth ear tag is placed on the target object, wherein the target object is located in the area to be determined; the Bluetooth gateway receives the signal of the Bluetooth ear tag, calculates the location information of the target object based on the signal and the location information of the Bluetooth gateway, and sends the location information of the target object to the positioning engine; the positioning engine receives the location information sent by the Bluetooth gateway, calculates whether the area to be determined where the target object is located is the target area based on the location information, and generates a calculation result, and sends the calculation result to the monitoring and management system; the monitoring and management system receives the calculation result and displays it based on the calculation result, thereby achieving the technical effect of accurately obtaining the position of the barn livestock in the pen, thereby solving the technical problem that the existing technology cannot meet the existing breeding needs in the process of obtaining the location information of barn livestock. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention. The houses involved in the drawings are all pig houses as examples, which constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 is a schematic diagram of a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0017] Figure 2 is a plan view of a piggery in a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of a limiting fence in a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a planar installation of a Bluetooth gateway in a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0020] Figure 5 is a relationship diagram of the positions of Bluetooth ear tags detected by a Bluetooth gateway in the case of intersection in a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0021] Figure 6 It is a relationship diagram of the Bluetooth ear tag position detected by the Bluetooth gateway in the case of separation in the Bluetooth-based livestock positioning system of the embodiment of the present invention;

[0022] Figure 7 is a relationship diagram of the position of the Bluetooth ear tag detected by the Bluetooth gateway in the case of tangency in the Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0023] Figure 8 1 is a schematic diagram of information flow of a Bluetooth-based livestock positioning system according to an embodiment of the present invention;

[0024] Fig. 9 4 is a flowchart of a method for locating livestock in a house based on Bluetooth according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] Example 1

[0027] According to one aspect of an embodiment of the present invention, a Bluetooth-based livestock positioning system is provided. Figure 1 is a schematic diagram of a Bluetooth-based livestock positioning system according to an embodiment of the present invention; Figure 1 As shown, the Bluetooth-based livestock positioning system provided in the embodiment of the present application includes:

[0028] A monitoring and management system 12, a positioning engine 14, a Bluetooth gateway 16 and a Bluetooth ear tag 18, wherein the Bluetooth ear tag 18 is placed on a target object, wherein the target object is located in an area to be determined; the Bluetooth gateway 16 receives a signal from the Bluetooth ear tag 18, calculates the location information of the target object according to the signal and the location information of the Bluetooth gateway 16, and sends the location information of the target object to the positioning engine 14; the positioning engine 14 receives the location information sent by the Bluetooth gateway 16, calculates whether the area to be determined where the target object is located is the target area according to the location information, generates a calculation result, and sends the calculation result to the monitoring and management system 12; the monitoring and management system 12 receives the calculation result, and displays it according to the calculation result.

[0029] Optionally, the Bluetooth-based livestock positioning system provided in the embodiment of the present application also includes: an Ethernet data backhaul module, wherein the Ethernet data backhaul module is used to receive the calculation results sent by the positioning engine 14, save the calculation results, and forward the calculation results to the monitoring and management system 12.

[0030] Optionally, the Bluetooth ear tag 18 is made of polyurethane and has a built-in Bluetooth chip supporting an angle of arrival function.

[0031] Optionally, the Bluetooth gateway 16 is used to calculate based on the attenuation and transmission power of the signal to obtain the distance from the Bluetooth ear tag 18 to the Bluetooth gateway 16, and calculate the location information based on the distance.

[0032] Further, optionally, the Bluetooth gateway 16 is powered by Ethernet and has a built-in omnidirectional antenna.

[0033] Optionally, the monitoring and management system 12 includes: a configuration module and a data display module, wherein the configuration module is used to map the space where the target area is located, configure the Bluetooth gateway 16, configure the information of the target object, and initialize the Bluetooth ear tag 18 of the target object; the data display module is used to display the configuration operation of the configuration module and the calculation results of the positioning engine 14.

[0034] Optionally, the positioning engine 14 is used to collect the distance between the Bluetooth gateway 16 and the Bluetooth ear tag 18, and determine the position coordinates of the Bluetooth ear tag 18 based on the distance, store the position coordinates, and obtain the position relationship between the target object and the area to be determined at preset intervals. If the number of times the position coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area.

[0035] Further, optionally, the positioning engine 14 is also used to collect the distance information sent by each Bluetooth gateway 16, filter the distance information, and obtain filtered distance information; group the filtered distance information according to the filtered distance information and the corresponding Bluetooth gateway 16; calculate the position of the Bluetooth ear tag 18 through at least three Bluetooth gateways 16 after the grouping of the filtered distance information to obtain the position coordinates of the Bluetooth ear tag 18; obtain the position relationship between the target object and the area to be determined according to the position coordinates and the preset interval, and if the number of times the position coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area.

[0036] In summary, the Bluetooth-based livestock positioning system provided in the embodiments of the present application can be applied to animal husbandry, to empower animal husbandry with technology, and to transform animal husbandry from extensive farming to intelligent farming. It should be noted that the animal husbandry in the embodiments of the present application is illustrated by taking conventional farming of cattle, sheep and pigs as an example. Preferably, the Bluetooth-based livestock positioning system provided in the embodiments of the present application is illustrated by taking farmed pigs as an example, that is, the target object in the embodiments of the present application can be a pig, and the target area is the pen where the pig is located.

