Livestock Driving Method and Device

Abstract

The present application provides a livestock driving method and device. The livestock driving method includes: obtaining a change in the behavior state of a target livestock; wherein the change in the behavior state includes a gradual change in the movement direction, a sudden change in the movement direction, and a sudden change in the movement acceleration of the target livestock; driving the target livestock with a voice command according to the change in the behavior state; wherein the voice command includes a specific voice command generated by encoding for different target livestock and an expulsion command. The livestock driving method provided by the embodiments of the present application plays a specific voice command for the target livestock trained by conditioned reflex, thereby intervening in the behavior of the target livestock and greatly reducing the manual installation and maintenance costs.

Description

Technical Field

[0001] The present application relates to the field of livestock breeding management, and in particular, to a livestock driving method and device. Background Art

[0002] With the prosperity of livestock farming, intervention in livestock behavior is a major difficulty, especially in the field of grazing livestock farming; how to drive away or intervene in abnormal behavior of livestock will provide the underlying core technology for unmanned ranches and become a problem of concern.

[0003] At present, the behavioral intervention of livestock is mainly carried out by having each livestock wear a command receiving terminal and using a control command set to control the livestock's behavior. However, this method incurs high costs in terms of manufacturing and maintenance of the receiving terminals worn by the livestock, and is difficult to promote widely. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a livestock driving method and device, which determines whether the behavior state of the target livestock meets the preset requirements; if the behavior state of the target livestock is abnormal, voice commands are used to drive the target livestock, thereby greatly reducing the manual installation and maintenance costs.

[0005] In a first aspect, an embodiment of the present application provides a livestock driving method, which comprises: obtaining a change in the behavior state of a target livestock; wherein the change in the behavior state comprises a gradual change in the movement direction, a sudden change in the movement direction and a sudden change in the movement acceleration of the target livestock; according to the change in the behavior state, driving the target livestock with sound instructions; wherein the sound instructions comprise specific sound instructions and expulsion instructions generated by encoding for different target livestock.

[0006] In the above implementation process, according to the change of the behavior state of the target livestock, that is, according to the acquired gradual change of the movement direction, sudden change of the movement direction or sudden change of the movement acceleration of the target livestock, the sound command is played to the target livestock according to the change of these behavior states, so as to achieve the purpose of driving away or intervening in the target livestock. Compared with wearing a command receiving device for each target livestock to achieve the behavior control of each livestock, the livestock driving method provided in the embodiment of the present application is more convenient for controlling a single target livestock, and can save the installation and maintenance of the command control terminal, so that the cost of livestock breeding and management is greatly reduced.

[0007] Optionally, in an embodiment of the present application, driving away the target livestock with sound commands based on the change in behavior state includes: determining whether the change in behavior state includes a sudden change in movement direction or a sudden change in movement acceleration; if it is determined that the change in behavior state includes a sudden change in movement direction or a sudden change in movement acceleration, driving away the target livestock with an expulsion command.

[0008] In the above implementation process, after obtaining the change in the behavioral state of the target livestock, it is determined whether the change in the behavioral state of the target livestock includes a sudden change in the movement direction or a sudden change in the movement acceleration; if a similar sudden change in the movement direction or a sudden change in the movement acceleration is determined, an expulsion instruction is played to drive the target livestock to move outside the breeding area; thereby realizing the intervention of the extreme behavior of the target livestock through voice instructions and avoiding unnecessary losses caused by the extreme behavior of the livestock. When abnormal behavior is detected, playing an expulsion instruction to the target livestock can effectively prevent the target livestock from entering the protected area.

[0009] Optionally, in the embodiment of the present application, when driving the target livestock with a voice instruction according to the change in the behavioral state, the method further includes: determining whether the change in the behavioral state includes a gradual change in the movement direction; if it is determined that the change in the behavioral state includes a gradual change in the movement direction, then determining whether the gradual change in the movement direction meets the preset requirements; if the gradual change in the movement direction does not meet the preset requirements, then driving the target livestock with a specific voice instruction; wherein, the target livestock includes the target livestock trained with a specific voice instruction.

