An intelligent heating device for grassland livestock breeding drinking water and its control method

Abstract

A device for heating drinking water for grassland livestock breeding and a control method thereof, the device comprising: an intelligent heating drinking water trough, comprising a water trough, a plurality of heating rods, a control box and a data acquisition module, wherein the plurality of heating rods are arranged in the water trough and connected to a power supply, the control box is arranged on one side of the water trough and has a control panel therein, the control panel being connected to the heating rods, the power supply and the data acquisition module respectively; a positioning module, comprising a drinking water trough positioning module and a positioning collar, wherein the drinking water trough positioning module is arranged in the control box; the positioning collar is worn on the livestock; and a data remote control terminal, which is connected to the drinking water trough positioning module and a cloud server respectively; wherein the cloud server generates livestock motion trajectory data based on the positioning information uploaded by the positioning collar, calculates the time it takes for the livestock to travel from the current position to the drinking water point, and sends the time to the control panel via the data remote control terminal, and the control panel controls the number of heating rods turned on based on the time, so as to control the temperature of the heated drinking water according to the arrival time of the livestock.

Description

Technical Field

[0001] The present invention relates to animal husbandry technology, and in particular to an intelligent heating device for grassland animal husbandry drinking water based on Beidou positioning and cloud server computing and having a cloud server decision-making and computing function, and a control method thereof. Background Art

[0002] When grazing on grasslands, drinking water is essential for cattle and sheep. Water temperature affects their food intake. If cattle and sheep have been without water for an extended period, suddenly drinking water that is too cold can cause stress reactions, decreased appetite, metabolic disorders, and other problems. This not only harms the animals but also causes unnecessary economic losses to the ranch. Furthermore, grasslands are short on electricity, and repeatedly heating drinking water wastes energy. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent heating device for grassland livestock breeding drinking water and a control method thereof in response to the above-mentioned defects of the prior art.

[0004] To achieve the above objectives, the present invention provides an intelligent drinking water heating device for grassland livestock breeding, wherein heating control is performed based on satellite positioning and cloud server computing decisions, including:

[0005] An intelligent heated drinking water trough includes a water trough, a plurality of heating rods, a control box, and a data acquisition module. The plurality of heating rods are arranged in the water trough and connected to a power supply. The control box is arranged on one side of the water trough. A control board is arranged in the control box. The control board is respectively connected to the heating rods, the power supply, and the data acquisition module.

[0006] A positioning module, including a drinking trough positioning module and a positioning collar. The drinking trough positioning module is disposed in the control box and is used to collect location information of the drinking trough and transmit it to a cloud server. The positioning collar is worn on the livestock and is used to collect livestock positioning information and transmit it to the cloud server to generate a motion trajectory.

[0007] A data remote control terminal is connected to the water trough positioning module and the cloud server respectively;

[0008] The cloud server generates livestock movement trajectory data based on the positioning information uploaded by the positioning collar, calculates the time t for the livestock to travel from the current location to the drinking water point, and sends the time t to the control panel through the data remote control terminal. The control panel controls the number of heating rods turned on based on the time t to control the temperature of the heated drinking water according to the arrival time of the livestock.

[0009] The above-mentioned grassland livestock breeding drinking water intelligent heating device, wherein the data acquisition module includes:

[0010] A water quality sensor is provided in the lower middle portion of the inner cylinder of the water tank and is connected to the control board for detecting the pH value of the water in the water tank;

[0011] A water temperature sensor is provided in the water tank and connected to the control board, and is used to detect the water temperature in the water tank;

[0012] A liquid level sensor is provided at the bottom of the inner cylinder of the water tank and is connected to the control board, and is used to detect the water level in the water tank;

[0013] an ambient temperature sensor, disposed outside the water inlet of the water tank and connected to the control board, for detecting the external ambient temperature of the water tank; and

[0014] Ultrasonic sensors are respectively arranged at the four corners of the water trough and connected to the control board, and are used to detect whether livestock are close to the water trough.