[0037] Among them, the monitoring management system 12 is divided into a configuration module and a display module. The configuration module is responsible for initializing the pig farm data, the pen data, the pig data, and the Bluetooth ear tag 18; the display module displays the positioning information (i.e., the calculation results in the embodiment of the present application) saved by the positioning engine 14 through the Ethernet data return module and the real-time pig inventory information calculated by the positioning information, the historical pig movement trajectory, etc., which can realize the real-time display of the pig location information, inventory the real-time pig presence, and provide data support for refined breeding. The positioning engine 14 is responsible for comprehensively judging the pig Bluetooth ear tag 18 information obtained by the Bluetooth gateway 16, the pig Bluetooth ear tag 18 distance information from the Bluetooth gateway 16, and calculating the accurate pig Bluetooth ear tag 18 position through the group calculation and averaging method, and then calculating the pig's pen position through the landing position. The Bluetooth-based livestock positioning system provided in the embodiment of the present application can achieve centimeter-level positioning in the specific environment of the pig house, fully meet the needs of determining the pig pen position, and lay the foundation for large-scale breeding and intelligent breeding.

[0038] Preferably, the Bluetooth ear tag 18 has a built-in Bluetooth chip that supports AOA low power consumption (Angle of Arrival, AOA for short). The Bluetooth ear tag 18 is made of hard polyurethane, which is waterproof, sun-proof, immersion-proof, impact-resistant and vibration-resistant.

[0039] Preferably, the Bluetooth gateway 16 is powered by POE (Power Over Ethernet), IP67 waterproof (the IP67 standard refers to the protection safety level, IP is the abbreviation of Ingress Protection Rating (or International Protection code), which defines the protection ability of an interface against liquid and solid particles), built-in omnidirectional antenna, supports Bluetooth 5.0 and above protocols, and has a maximum positioning distance of 50m.

[0040] As a preferred option, the Ethernet data backhaul module supports IEEE802.3, IEEE802.3u, and IEEE802.3x network standards, is IP67 waterproof and dustproof, and supports high concurrency.

[0041] The Bluetooth-based livestock positioning system provided in the embodiment of the present application adopts a built-in AOA low-power Bluetooth ear tag 18 to locate pigs, thereby solving the problem of obtaining real-time position information of pigs in large-scale farming, and adopts a group calculation and averaging method to improve the positioning accuracy in a specific environment to the centimeter level, which fully meets the pig positioning accuracy and can accurately locate the pig's pen, solving the need for real-time positioning of pigs in pig farms.

[0042] Specifically, the configuration module in the monitoring and management system 12 is used to perform pig house electronic map configuration, Bluetooth gateway configuration, pig data configuration, and pig Bluetooth ear tag initialization (that is, in the embodiment of the present application, a map configuration is performed on the space where the target area is located, the Bluetooth gateway 16 is configured, the information of the target object is configured, and the Bluetooth ear tag 18 of the target object is initialized);

[0043] Specifically, the configuration of the electronic map of the pig house can be as follows: the actual length and width of the pig house, the width of the corridor, and the length and width of the stalls are obtained, so as to draw a map such as Figure 2 The plan view shown, where Figure 2 : is a plan view of a piggery in a Bluetooth-based livestock positioning system according to an embodiment of the present invention. According to the dimensions shown in the plan view, the lower left corner of the plan view is the coordinate point (0,0), in centimeters, according to the dimensions of the limiting fence, such as Figure 3 As shown, Figure 3 This is a schematic diagram of a fence in a Bluetooth-based livestock positioning system according to an embodiment of the present invention. The actual coordinate values ​​corresponding to the four vertices of each fence are calculated to form electronic fence coordinates and associated with fence names. Each fence is marked in the following format:

[0044] Filed:(X tl , Y tl ),(X bl , Y bl ),(X tr , Y tr ),(X br , Y br )

[0045] Where: X tl Indicates the X-axis coordinate of the upper left corner, Y tl Indicates the Y-axis coordinate of the upper left corner, X bl Indicates the X-axis coordinate of the lower left corner, Y bl Y-axis coordinate of the lower left corner, X tr Indicates the X-axis coordinate of the upper right corner, Y tr Indicates the Y-axis coordinate of the upper right corner, X br Indicates the X-axis coordinate of the lower right corner, Y br Indicates the Y-axis coordinate of the lower right corner;

[0046] The configuration of the Bluetooth gateway 16 may be: initializing the data of the Bluetooth gateway 16, entering the relevant data of the Bluetooth gateway 16, and registering the location information of the Bluetooth gateway 16;

[0047] The configuration of pig data can be: inputting basic pig data into the system, initializing pig data, providing it to the Bluetooth ear tag 18 initialization device for use, and providing it to the display page for display through the display module;

[0048] Initialization of the Bluetooth ear tag 18 can be as follows: using a Bluetooth ear tag initialization device to initialize the ear number information into the Bluetooth ear tag 18, and using ear tag pliers to ear tag the pig, and recording whether the Bluetooth ear tag 18 is on the left ear or the right ear of the pig. This data needs to be read for subsequent positioning compensation.