[0010] In the above implementation process, by determining whether the change in the behavioral state of the target livestock includes a gradual change in the movement direction, if there is a gradual change in the movement direction, then the movement direction of the target livestock is determined when needed; determining whether the movement direction of the target livestock meets the preset requirements, if it does not meet the preset requirements, then the target livestock is intervened with a specific voice instruction, so as to achieve the purpose of driving the target livestock in the preset direction.

[0011] Optionally, in the embodiment of the present application, the specific voice instruction is generated in the following manner: extracting instruction elements to generate a single-tone combination; wherein, the instruction elements include a sound pressure instruction element, an audio instruction element, and a pitch duration instruction; generating a combined voice instruction from multiple single-tone combinations; determining whether the combined voice instruction exists in the instruction database; if it is determined that the combined voice instruction does not exist in the instruction database, then generating a specific voice instruction according to the combined voice instruction and storing the specific voice instruction in the instruction database.

[0012] In the above implementation process, for the livestock driving method provided in the embodiment of the present application, instruction elements are randomly selected from the sound pressure instruction element database, the audio instruction element database, and the pitch duration instruction element database to form a single-tone combination; similarly, a voice instruction is formed by multiple single-tone combinations through the single-tone combination formation method. This encoding method exists in the voice instruction database, and each newly generated encoded instruction is checked for duplication with the existing instructions to ensure the uniqueness of the encoding method.

[0013] Second aspect, the embodiment of the present application provides a livestock driving device, including: an instruction training ground, a voice instruction encoder, a voice instruction transmitter, and an emergency instruction transmitter; the voice instruction encoder is used to specifically generate voice instructions; wherein, the specific voice instructions are used to drive target livestock; the specific voice instructions include specific voice instructions generated by encoding for different target livestock; the voice instruction transmitter is used to emit specific voice instructions when the target livestock is at the target position in the instruction training ground; the emergency instruction transmitter and the voice instruction transmitter are used to drive the target livestock that has completed training.

[0014] Optionally, in the embodiment of the present application, the livestock driving device further includes: a livestock position recognizer and a steering trigger; the livestock position recognizer is used to recognize whether the target livestock has reached the inflection point of the figure-eight in the instruction training ground; and when the target livestock reaches the inflection point of the figure-eight, trigger the voice instruction encoder to encode the specific voice instructions; the steering trigger is used to judge whether the target livestock is turning; and when the target livestock is turning, trigger the voice instruction transmitter to play the specific voice instructions.

[0015] Optionally, in the embodiment of the present application, the livestock driving device further includes a livestock behavior sensor; the emergency instruction transmitter includes: an airborne bomb dropping module of a drone and an emergency beeping bomb; the livestock behavior sensor is arranged outside the target livestock and is used to obtain and judge the change of the behavior state of the target livestock; the airborne bomb dropping module of the drone is used to drop the emergency beeping bomb to a specified position when the change of the behavior state of the target livestock includes a sudden change in the movement direction or a sudden change in the movement acceleration; the emergency beeping bomb is used to play an expulsion instruction according to the change of the behavior state.

[0016] Optionally, in the embodiment of the present application, the emergency beeping bomb includes: a speaker, a positioning module, and a stabilizing fin; the speaker is used to play the expulsion instruction; the positioning module is used to obtain the position of the emergency beeping bomb; the stabilizing fin is used to maintain the flight attitude of the emergency beeping bomb.

[0017] Third aspect, the embodiment of the present application provides an electronic device, the electronic device includes a memory and a processor, and when the processor reads and runs the program instructions stored in the memory, it executes the steps in the implementation manner of the first aspect above.