[0015] The above-mentioned intelligent heating device for grassland livestock drinking water, wherein the heating rod is an electric heating rod, the electric heating rod is connected to the power converter through a wire, and the control board controls the number of the electric heating rods turned on through a serial port control relay.

[0016] In order to better achieve the above-mentioned purpose, the present invention also provides a control method for an intelligent heating device for grassland livestock drinking water, which comprises the following steps:

[0017] S100, the positioning module sends the collected location information of the intelligent heated water trough to the cloud server to locate it as a drinking water point;

[0018] S200, the cloud server generates a movement trajectory of the livestock based on the positioning information of the positioning collar, and then predicts the time t when the livestock arrives at the drinking point based on the movement trajectory and the Beidou positioning coordinates; and

[0019] S300. The time t is sent to the intelligent heated drinking water trough through the data remote control terminal. The intelligent heated drinking water trough controls the opening of a corresponding number of heating rods according to the range set by the time t to control the temperature of the heated drinking water according to the arrival time of the livestock.

[0020] The above-mentioned control method of the grassland livestock breeding drinking water intelligent heating device, wherein, in step S200, the cloud server is based on the fusion of Beidou positioning data and Kalman filtering method, and according to the motion trajectory of the positioning collar, the linear fitting of the Kalman filtering algorithm is used to analyze and determine the time t from the current position of the livestock to the drinking point.

[0021] The control method of the above-mentioned grassland livestock breeding drinking water intelligent heating device, wherein step S200 further includes:

[0022] S201, Kalman filter state prediction:

[0023]

[0024]

[0025] S202, Kalman filter status update:

[0026]

[0027]

[0028]

[0029] Among them, h x or h x-1 is the current position coordinate value of the livestock, is the estimated coordinate value of the next movement position of the livestock, is the optimal estimated coordinate value of the livestock’s final arrival location, is the covariance between the true position coordinate value and the predicted coordinate value, p x is the covariance between the true value and the optimal coordinate value;

[0030] S203, comparing the coordinates predicted by the Kalman filter with the coordinates of the drinking water point, and determining to open the water tank with the required coordinates;

[0031] S204. Assume the locations of the livestock herd and the water trough to be two points (MLonA, MLatA) and (MLonB, MLatB), and calculate the distance between the two points according to the two-point positioning formula:

[0032] C=

[0033] sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB);

[0034] s=R*Arccos(C)*Pi / 180;

[0035] Where R is the radius of the Earth; R and s have the same unit, and s is the distance;

[0036] S205 , according to the movement speed v of the livestock, the time t from the current position of the livestock to the drinking point is calculated by t=s / v.

[0037] The control method of the above-mentioned grassland livestock breeding drinking water intelligent heating device, wherein, in step S200, the location information of the livestock during grazing, the temperature and humidity of the grazing environment, and the pasture grassland distribution information are sent to the database via the Beidou satellite for classification and aggregation, and screening processing is performed, and the livestock location information finally screened out is sent to the cloud server. The cloud server predicts the location coordinates of the next point based on the current location coordinates of the livestock, and calculates the time t when the livestock arrives at the drinking point by predicting the distance between the next location coordinates and the location coordinates of the drinking point.

[0038] The above-mentioned control method of the grassland livestock breeding drinking water intelligent heating device, wherein the screening process includes removing erroneous data, fusing duplicate data and completing lost information, and aggregating, isomorphic processing and selecting the data.

[0039] The control method of the above-mentioned grassland livestock breeding drinking water intelligent heating device, wherein the data remote control terminal includes a data remote control module and a data display module, the data remote control module is used to send the time t to the control panel, and control the power on and off of the intelligent heating drinking water trough through the data remote control terminal or mobile terminal; the data display module is used to send the water temperature, water quality, water volume and ambient temperature values of the intelligent heating drinking water trough collected by the control panel to the data remote control terminal or mobile terminal, so as to observe the data of the drinking water trough in real time.