[0049] In the embodiment of the present application, the positioning engine 14 can save the positioning information (i.e., the position information in the embodiment of the present application) transmitted by the Bluetooth gateway 16 and carrying the information of the Bluetooth ear tag 18, i.e., the distance information from the Bluetooth gateway 16 to the Bluetooth ear tag 18. The positioning engine 14 calculates the position coordinates of the corresponding Bluetooth ear tag 18 based on the distance information. The result information is stored in the database. At the same time, the positioning information and electronic pen coordinates of the pigs in the recent period of time are calculated at regular intervals, which is called the drop point position calculation, and the pen with the most drop points is obtained. At the same time, the ratio of the number of drop points in the pen with the most drop points to the total calculated number is calculated. If the ratio is less than 50%, it is necessary to perform offset compensation according to the position of the pig ear tag, and then calculate the compensated coordinates to obtain the pen with the most drop points (i.e., the position coordinates of the Bluetooth ear tag 18 are determined based on the distance in the embodiment of the present application, the position coordinates are stored, and the position relationship between the target object and the area to be determined is obtained at a preset interval. If the number of times the position coordinates of the target object are in the area to be determined is greater than the threshold, the area to be determined is determined to be the target area). Among them, the threshold in the embodiment of the present application is illustrated by taking 50% as an example.

[0050] Among them, combined Figure 1 As shown, Figure 1 1 is a schematic diagram of the installation position and operation of the Bluetooth gateway in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. The positioning engine 14 calculates the position coordinates of the Bluetooth ear tag 18 as follows:

[0051] For each pig, the Bluetooth gateway 16 in the corresponding house will return the distance between the ear tag and the Bluetooth gateway 16, which is calculated by the Bluetooth gateway 16 based on signal attenuation and actual transmission power. The positioning engine 14 will receive the pig ear tag distance information returned by each Bluetooth gateway 16.

[0052] For the current barn, Figure 4 As shown, Figure 4 It is a schematic diagram of the planar installation of the Bluetooth gateway in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. There are a total of 7 gateway devices in the barn, so at least 7 ear tag information (i.e., the location information of the target object in the embodiment of the present application) will be received. The first 4 closest data are selected from the 7 ear tag information, and these four information are respectively associated with the corresponding Bluetooth gateway 16 information, and the four data are marked as T1, T2, T3, and T4.

[0053] T1: distance, X t1 , Y t1

[0054] T2: distance, X t2 , Y t2

[0055] T3: distance, X t3 , Y t3

[0056] T4: distance, X t4 , Y t4

[0057] Divide these 4 pieces of information into 4 groups of 3 and mark them as:

[0058] G1, G2, G3, G4

[0059] G1: (T1, T2, T3)

[0060] G2: (T1, T2, T4)

[0061] G3: (T1, T3, T4)

[0062] G4: (T2, T3, T4)

[0063] The positioning of each group is calculated according to the coordinates in the group:

[0064] According to the distance and X in each group ti , Y ti (ti represents the corresponding T1\T2\T3\T4) coordinates can draw a circle on a plane, and three circles can be drawn with three T values. The intersection of the three circles is calculated, which is the ear tag position information jointly calculated by the three Bluetooth gateways 16. In order to solve the errors caused by Bluetooth signal interference and external uncontrollable factors and improve the accuracy of positioning, the embodiment of the present application adopts a group calculation and averaging method for positioning calculation (that is, the position information is filtered in the embodiment of the present application to obtain the filtered position information; the filtered position information is associated with the corresponding Bluetooth gateway 16, and the filtered position information is grouped; the position of the Bluetooth ear tag 18 is calculated by at least three Bluetooth gateways 16 based on the grouped filtered position information to obtain the position coordinates of the Bluetooth ear tag 18).

[0065] Group calculation and averaging method: The distances measured by the three Bluetooth gateways 16 are used as the radius of the circle, and the circles formed by any two Bluetooth gateways 16 are calculated to calculate whether the circles formed by the two Bluetooth gateways 16 intersect:

[0066]

[0067] distance_m=distance_t1+distance_t2

[0068] Where distance_ac is the actual distance between the two Bluetooth gateways 16, distance_m is the distance between the two Bluetooth gateways 16 and the Bluetooth ear tags, and X t1 Indicates the X coordinate of point T1, X t2 Indicates the X coordinate of point T2, Y t1 Indicates the Y coordinate of point T1, Y t2 Indicates the Y coordinate of point T2. distance_t1 indicates the Bluetooth ear tag distance measured by the T1 Bluetooth gateway, and distance_t2 indicates the Bluetooth ear tag distance measured by the T2 Bluetooth gateway.

[0069] According to the comparison results of distance_ac and distance_m, the values ​​with distance_ac greater than or equal to distance_m are grouped together, and the values ​​with distance_ac less than distance_m are grouped together.