[0018] Fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and run by a processor, the steps in the implementation manner of the first aspect above are executed. Description of the Drawings

[0019] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for the embodiments of the present application will be briefly introduced below. It should be understood that the following accompanying drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related accompanying drawings can also be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a flowchart of the livestock driving method provided by the embodiments of the present application;

[0021] Figure 2 It is a flowchart of driving a target livestock through an expulsion instruction provided by the embodiments of the present application;

[0022] Figure 3 It is a flowchart of driving a target livestock through a specific sound instruction provided by the embodiments of the present application;

[0023] Figure 4 It is a schematic diagram of a livestock training ground provided by the embodiments of the present application;

[0024] Figure 5 It is a flowchart of generating a specific sound instruction provided by the embodiments of the present application;

[0025] Figure 6 It is a first schematic diagram of the modules of the livestock driving device provided by the embodiments of the present application;

[0026] Figure 7 It is a second schematic diagram of the modules of the livestock driving device provided by the embodiments of the present application;

[0027] Figure 8 It is a schematic diagram of the structure of a buzzer bomb provided by the embodiments of the present application;

[0028] Figure 9 It is a schematic diagram of the use of a buzzer bomb provided by the embodiments of the present application;

[0029] Figure 10 It is a schematic diagram of the structure of an electronic device provided by the embodiments of the present application. Detailed implementation manners

[0030] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of systems, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0031] In the process of research, the applicant found that currently, the intervention or guidance of livestock behavior is a major difficulty. Especially in the field of grazing livestock breeding, how to efficiently intervene in livestock behavior will provide the underlying core technology for unmanned pastures. Currently, the existing intelligent livestock training methods use a behavior control instruction set to be sent to the receiving end worn by livestock.

[0032] However, in the implementation process of this method, the behavior control instruction set is simplified and fixed, that is, all livestock share the same control instruction for the same behavior. For example, during group grazing, if it is necessary to control a single livestock, each livestock needs to wear a receiving device for the instruction, and only send and control the instruction to the target livestock. The above method will bring high costs in terms of terminal purchase, configuration, wearing, and maintenance in large-scale farms, bring huge workloads to large-scale breeding, and restrict the promotion of smart pastures.

[0033] Based on this, the livestock driving method provided in the embodiments of the present application judges whether the behavior state of the target livestock meets the preset requirements; if the behavior state of the target livestock is abnormal, a sound instruction is used to drive the target livestock, avoiding the customization of terminals for livestock, and thus greatly reducing the manual installation and maintenance costs.

[0034] Please refer to Figure 1 , Figure 1 which is the flowchart of the livestock driving method provided in the embodiments of the present application; the livestock driving method includes:

[0035] Step S100: Obtain the change in the behavioral state of the target livestock.

[0036] In the above step S100, to obtain the change in the behavioral state of the target livestock, for example, obtain the gradual change in the movement direction of the target livestock, or the sudden change in the movement direction, or the sudden change in the movement acceleration; it should be noted that the gradual change in the movement direction of the target livestock refers to the movement except for the sudden acceleration or sudden turning of the target livestock; for example, the target livestock makes a normal turn. The sudden change in the movement direction means that the target livestock makes a turn at a relatively fast speed, and the sudden change in the movement acceleration means that the movement acceleration of the target livestock suddenly increases; for example, the sudden change in the movement direction and the sudden change in the movement acceleration can refer to abnormal behaviors such as the target livestock suddenly rushing towards the fence.

[0037] Step S101: Drive the target livestock with a voice command according to the change in the behavioral state.

[0038] In the above step S101, in the breeding area, according to the change in the behavioral state, that is, according to the obtained gradual change in the movement direction, sudden change in the movement direction, or sudden change in the movement acceleration of the target livestock, play a voice command to the target livestock according to these changes in the behavioral state to achieve the purpose of driving or intervening in the target livestock.

[0039] It should be noted that the voice command can be an expulsion command or a specific voice command; among them, the expulsion command can be a voice command that makes the target livestock fearful, such as the voice recording after other livestock are frightened, etc. And the specific voice command can be a voice command generated by encoding for different target livestock, that is, each different target livestock corresponds to a unique specific voice command, and the target livestock can make corresponding behavioral changes according to the specific voice command when it hears the specific voice command.