[0040] The control method of the above-mentioned grassland livestock breeding drinking water intelligent heating device, wherein the control board is an STM32F407 control board, and the data remote control module sends the time t to the STM32F407 control board through 2G / 3G / 4G DTU.

[0041] The technical effects of the present invention are:

[0042] The present invention adopts a cloud server decision analysis algorithm, obtains the location information of cattle and sheep through satellite positioning according to the positioning collars worn by cattle and sheep, analyzes the movement trajectory of cattle and sheep, judges the distance of cattle and sheep to the drinking water point according to the real-time location of cattle and sheep, decides the time when cattle and sheep arrive at the drinking water point according to the movement trajectory of cattle and sheep, and then judges the number of heating rods to be turned on according to the length of time. If the arrival time is long, the heating device adopts low-power, single heating rod to heat the drinking water; if the arrival time is short, high-power, multiple heating rods are used to collaboratively heat the drinking water, ensuring that cattle and sheep can drink the best water temperature when they arrive, reducing the problems caused by drinking too cold water for cattle and sheep; at the same time, it can also save electricity resources, avoid repeated heating of drinking water, and achieve low power consumption for heating drinking water.

[0043] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a working principle diagram of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of an intelligent heating water trough according to an embodiment of the present invention;

[0046] Figure 3 A time prediction model diagram according to an embodiment of the present invention;

[0047] Figure 4 This is a diagram showing the data transmission and reception principles according to an embodiment of the present invention.

[0048] Among them, the reference numerals

[0049] 1 sink

[0050] 11 Water injection port

[0051] 12 Insulation layer

[0052] 13 protective cover

[0053] 14 water outlet

[0054] 2 control box

[0055] 3 heating rods

[0056] 31 heat shield

[0057] 4 power converters

[0058] 5Data acquisition module

[0059] 51 water quality sensor

[0060] 52 water temperature sensor

[0061] 53 liquid level sensor

[0062] 54 ambient temperature sensor

[0063] 55 ultrasonic sensor DETAILED DESCRIPTION

[0064] The structural principle and working principle of the present invention are described in detail below with reference to the accompanying drawings:

[0065] See also Figure 1 and Figure 2 , Figure 1 This is a working principle diagram of the present invention, Figure 2The diagram is a schematic diagram of the structure of an intelligent heating drinking water trough according to an embodiment of the present invention. The intelligent heating device for grassland livestock drinking water of the present invention performs heating control based on satellite positioning and cloud server computing decisions, and includes: an intelligent heating drinking water trough, including a water trough 1, multiple heating rods 3, a control box 2 and a data acquisition module 5. The water trough 1 is provided with a water outlet 14 and a water inlet 11. The water outlet 14 is used to replace unqualified drinking water; the water inlet 11 is used to inject the required amount of water from the water inlet 11 when the liquid level sensor 53 detects insufficient water; the water trough 1 can be covered with an insulation layer 12 containing resin foam to maintain the heated water temperature; the multiple heating rods 3 are used to control the heating water temperature; the ... The heating rod 3 is arranged in the water tank 1 and connected to the power supply. The control box 2 is arranged on one side of the water tank 1. A control board and a power converter 4 are arranged in the control box 2; the power converter 4 is used to convert the high voltage into the voltage required by the heating rod 3; the control board integrates multi-sensor reception and STM32F407 controller, which are respectively connected to the heating rod 3, the power supply and the data acquisition module 5. The heating rod 3 is preferably 4 electric heating rods with the same power and can be controlled separately. The electric heating rods are connected to the power converter 4 through wires, and the control board is connected via a series a control relay for controlling the number of electric heating rods that are activated, heating drinking water at different powers according to the length of time t; a heat shield 31 may be provided outside the heating rod 3 to fix the position of the heating rod 3 and prevent cattle and sheep from touching the heating rod 3 when the water level is too low; a positioning module, preferably a Beidou positioning module, comprising a drinking trough 1 positioning module and a positioning collar, wherein the drinking trough 1 positioning module is disposed in the control box 2 and is used to collect the location information of the drinking trough 1 and transmit it to a cloud server; the positioning collar is worn on livestock, such as cattle and sheep grazing on grasslands, and is used to collect livestock positioning information and transmit it to the cloud server to generate a motion trajectory; and a data remote control terminal is connected to the drinking trough 1 positioning module and the cloud server, respectively; wherein the cloud server generates livestock motion trajectory data based on the positioning information uploaded by the positioning collar, calculates the time t for the livestock to travel from the current position to the drinking water point, and transmits the time t to the control board via the data remote control terminal, and the control board controls the number of the heating rods 3 that are activated based on the time t to control the temperature of the heated drinking water according to the arrival time of the livestock.