[0070] Calculate the coordinate position of each group:

[0071] When distance_ac is less than distance_m, Figure 5 As shown, Figure 5 : is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of intersection in the Bluetooth-based livestock positioning system according to an embodiment of the present invention, and is obtained according to the Pythagorean theorem:

[0072]

[0073]

[0074]

[0075]

[0076] When distance_ac is greater than or equal to distance_m, Figure 6 As shown, Figure 6 : is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of separation in the Bluetooth-based livestock positioning system according to an embodiment of the present invention:

[0077] distance=distance_1+distance_2

[0078]

[0079]

[0080] RS represents the distance between two Bluetooth gateways 16, X t1 Indicates the x-axis coordinate of Bluetooth gateway T1, X t2 Indicates the x-axis coordinate of Bluetooth gateway T2, Y t1 Indicates the axial coordinates of Bluetooth gateway T1, Y t2 represents the y-axis coordinate of the Bluetooth gateway T2, RM represents the calculated distance from the Bluetooth gateway T1 to the Bluetooth ear tag 18, RT represents the distance of the Bluetooth ear tag 18 detected by the T1 gateway, ST represents the distance of the Bluetooth ear tag 18 detected by the T2 gateway, M x represents the x-axis coordinate of the Bluetooth ear tag 18, M y represents the y-axis coordinate of the Bluetooth ear tag 18 , distance represents the distance between the T1 Bluetooth gateway 16 and the T2 Bluetooth gateway, distance_1 represents the distance between the T1 Bluetooth gateway and the detected Bluetooth ear tag 18 , and distance_2 represents the distance between the T2 Bluetooth gateway and the detected Bluetooth ear tag 18 .

[0081] According to the above grouping, the x and y coordinates of each group are obtained, and the new coordinates formed by averaging the x and y coordinates are the positions of the Bluetooth ear tags 18 measured by the G1 group. Figure 7 As shown, Figure 7 This is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of tangency in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. In the case of tangency, the determination method is the same as above.

[0082] Through the above process, G2, G3, and G4 respectively measure a group of Bluetooth ear tag position information, a total of 4 groups of Bluetooth ear tag position information, and these 4 groups of Bluetooth ear tag 18 position information are subjected to variance calculation again, and the coordinates with errors greater than 30% are removed. The remaining coordinates are averaged to obtain the accurate Bluetooth ear tag 18 position information.

[0083] The calculation of the landing point position is as follows: the calculation method is broken down into sequentially calculating which pen the historical coordinate position of the pig in the past period of time has landed in. In the embodiment of the present application, since all the pen are rectangles of the same size, such as Figure 3As shown, the coordinates of the four vertices of each pen have been calculated and recorded accordingly, and the pen vertex information of the house is taken out and reorganized into an array. In order to calculate whether the coordinates of the pig fall in this area (pen), it is necessary to calculate whether the x-axis value of the coordinates of the pig's Bluetooth ear tag is greater than or equal to the x-axis value of the upper left corner and less than or equal to the x-axis value of the lower right corner, and whether the y-axis value is less than or equal to the y-axis value of the upper left corner and greater than or equal to the y-axis value of the lower right corner. Traverse all the pens. If there is a result that meets the conditions, then the point falls in this area (pen). If there is no result that meets the conditions, it proves that the point falls in the corridor. Since all pigs are in the pens, this value can be directly excluded. The calculation is as follows:

[0084]

[0085]

[0086] Traverse the pen coordinates under the house until the above calculation returns true, indicating that the pig coordinates fall in this area (pen).

[0087] Through the drop point calculation method, the information of the position coordinates of all pigs is calculated, and the information is counted to calculate the pen with the most drop points and the drop point ratio of the pen with the most drop points. In order to more accurately determine the pen where the pig is located, when the above drop point ratio is less than 50%, a compensation will be made according to the ear tag position filled in when the Bluetooth ear tag is initialized. When the Bluetooth ear tag is on the left ear of the pig, a negative compensation is made on the x-axis, that is, the x-axis coordinate moves to the left. When the Bluetooth ear tag is on the right ear of the pig, a positive compensation is made on the x-axis, that is, the x-axis moves to the right. For example, by measuring 150 adult pigs, it is calculated that the compensation to be made is ±17.54cm. Depending on whether the ear tag is on the left ear or the right ear, the actual pen where the pig is located is calculated after compensation, and the corresponding information is saved in the database.

[0088] The display module in the monitoring management system 12 reads the stall information of the corresponding house (ie, the calculation result in the embodiment of the present application), which includes the data of the pigs in the stall. Figure 2 The floor plan shown and the corresponding information of the pigs in the stalls are displayed on the display module page, and statistics are made to show how many pigs are currently in the stalls.

[0089] Based on the above, Figure 8 Schematic diagram of information flow of a Bluetooth-based livestock positioning system according to an embodiment of the present invention. Figure 8As shown, the configuration module in the monitoring and management system 12 is used to map the space where the target area is located, configure the Bluetooth gateway 16, configure the information of the target object, and initialize the Bluetooth ear tag 18 of the target object; after the ear tag is initialized, the Bluetooth ear tag 18 interacts with the Bluetooth gateway 16, the Bluetooth gateway 16 receives the location information of the target object fed back by the Bluetooth ear tag 18, and sends the location information to the positioning engine 14, wherein the location information may include a Bluetooth identifier and identify the distance between the Bluetooth gateway 16 and the Bluetooth ear tag 18, the positioning engine 14 performs calculations based on the location information to obtain a calculation result, and sends the calculation result to the monitoring and management system 12 through the Ethernet data return module, and then the display module in the monitoring and management system 12 displays the location of the pig.

[0090] The Bluetooth-based livestock positioning system provided in the embodiment of the present application is designed to solve the problem of digitizing basic information such as pig location information and pig inventory in large-scale farming. It can realize real-time and high-precision positioning of pig Bluetooth ear tags and determine the pig's pen.