[0040] Through Figure 1 It can be seen that according to the change in the behavioral state of the target livestock, that is, according to the obtained gradual change in the movement direction, sudden change in the movement direction, or sudden change in the movement acceleration of the target livestock, play a voice command to the target livestock according to these changes in the behavioral state to achieve the purpose of driving or intervening in the target livestock. Compared with wearing a command receiving device for each target livestock to achieve the behavioral control of each livestock, the livestock driving method provided by the embodiment of the present application is more convenient for controlling a single target livestock, can save the installation and maintenance of the command control terminal and other work, and greatly reduces the breeding management cost of livestock.

[0041] Please refer to Figure 2 , Figure 2 is the flowchart of driving the target livestock by the expulsion command provided by the embodiment of the present application; driving the target livestock with a voice command according to the change in the behavioral state includes:

[0042] Step S200: Determine whether the change in the behavior state includes a sudden change in the movement direction or a sudden change in the movement acceleration.

[0043] In the above step S200, after obtaining the change in the behavior state of the target livestock, determine whether the change in the behavior state of the target livestock includes a sudden change in the movement direction or a sudden change in the movement acceleration; those skilled in the art can understand that the sudden change in the movement direction or the sudden change in the movement acceleration of the target livestock in the embodiments of the present application may refer to abnormal behavior states such as the target livestock suddenly rushing towards the fence of the breeding area or rushing outside the breeding area.

[0044] Step S201: If it is determined that the change in the behavior state includes a sudden change in the movement direction or a sudden change in the movement acceleration, drive the target livestock with the expulsion instruction.

[0045] In the above step S201, when it is determined that the change in the behavior state of the target livestock includes a sudden change in the movement direction or a sudden change in the acceleration, that is, when a sudden change in the movement direction or the sudden change in the movement acceleration is judged, play the expulsion instruction to drive the target livestock to move outside the breeding area.

[0046] By Figure 2 It can be seen that after obtaining the change in the behavior state of the target livestock, determine whether the change in the behavior state of the target livestock includes a sudden change in the movement direction or a sudden change in the movement acceleration; when a sudden change in the movement direction or the sudden change in the movement acceleration is judged, play the expulsion instruction to drive the target livestock to move outside the breeding area; thereby realizing the intervention of the extreme behavior of the target livestock through voice instructions and avoiding unnecessary losses caused by the extreme behavior of the livestock. When abnormal behavior is found, playing the expulsion instruction to the target livestock can effectively prevent the target livestock from entering the protected area.

[0047] Please refer to Figure 3 , Figure 3 which is the flowchart of expelling the target livestock through specific voice instructions provided by the embodiments of the present application;

[0048] Step S300: Determine whether the change in the behavior state includes a gradual change in the movement direction.

[0049] Step S301: If it is determined that the change in the behavior state includes a gradual change in the movement direction, determine whether the gradual change in the movement direction meets the preset requirements.

[0050] Step S302: If the gradual change in the movement direction does not meet the preset requirements, drive the target livestock with the specific voice instruction.

[0051] In the above steps S300 - S302, it is determined whether the behavior of the target livestock is a gradual change in the movement direction. If it is determined that there is a gradual change in the movement direction, the movement direction of the target livestock is intervened by a specific sound command to drive the target livestock, so that the movement direction of the target livestock meets the preset requirements. It should be noted that the preset requirements in the embodiments of the present application refer to whether the target livestock moves in a set direction in the breeding area; for example, when it is necessary to make the target livestock return to the pen or move from other areas to the food distribution area, a specific sound command can be used to intervene or drive the target livestock to make it return to the pen or move to the target area.