[0066] Among them, the data acquisition module 5 includes: a water quality sensor 51, which is arranged in the middle and lower part of the inner cylinder of the water trough 1 and is connected to the control board, for detecting the pH value of the water quality in the water trough to ensure the drinking water quality of cattle and sheep; a water temperature sensor 52, which is arranged in the water trough 1, preferably 5 cm above the bottom of the inner cylinder of the water trough 1, and is connected to the control board, for detecting the water temperature of the water trough; a liquid level sensor 53, which is arranged at the bottom of the inner cylinder of the water trough 1 and is connected to the control board, for detecting the water level in the water trough 1 to facilitate timely replenishment of drinking water; an ambient temperature sensor 54, which is arranged at the bottom of the water inlet 11 of the water trough 1 and is connected to the control board, for detecting the external ambient temperature of the water trough 1; and an ultrasonic sensor 55, which is respectively arranged at the four corners of the water trough 1 and is connected to the control board, for detecting whether livestock are approaching the water trough 1. When cattle and sheep are close to the water trough 1 at a certain distance, the ultrasonic sensor 55 detects it and forcibly turns off the heating rod 3. A protective cover 13 may also be provided and placed on top of the multiple sensors to prevent cattle and sheep from touching the sensors when drinking water, thereby protecting the sensors.

[0067] like Figure 2 As shown, the Beidou positioning module collects the location information of the intelligent heated drinking trough and sends it to the cloud server as a known fixed point. Then, the movement trajectory of the cattle and sheep is judged according to the positioning information of the cattle and sheep collars. The cloud server then predicts the time when the cattle and sheep will arrive at the heated drinking trough 1 based on the movement trajectory of the cattle and sheep and combined with the Beidou positioning coordinates. The obtained time is sent to the intelligent heated drinking trough through the data remote control terminal. The intelligent heated drinking trough controls the corresponding number of heating rods 3 to work according to the time setting range, so as to achieve the process of controlling the heating of drinking water according to time.

[0068] See also Figure 3 , Figure 3 This is a time prediction model diagram of an embodiment of the present invention. The cloud server is based on the fusion of Beidou positioning system data and Kalman filter method. According to the movement trajectory data of grassland cattle and sheep with positioning collars, the linear fitting of Kalman filter algorithm is used to analyze and determine the time from the current position of cattle and sheep to the drinking point. The time prediction method is as follows: Figure 3 As shown in Figure 2. The Kalman filter algorithm is a state estimation algorithm that combines previous data and measurement updates. The algorithm mainly includes two parts: state prediction and state update. The main algorithm is as follows:

[0069] (1) State prediction:

[0070]

[0071]

[0072] (2) Status update:

[0073]

[0074]

[0075]

[0076] Among them, h x (or h x-1 ) is the current position coordinate value of cattle and sheep, is the predicted coordinate value of the next movement position of cattle and sheep, is the optimal estimated coordinate value of the final location of the cattle and sheep, is the real position coordinate value and predicted coordinate values The covariance between x is the covariance between the true value and the optimal coordinate value, where p x The smaller the value, the closer it is to the real coordinate value. A is the transfer matrix of cattle and sheep coordinates, B is the parameters of cattle and sheep coordinates at a certain moment, u x is the control quantity of the system at the current coordinate moment of the cattle and sheep, Q is the cattle and sheep coordinate transfer covariance matrix, A T is the transpose of the cattle-sheep coordinate transfer matrix, H is the observation matrix, R is the observation noise variance, G x It is the optimal Kalman increment, a matrix with I of 1, and a value of 1 for a single model and a single input.