[0091] In an embodiment of the present invention, a Bluetooth ear tag is placed on a target object, wherein the target object is located in a to-be-determined area; a Bluetooth gateway receives a signal from the Bluetooth ear tag, calculates the location information of the target object according to the signal and the location information of the Bluetooth gateway, and sends the location information of the target object to a positioning engine; the positioning engine receives the location information sent by the Bluetooth gateway, calculates whether the to-be-determined area where the target object is located is the target area according to the location information, generates a calculation result, and sends the calculation result to a monitoring and management system; the monitoring and management system receives the calculation result and displays it according to the calculation result, thereby achieving a technical effect of accurately obtaining the position of housed livestock in the pen, thereby solving the technical problem that the prior art cannot meet the existing breeding needs in the process of obtaining the location information of housed livestock.

[0092] Example 2

[0093] According to another aspect of the embodiments of the present invention, a method for locating livestock based on Bluetooth is provided, which is applied to the positioning system in the above embodiment 1. Fig. 9 is a flow chart of a method for locating livestock in a house based on Bluetooth according to an embodiment of the present invention; Fig. 9 As shown, on the positioning engine side, it includes:

[0094] Step S902, receiving location information sent by the Bluetooth gateway, wherein the location information is calculated by the Bluetooth gateway according to the signal strength of the Bluetooth ear tag placed on the target object;

[0095] Step S904, calculating whether the area to be determined where the target object is located is the target area according to the position information, and generating a calculation result;

[0096] Optionally, in step S904, whether the area to be determined where the target object is located is the target area is calculated based on the location information, and a calculation result is generated including: the distance from the Bluetooth gateway to the Bluetooth ear tag calculated based on the Bluetooth gateway; determining the location coordinates of the Bluetooth ear tag based on the distance, and storing the location coordinates; obtaining the position relationship between the target object and the area to be determined at preset intervals; if the number of times the location coordinates of the target object are in the area to be determined is greater than a threshold, determining that the area to be determined is the target area.

[0097] Specifically, in the embodiment of the present application, the positioning engine can save the positioning information (i.e., the position information in the embodiment of the present application) transmitted by the Bluetooth gateway and carrying the Bluetooth ear tag information, that is, the distance information from the Bluetooth gateway to the Bluetooth ear tag. The positioning engine calculates the position coordinates of the corresponding Bluetooth ear tag based on the distance information. The result information is stored in the database. At the same time, the positioning information and electronic pen coordinates of the pigs in the recent period of time are calculated at regular intervals, which is called the drop point position calculation, and the pen with the most drop points is obtained. At the same time, the ratio of the number of drop points in the pen with the most drop points to the total calculated number is calculated. If the ratio is less than 50%, it is necessary to perform offset compensation according to the position of the pig ear tag, and then calculate the compensated coordinates to obtain the pen with the most drop points (i.e., the position coordinates of the Bluetooth ear tag are determined based on the distance in the embodiment of the present application, the position coordinates are stored, and the position relationship between the target object and the area to be determined is obtained at a preset interval. If the number of times the position coordinates of the target object are in the area to be determined is greater than the threshold, the area to be determined is determined to be the target area). Among them, the threshold in the embodiment of the present application is illustrated by taking 50% as an example.

[0098] Among them, combined Figure 1 As shown, Figure 1 1 is a schematic diagram of the installation position and operation of the Bluetooth gateway in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. The positioning engine calculates the Bluetooth ear tag position coordinates as follows:

[0099] For each pig, the Bluetooth gateway in the corresponding house will return the distance between the ear tag and the Bluetooth gateway. This distance is calculated by the Bluetooth gateway based on signal attenuation and actual transmission power. The positioning engine will receive the pig ear tag distance information returned by each Bluetooth gateway.

[0100] For the current barn, Figure 4 As shown, Figure 4It is a schematic diagram of the planar installation of the Bluetooth gateway in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. There are a total of 7 gateway devices in the barn, so at least 7 ear tag information (i.e., the location information of the target object in the embodiment of the present application) will be received. The first 4 closest data are selected from the 7 ear tag information, and these four information are respectively associated with the corresponding Bluetooth gateway information, and the four data are marked as T1, T2, T3, and T4.

[0101] T1: distance, X t1 , Y t1

[0102] T2: distance, X t2 , Y t2

[0103] T3: distance, X t3 , Y t3

[0104] T4: distance, X t4 , Y t4

[0105] Divide these 4 pieces of information into 4 groups of 3 and mark them as:

[0106] G1, G2, G3, G4

[0107] G1: (T1, T2, T3)

[0108] G2: (T1, T2, T4)

[0109] G3: (T1, T3, T4)

[0110] G4: (T2, T3, T4)

[0111] The positioning of each group is calculated according to the coordinates in the group:

[0112] According to the distance and X in each group ti , Y ti(ti represents the corresponding T1\T2\T3\T4) coordinates can draw a circle on a plane, and three circles can be drawn with three T values. The intersection of the three circles is calculated, which is the ear tag position information jointly calculated by the three Bluetooth gateways. In order to solve the errors caused by Bluetooth signal interference and external uncontrollable factors and improve the accuracy of positioning, the embodiment of the present application adopts a group calculation and averaging method for positioning calculation (that is, the position information is filtered in the embodiment of the present application to obtain the filtered position information; the filtered position information is associated with the corresponding Bluetooth gateway, and the filtered position information is grouped; the position of the Bluetooth ear tag is calculated through at least three Bluetooth gateways based on the grouped filtered position information to obtain the position coordinates of the Bluetooth ear tag).