[0052] By Figure 3 It can be seen that by determining whether the change in the behavior state of the target livestock includes a gradual change in the movement direction, if there is a gradual change in the movement direction, then the movement direction of the target livestock is judged when needed; it is judged whether the movement direction of the target livestock meets the preset requirements. If it does not meet the preset requirements, the target livestock is intervened by a specific sound command, so as to achieve the purpose of driving the target livestock in the preset direction.

[0053] It is worth noting that the target livestock intervened or driven by a specific sound command has been trained by this specific sound command; the following introduces how to train the target livestock with a specific sound command, please refer to Figure 4 , Figure 4 which is a schematic diagram of the livestock training ground provided by the embodiments of the present application.

[0054] Regarding the instruction training ground provided by the embodiments of the present application, it should be noted that Figure 4 the training ground shown includes two T - shaped intersections on the left and right; if the target livestock enters from the right, then the target livestock will keep turning left (left - turn command training) in the training ground with the cooperation of the sound command; if the target livestock enters from the right, then the livestock will keep turning right (right - turn command training) in the training ground with the cooperation of the sound command. When the target livestock walks from the loop - shaped part to the T - shaped intersection, the T - shaped intersection can be regarded as an instruction verification area; it can be understood that when the target livestock receives the left - turn command training, at the T - shaped intersection, a specific sound command is issued; the movement direction of the target livestock is obtained to verify whether the target livestock is consistent with the previous training; if it is consistent, it can be determined that the training is completed.

[0055] By Figure 4 The process of training the target livestock to make it have a conditioned reflex to a specific sound command is as follows:

[0056] Control the livestock group to enter the instruction training ground. It can be understood that the livestock group includes several target livestock; control the livestock group to enter the instruction training ground as shown in Figure 4 so that each target livestock can be trained in this instruction training ground.

[0057] Control the target livestock to enter the command training ground and determine the position of the target livestock; if the target livestock reaches the target position, play a specific sound command; that is, when the target livestock reaches the inflection point of the figure-eight shape, play the specific sound command. Cultivate the target livestock to have a conditioned reflex to the specific sound command to achieve the purpose of training the target livestock.

[0058] Determine whether the target livestock has reached the target position; if the target livestock reaches the inflection point of the figure-eight shape, determine whether the target livestock is turning. If it is determined that the target livestock is turning, play a specific sound command.

[0059] It should be noted that the target position includes the inflection points of the figure-eight channel. Exemplarily, if it is determined that the target livestock is turning, if the target livestock is turning, then it will be generated according to the identity information of the target livestock recognized before turning; that is, before the target livestock turns, the identity information of the target livestock will be obtained, and a specific sound command corresponding one-to-one to the identity information of the target livestock will be generated.

[0060] Further, continue to determine the position of the target livestock. If it is determined that the target livestock reaches the midpoint of the T-shaped exit, determine whether the movement direction of the target livestock is the same as the movement direction of the target livestock at the inflection point of the figure-eight shape. If they are the same, then the training of the target livestock is completed.

[0061] Through Figure 4 It can be seen that at the T-shaped exit, under the stimulation of the specific sound command; determine whether the movement direction of the target livestock is the same as that at the inflection point of the figure-eight shape. If they are the same, then it can be determined that the training of the target livestock is completed; if they are not the same, then the target livestock is retrained until the movement direction of the target livestock at the T-shaped exit is the same as that at the inflection point of the figure-eight shape. By using the livestock driving method provided in the embodiments of the present application, it is possible to smoothly control the behavior of the target livestock on the basis of generating the due conditioned reflex.

[0062] Please refer to Figure 5 , Figure 5 which is the flowchart for generating the specific sound command provided in the embodiments of the present application; the specific sound command is generated in the following manner:

[0063] Step S500: Extract command elements to generate a single-tone combination.

[0064] In the above step S500, instruction elements are extracted to generate single - tone combinations. It should be noted that the instruction elements include sound pressure instruction elements, audio instruction elements, and tone duration instructions. Exemplarily, the values that the extracted sound pressure instruction elements can take are: 65dB, 70dB, 75dB, etc.; the values that the extracted audio instruction elements can take are: 389Hz, 438Hz, 495Hz, 697Hz, 785Hz, 988Hz, 1403Hz, 1570Hz, 1760Hz, etc.; the extracted tone time can be: the base time, multiples of the base time, etc. It should be noted that the extracted instruction elements aim to ensure the safety of livestock and can be adjusted adaptively. The instruction elements given in the embodiments of this application are only exemplary, and specific instruction elements cannot limit the instruction elements in the embodiments of this application.

[0065] Step S501: Generate a combined sound instruction from multiple single - tone combinations.

[0066] In the above step S501, a combined sound instruction is generated from multiple single - tone combinations. It should be noted that the sound instruction encoding method used in the embodiments of this application can be a combination of sound pressure, sound frequency, and duration as a single - tone combination, and a sound instruction can include several single - tone combinations.

[0067] Step S502: Determine whether the combined sound instruction exists in the instruction database.

[0068] Step S503: If it is determined that the combined sound instruction does not exist in the instruction database, generate a specific sound instruction according to the combined sound instruction and store the specific sound instruction in the instruction database.

[0069] In the above steps S502 - S503, after the combined sound instruction is generated; further, search in the instruction database to find whether the combined sound instruction exists in the instruction database; if not, then generate a specific sound instruction according to the combined sound instruction and store the specific sound instruction in the instruction database. It can be understood that when the target livestock enters the instruction training ground for the first time, then the sound instruction does not exist in the instruction database, and this sound instruction will be generated; when the target livestock is not entering the instruction training ground for the first time, that is, in the case of previous training in this instruction training ground but without successful training, the sound instruction will not be regenerated.

[0070] Through Figure 5It can be seen that the livestock driving method provided by the embodiments of the present application forms a single-tone combination by randomly extracting instruction elements from the sound pressure instruction element database, the audio instruction element database, and the tone duration instruction element database; similarly, a sound instruction is formed by multiple single-tone combinations through the single-tone combination formation method. This encoding method exists in the sound instruction database, and each newly generated encoding instruction is checked for duplication with the existing instructions to ensure the uniqueness of the encoding method.

[0071] Please refer to Figure 6 , Figure 6 which is the first schematic diagram of the modules of the livestock driving device provided by the embodiments of the present application; the livestock driving device 100 includes: a sound instruction encoder 120, a sound instruction transmitter 130, and an emergency instruction transmitter 140.

[0072] The sound instruction encoder 120 is used to generate sound instructions. Among them, the sound instructions are used to control the movement direction of the target livestock; the sound instructions include specific sound instructions generated by encoding for different target livestock.

[0073] The sound instruction transmitter 130 is used to emit specific sound instructions when the target livestock is at the target position in the instruction training ground.

[0074] The emergency instruction transmitter 140 and the sound instruction transmitter 130 are used to control the movement direction of the target livestock that has completed training.

[0075] It should be noted that, please refer to Figure 4 wherein, the sound instruction encoder 120 and the sound instruction transmitter 130 are installed at the inflection point 200 of the loop-shaped passage in the instruction training ground.

[0076] Please refer to Figure 7 , Figure 7 which is the second schematic diagram of the modules of the livestock driving device provided by the embodiments of the present application; the livestock driving device 100 further includes: a livestock position identifier 150 and a steering trigger 160;

[0077] The livestock position identifier 150 is used to identify whether the target livestock has reached the inflection point of the loop-shaped passage in the instruction training ground; and when the target livestock reaches the inflection point of the loop-shaped passage, it triggers the sound instruction encoder 120 to encode specific sound instructions.

[0078] The steering trigger 160 is used to determine whether the target livestock is turning; and when the target livestock is turning, it triggers the sound instruction transmitter 130 to play specific sound instructions.

[0079] It should be noted that, please refer to Figure 4 wherein, the livestock position identifier 150 and the steering trigger 160 are arranged at the inflection point 200 of the loop-shaped passage in the instruction training ground.