[0113] Group calculation and averaging method: Take the distances measured by the three Bluetooth gateways as the radius of the circle, calculate the circles formed by any two Bluetooth gateways, and calculate whether the circles formed by the two Bluetooth gateways intersect:

[0114]

[0115] distance_m=distance_t1+distance_t2

[0116] Where distance_ac is the actual distance between the two Bluetooth gateways, distance_m is the distance between the two Bluetooth gateways and the Bluetooth ear tags, and X t1 Indicates the X coordinate of point T1, X t2 Indicates the X coordinate of point T2, Y t1 Indicates the Y coordinate of point T1, Y t2 Indicates the Y coordinate of point T2. distance_t1 indicates the Bluetooth ear tag distance measured by the T1 Bluetooth gateway, and distance_t2 indicates the Bluetooth ear tag distance measured by the T2 Bluetooth gateway.

[0117] According to the comparison results of distance_ac and distance_m, the values ​​with distance_ac greater than or equal to distance_m are grouped together, and the values ​​with distance_ac less than distance_m are grouped together.

[0118] Calculate the coordinate position of each group:

[0119] When distance_ac is less than distance_m, Figure 5 As shown, Figure 5 : is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of intersection in the Bluetooth-based livestock positioning system according to an embodiment of the present invention, and is obtained according to the Pythagorean theorem:

[0120]

[0121]

[0122]

[0123]

[0124] When distance_ac is greater than or equal to distance_m, Figure 6 As shown, Figure 6 : is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of separation in the Bluetooth-based livestock positioning system according to an embodiment of the present invention:

[0125] distance=distance_1+distance_2

[0126]

[0127]

[0128] RS represents the distance between two Bluetooth gateways, X t1 Indicates the x-axis coordinate of Bluetooth gateway T1, X t2 Indicates the x-axis coordinate of Bluetooth gateway T2, Y t1 Indicates the axial coordinates of Bluetooth gateway T1, Y t2 represents the y-axis coordinate of Bluetooth gateway T2, RM represents the calculated distance from Bluetooth gateway T1 to the Bluetooth ear tag, RT represents the Bluetooth ear tag distance detected by T1 gateway, ST represents the Bluetooth ear tag distance detected by T2 gateway, M x Indicates the x-axis coordinate of the Bluetooth ear tag, M y Indicates the y-axis coordinate of the Bluetooth ear tag, distance indicates the distance between the T1 Bluetooth gateway and the T2 Bluetooth gateway, distance_1 indicates the distance between the T1 Bluetooth gateway and the detected Bluetooth ear tag, and distance_2 indicates the distance between the T2 Bluetooth gateway and the detected Bluetooth ear tag.

[0129] According to the above grouping, the x and y coordinates of each group are obtained, and the new coordinates formed by averaging the x and y coordinates are the positions of the Bluetooth ear tags measured by group G1. Figure 7 As shown, Figure 7 This is a relationship diagram of the Bluetooth gateway detecting the Bluetooth ear tag position in the case of tangency in the Bluetooth-based livestock positioning system according to an embodiment of the present invention. In the case of tangency, the determination method is the same as above.

[0130] Through the above process, G2, G3, and G4 respectively measure a group of Bluetooth ear tag location information, a total of 4 groups of Bluetooth ear tag location information, these 4 groups of Bluetooth ear tag location information are subjected to a variance calculation again, the coordinates with an error greater than 30% are removed, and the remaining coordinates are averaged to obtain the accurate Bluetooth ear tag location information.

[0131] The calculation of the landing point position is as follows: the calculation method is broken down into sequentially calculating which pen the historical coordinate position of the pig in the past period of time has landed in. In the embodiment of the present application, since all the pen are rectangles of the same size, such as Figure 3 As shown, the coordinates of the four vertices of each pen have been calculated and recorded accordingly, and the pen vertex information of the house is taken out and reorganized into an array. In order to calculate whether the coordinates of the pig fall in this area (pen), it is necessary to calculate whether the x-axis value of the coordinates of the pig's Bluetooth ear tag is greater than or equal to the x-axis value of the upper left corner and less than or equal to the x-axis value of the lower right corner, and whether the y-axis value is less than or equal to the y-axis value of the upper left corner and greater than or equal to the y-axis value of the lower right corner. Traverse all the pens. If there is a result that meets the conditions, then the point falls in this area (pen). If there is no result that meets the conditions, it proves that the point falls in the corridor. Since all pigs are in the pens, this value can be directly excluded. The calculation is as follows:

[0132]

[0133]

[0134] Traverse the pen coordinates under the house until the above calculation returns true, indicating that the pig coordinates fall in this area (pen).

[0135] Through the drop point calculation method, the information of the position coordinates of all pigs is calculated, and the information is counted to calculate the pen with the most drop points and the drop point ratio of the pen with the most drop points. In order to more accurately determine the pen where the pig is located, when the above drop point ratio is less than 50%, a compensation will be made according to the ear tag position filled in when the Bluetooth ear tag is initialized. When the Bluetooth ear tag is on the left ear of the pig, a negative compensation is made on the x-axis, that is, the x-axis coordinate moves to the left. When the Bluetooth ear tag is on the right ear of the pig, a positive compensation is made on the x-axis, that is, the x-axis moves to the right. For example, by measuring 150 adult pigs, it is calculated that the compensation to be made is ±17.54cm. Depending on whether the ear tag is on the left ear or the right ear, the actual pen where the pig is located is calculated after compensation, and the corresponding information is saved in the database.

[0136] Step S906, sending the calculation result to the monitoring management system.

[0137] In an embodiment of the present invention, by receiving location information sent by a Bluetooth gateway, wherein the location information is calculated by the Bluetooth gateway based on the signal strength of a Bluetooth ear tag placed on a target object; calculating the location information of the Bluetooth ear tag through three sets of distance information, calculating whether the area to be determined where the target object is located is the target area based on the location information, and generating a calculation result; sending the calculation result to a monitoring and management system, a technical effect of accurately obtaining the position of the pig in the pen is achieved, thereby solving the technical problem that the prior art cannot meet the existing breeding needs in the process of obtaining livestock location information.

[0138] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A Bluetooth-based livestock positioning system, characterized in that: include: Monitoring management system, positioning engine, Bluetooth gateway and Bluetooth ear tag, among which, The Bluetooth ear tag is placed on a target object, wherein the target object is located in an area to be determined; The Bluetooth gateway receives the signal of the Bluetooth ear tag, calculates the location information of the target object according to the signal and the location information of the Bluetooth gateway, and sends the location information of the target object to the positioning engine; The positioning engine receives the location information sent by the Bluetooth gateway, calculates whether the to-be-determined area where the target object is located is the target area according to the location information, generates a calculation result, and sends the calculation result to the monitoring management system; The monitoring management system receives the calculation result and displays it according to the calculation result; The monitoring management system includes: a configuration module and a data display module, wherein: The configuration module is used to map the space where the target area is located, configure the Bluetooth gateway, configure the information of the target object, and initialize the Bluetooth ear tag of the target object; The data display module is used to display the configuration operation of the configuration module and the calculation result of the positioning engine; The positioning engine is used to collect the distance between the Bluetooth gateway and the Bluetooth ear tag, determine the position coordinates of the Bluetooth ear tag according to the distance, store the position coordinates, and obtain the position relationship between the target object and the area to be determined at preset intervals. If the number of times the position coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area; The positioning engine is further used to collect the distance information sent by each of the Bluetooth gateways, filter the distance information to obtain filtered distance information; group the filtered distance information according to the filtered distance information and the corresponding Bluetooth gateway; calculate the position of the Bluetooth ear tag through at least three Bluetooth gateways to obtain the position coordinates of the Bluetooth ear tag; obtain the position relationship between the target object and the area to be determined according to the position coordinates and a preset interval, and if the number of times the position coordinates of the target object are in the area to be determined is greater than a threshold, determine that the area to be determined is the target area; The target object is livestock, and the target area is the pens where the livestock are located; The configuration module in the monitoring and management system is used to configure the electronic map of the livestock pens, configure the Bluetooth gateway, configure the livestock data, and initialize the livestock Bluetooth ear tags; The configuration of the Bluetooth gateway is: initializing the data of the Bluetooth gateway, entering the relevant data of the Bluetooth gateway, and registering the location information of the Bluetooth gateway; The livestock data is configured as follows: the livestock basic data is entered into the system, the livestock data is initialized, provided to the Bluetooth ear tag initialization device for use, and provided to the display page for display through the display module; The Bluetooth ear tag initialization comprises: using a Bluetooth ear tag initialization device to initialize the ear number information into the Bluetooth ear tag, and using an ear tag clamp to ear tag the livestock, and recording whether the Bluetooth ear tag is on the left ear or the right ear of the livestock, and the data needs to be read for subsequent positioning compensation; The positioning engine stores the positioning information transmitted by the Bluetooth gateway and carrying the Bluetooth ear tag information, that is, the distance information from the Bluetooth gateway to the Bluetooth ear tag. The positioning engine calculates the position coordinates of the corresponding Bluetooth ear tag based on the distance information, and stores the result information in the database. At the same time, the positioning information and electronic pen coordinates of the livestock in the recent period are calculated at regular intervals, which is called the drop point position calculation, and the pen with the most drop points is obtained. At the same time, the ratio of the drop point number of the pen with the most drop points to the total calculated number is calculated. If the ratio is less than 50%, it is necessary to perform offset compensation according to the livestock ear tag position, and then calculate the compensated coordinates to obtain the pen with the most drop points; The positioning engine calculates the Bluetooth ear tag position coordinates as follows: For each livestock, the Bluetooth gateway in the corresponding pen will return the distance between the ear tag and the Bluetooth gateway. This distance is calculated by the Bluetooth gateway based on signal attenuation and actual transmission power. The positioning engine will receive the livestock ear tag distance information returned by each Bluetooth gateway; The pen has at least 4 gateway devices, and the ear tag information of each livestock is collected from all the gateway devices, and the first 4 pieces of data with the closest distance are selected, and the four pieces of ear tag information are respectively associated with the information of the corresponding Bluetooth gateway, and the four pieces of ear tag data are marked as T1, T2, T3, and T4; T1: distance, Xt1, Yt1 T2: distance, Xt2, Yt2 T3: distance, Xt3, Yt3 T4: distance, Xt4, Yt4 Selecting 3 ear tag data from the 4 ear tag data as a group, dividing them into 4 groups, and marking them as: G1, G2, G3, G4; G1: (T1, T2, T3) G2: (T1, T2, T4) G3: (T1, T3, T4) G4: (T2, T3, T4) The positioning of each group is calculated according to the coordinates in the group: According to the distance and Xti, Yti, ti in each group, the corresponding T1, T2, T3, and T4 are represented. With Xti and Yti as the coordinates of the dots and distance as the radius, a circle is drawn on the plane. Three circles are drawn with the three ear tag data. The intersection of the three circles is calculated, which is the ear tag position information calculated jointly by the three Bluetooth gateways. The group calculation and averaging method is used for positioning calculation. Specifically, the distance measured by the three Bluetooth gateways is used as the radius of the circle. The circles formed by any two Bluetooth gateways are calculated separately to calculate whether the circles formed by the two Bluetooth gateways intersect: ； Where distance_ac is the actual distance between the two Bluetooth gateways, distance_m is the distance between the two Bluetooth gateways and the Bluetooth ear tags, and X t1 Indicates the X coordinate of point T1, X t2 Indicates the X coordinate of point T2, Y t1 Indicates the Y coordinate of point T1, Y t2 Indicates the Y coordinate of point T2; distance_t1 indicates the Bluetooth ear tag distance measured by the T1 Bluetooth gateway, and distance_t2 indicates the Bluetooth ear tag distance measured by the T2 Bluetooth gateway; According to the comparison results of distance_ac and distance_m, the values ​​with distance_ac greater than or equal to distance_m are grouped into one group, and the values ​​with distance_ac less than distance_m are grouped into another group; Calculate the coordinate position of each group: When distance_ac is less than distance_m, the position of the Bluetooth ear tag detected by the Bluetooth gateway when two Bluetooth gateways intersect is obtained according to the Pythagorean theorem: ； ； ； ； Among them, RS represents the distance between two Bluetooth gateways, X t1 Indicates the x-axis coordinate of Bluetooth gateway T1, X t2 Indicates the x-axis coordinate of Bluetooth gateway T2, Y t1 Indicates the axial coordinates of Bluetooth gateway T1, Y t2 represents the y-axis coordinate of Bluetooth gateway T2, RM represents the calculated distance from Bluetooth gateway T1 to the Bluetooth ear tag, RT represents the Bluetooth ear tag distance detected by Bluetooth gateway T1, ST represents the Bluetooth ear tag distance detected by Bluetooth gateway T2, M x Indicates the x-axis coordinate of the detected Bluetooth ear tag, M y Indicates the y-axis coordinate of the detected Bluetooth ear tag; When distance_ac is greater than or equal to distance_m, the positions of the two Bluetooth gateways detecting the Bluetooth ear tags in the case of tangency or separation are obtained according to the Pythagorean theorem: ； ； ； Among them, M x Indicates the x-axis coordinate of the detected Bluetooth ear tag, M y Indicates the y-axis coordinate of the detected Bluetooth ear tag, distance indicates the distance between Bluetooth gateway T1 and Bluetooth gateway T2, distance_1 indicates the distance between Bluetooth gateway T1 and the detected Bluetooth ear tag, and distance_2 indicates the distance between Bluetooth gateway T2 and the detected Bluetooth ear tag; According to the above grouping, the x and y coordinates of each group are obtained, and the new coordinates formed by averaging the x and y coordinates are the positions of the Bluetooth ear tags measured by the G1 group; Through the above process, G2, G3, and G4 respectively measure a group of Bluetooth ear tag location information, a total of 4 groups of Bluetooth ear tag location information, and these 4 groups of Bluetooth ear tag location information are subjected to a variance calculation again, and the coordinates with errors greater than 30% are removed. The remaining coordinates are averaged to obtain the accurate Bluetooth ear tag location information.