[0080] Please continue to refer to Figure 7 ; the livestock driving device 100 further includes a livestock behavior sensor 170; the emergency instruction transmitter 140 includes: an airborne bomb dropping module 141 of the drone and an emergency buzzer bomb 142.

[0081] The livestock behavior sensor 170 is disposed outside the target livestock and is used to acquire and judge the behavior of the target livestock. The airborne bomb dropping module 141 of the drone is used to drop the emergency buzzer bomb 142 to a designated position when the target livestock has abnormal behavior. The emergency buzzer bomb 142 is used to play an expulsion instruction according to the abnormal behavior.

[0082] Please refer to Figure 8 , Figure 8 ; it is a schematic structural diagram of the buzzer bomb provided by the embodiment of the present application; the emergency buzzer bomb 142 includes a speaker 1421, a positioning module 1422 and a stabilizing fin 1423.

[0083] The speaker 1421 is used to play an expulsion instruction. The positioning module 1422 is used to acquire the position of the emergency buzzer bomb, and the buzzer bomb 142 can be recovered through the coordinate information of the buzzer bomb 142. The stabilizing fin 1423 is used to maintain the flight attitude of the emergency buzzer bomb.

[0084] The buzzer bomb 142 further includes a controller 1425 and a battery installation area 1426; the controller 1425 is used to control the flight direction of the buzzer bomb 142; the battery installation area 1426 is used to install a battery and provide electrical energy for the buzzer bomb 142 to play an expulsion instruction.

[0085] In an optional embodiment, please refer to Figure 9 , Figure 9 ; it is a schematic diagram of the use of the buzzer bomb provided by the embodiment of the present application; when it is detected that the target livestock has abnormal behavior, the movement direction of the livestock is predicted according to the abnormal behavior, and when the target movement direction of the livestock is judged; the buzzer bomb stably falls from the drone in the air and is inserted into the grassland. After being inserted into the grassland, it regularly sends Beidou positioning information to the server, and stores an expulsion sound instruction inside. The sound signal comes from the sound recording of the same kind of livestock being frightened, etc. When it receives that the livestock enters the safe distance near the emergency bomb, the emergency bomb actively emits a sound signal representing the danger of the livestock to prevent the out-of-control livestock from approaching. As Figure 9 shown, several emergency bombs can form a barrier to prevent the out-of-control livestock from entering the protected area.

[0086] Please refer to Figure 10 , Figure 10Schematic diagram of the structure of the electronic device provided by the embodiment of the present application. An electronic device 300 provided by the embodiment of the present application includes: a processor 301 and a memory 302. The memory 302 stores machine-readable instructions executable by the processor 301. When the machine-readable instructions are executed by the processor 301, the above method is executed.

[0087] Based on the same inventive concept, the embodiment of the present application also provides a computer-readable storage medium. Computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are read and run by a processor, the steps in any of the above implementation manners are executed.

[0088] The computer-readable storage medium may be various media that can store program codes, such as random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. Among them, the storage medium is used to store a program. After receiving an execution instruction, the processor executes the program. The method executed by the electronic terminal defined by the process disclosed in any embodiment of the present invention can be applied to the processor or implemented by the processor.

[0089] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0090] In addition, the units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] Furthermore, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0092] Alternatively, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part.

[0093] The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).

[0094] In this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article, or device comprising the said elements.

[0095] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A livestock driving method, characterized in that, The method includes: Obtaining a change in the behavioral state of a target livestock; wherein, the change in the behavioral state includes a gradual change in the movement direction, a sudden change in the movement direction, and a sudden change in the movement acceleration of the target livestock; Driving the target livestock with a voice command according to the change in the behavioral state; wherein, the voice command includes a specific voice command and an expulsion command generated by encoding for different target livestock; The driving the target livestock with a voice command according to the change in the behavioral state includes: Judging whether the change in the behavioral state includes the sudden change in the movement direction or the sudden change in the movement acceleration; If it is determined that the change in the behavioral state includes the sudden change in the movement direction or the sudden change in the movement acceleration, then driving the target livestock with the expulsion command; Judging whether the change in the behavioral state includes the gradual change in the movement direction; If it is determined that the change in the behavioral state includes the gradual change in the movement direction, then judging whether the gradual change in the movement direction meets a preset requirement; If the gradual change in the movement direction does not meet the preset requirement, then driving the target livestock with the specific voice command; wherein, the target livestock includes the target livestock trained with the specific voice command.

2. The method according to claim 1, wherein Wherein, The specific voice command is generated in the following manner: Extracting instruction elements to generate a single-tone combination; wherein, the instruction elements include a sound pressure instruction element, an audio instruction element, and a tone duration instruction; Generating a combined voice command from a plurality of the single-tone combinations; Judging whether the combined voice command exists in an instruction database; If it is determined that the combined voice command does not exist in the instruction database, then generating the specific voice command according to the combined voice command and storing the specific voice command in the instruction database.

3. A livestock driving device, characterized in that, The livestock driving device is applied to the livestock driving method according to any one of claims 1-2, and the livestock driving device includes: a voice command encoder, a voice command transmitter, and an emergency command transmitter; The voice command encoder is used to specifically generate a voice command; wherein, the specific voice command is used to drive a target livestock; the specific voice command includes a specific voice command generated by encoding for different target livestock; The voice command transmitter is used to emit the specific voice command when the target livestock is at a target position in an instruction training ground; The emergency command transmitter and the voice command transmitter are used to drive the target livestock that has completed training; Wherein, the livestock driving device further includes a livestock behavior sensor; the livestock behavior sensor is disposed outside the target livestock and is used to obtain and judge the change in the behavioral state of the target livestock; Wherein, the livestock behavior sensor is specifically used for: judging whether the change in the behavioral state includes the sudden change in the movement direction or the sudden change in the movement acceleration; judging whether the change in the behavioral state includes the gradual change in the movement direction; Among them, the sound command transmitter is specifically configured to: if it is determined that the change in the behavior state includes a sudden change in the movement direction or a sudden change in the movement acceleration, drive the target livestock with the expulsion command; if it is determined that the change in the behavior state includes a gradual change in the movement direction, determine whether the gradual change in the movement direction meets the preset requirements; if the gradual change in the movement direction does not meet the preset requirements, drive the target livestock with the specific sound command; where the target livestock includes the target livestock trained with the specific sound command.

4. The livestock driving device according to claim 3, characterized in that, The livestock driving device further includes: a livestock position identifier and a steering trigger; The livestock position identifier is configured to identify whether the target livestock reaches the zigzag inflection point of the command training ground; and when the target livestock reaches the zigzag inflection point, trigger the sound command encoder to encode the specific sound command; The steering trigger is configured to determine whether the target livestock is turning; and when the target livestock is turning, trigger the sound command transmitter to play the specific sound command.

5. The livestock driving device according to claim 3, characterized in that, The emergency command transmitter includes: an airborne bomb dropping module of an unmanned aerial vehicle and an emergency beeping bomb; The airborne bomb dropping module of the unmanned aerial vehicle is configured to drop the emergency beeping bomb to a specified position when the change in the behavior state of the target livestock includes a sudden change in the movement direction or a sudden change in the movement acceleration; The emergency beeping bomb is configured to play the expulsion command according to the change in the behavior state.

6. The livestock driving device according to claim 5, characterized in that, The emergency beeping bomb includes: a speaker, a positioning module, and a stabilizing wing; The speaker is configured to play the expulsion command; The positioning module is configured to obtain the position of the emergency beeping bomb; The stabilizing wing is configured to maintain the flight attitude of the emergency beeping bomb.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor. When the processor runs the program instructions stored in the memory, it executes the steps in the method according to any one of claims 1-2.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions. When the computer program instructions are run by a processor, it executes the steps in the method according to any one of claims 1-2.

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