2. The positioning system according to claim 1, characterized in that: The positioning system further includes: an Ethernet data return module, wherein the Ethernet data return module is used to receive the calculation result sent by the positioning engine, save the calculation result, and forward the calculation result to the monitoring management system.

3. The positioning system according to claim 1, characterized in that: The Bluetooth ear tag is made of polyurethane and has a built-in Bluetooth chip supporting an angle of arrival function.

4. The positioning system according to claim 1, characterized in that: The Bluetooth gateway is powered by Ethernet and has a built-in omnidirectional antenna.

5. A method for locating livestock in a house based on Bluetooth, characterized in that: The positioning system according to any one of claims 1 to 4 comprises: Receiving location information sent by a Bluetooth gateway, wherein the location information is calculated by the Bluetooth gateway according to the signal strength of a Bluetooth ear tag placed on the target object; Calculating whether the area to be determined where the target object is located is the target area based on the location information, and generating a calculation result; The calculation results are sent to the monitoring management system.

6. The positioning method according to claim 5, characterized in that: The calculating whether the to-be-determined area where the target object is located is the target area according to the position information and generating a calculation result includes: The distance from the Bluetooth gateway to the Bluetooth ear tag calculated according to the Bluetooth gateway; Determine the position coordinates of the Bluetooth ear tag according to the distance, and store the position coordinates; At preset intervals, respectively obtaining the positional relationship between the target object and the area to be determined; If the number of times that the position coordinates of the target object are in the area to be determined is greater than a threshold, the area to be determined is determined to be the target area.

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