[0077] Then, the coordinates predicted by the Kalman filter are compared with the coordinates of the water trough 1 to determine the water trough 1 with the required coordinates. The cattle and sheep herd and the water trough 1 are assumed to be two points. Based on the positioning information of the two points, the longitude and latitude of the two points after processing are (MLonA, MLatA) and (MLonB, MLatB). The processed coordinates of the cattle and sheep are (MLonA, MLatA), and the processed coordinates of the water trough 1 are (MLonB, MLatB). C is the function value obtained by trigonometric function, s is the distance between the cattle and sheep positions and the water trough 1 position, and R is the radius of the earth. The distance between the two points can be obtained according to the two-point positioning formula:

[0078] C=

[0079] sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(M:atA)*cos(MLatB);

[0080] s=R*Arccos(C)*Pi / 180;

[0081] Where R is the radius of the earth and s is the distance; R and s have the same unit.

[0082] Finally, according to the movement speed of cattle and sheep, the arrival time of cattle and sheep can be estimated by the formula t=s / v of speed v, time t and distance s. According to the length of time, the heating power is controlled to achieve low-consumption and energy-saving heating effect.

[0083] Figure 3 Medium data collection refers to the use of Beidou satellites to send information such as the location of cattle and sheep during grazing, the temperature and humidity of the grazing environment, and the distribution of pasture grassland to a database for classification and summary. The collected data is then screened and processed, including the removal of erroneous data, the fusion of duplicate data, and the completion of lost information. The data is aggregated, isomorphically processed, and selected, and the final screened cattle and sheep location information is sent to the decision-making algorithm. The decision-making algorithm predicts the location coordinates of the next point based on the current location coordinates of the cattle and sheep, and calculates the time when the cattle and sheep arrive at the water trough 1 by predicting the distance between the next location coordinates and the location coordinates of the water trough 1, thereby determining the power of the electric heating rod to ensure heating of drinking water while saving electricity.

[0084] See also Figure 4 , Figure 4 This is a schematic diagram of the data transmission and reception principle of an embodiment of the present invention. The data remote control terminal includes a data remote control module and a data display module. The data remote control module is used to send the time t to the control board and control the power on and off of the intelligent heated drinking trough through the data remote control terminal or mobile terminal; the data display module is used to send the water temperature, water quality, water volume and ambient temperature of the intelligent heated drinking trough collected by the control board to the data remote control terminal or mobile terminal to observe the data of cattle, sheep and drinking trough 1 in real time. The control board is preferably an STM32F407 control board, and the data remote control module sends the time t to the STM32F407 control board via a 2G / 3G / 4G DTU. Considering that the signal on the grassland is weak, the data remote control module selects a device that can send and receive 2G / 3G / 4G network signals. The data remote control module can transmit the time t calculated by the cloud server to the STM32F407 control board in the smart heated water trough via 2G / 3G / 4G DTU, thereby reducing the amount of water heating by controlling the number of heating rods 3. The time t can also be displayed on the display interface, and data measured by the data acquisition module 5, such as the ambient temperature, water temperature, water level, and water pH value of the smart heated water trough, can also be displayed, enabling remote monitoring.

[0085] The data remote control module sends the calculated time t and the operating instructions for drinking trough 1 to the STM32F407 control board. The STM32F407 control board has a command to read the time t. Based on the time t, it determines the number of heaters 3 to activate, ensuring that the water is at the appropriate temperature upon arrival. The STM32F407 control board collects data on water quality, temperature, volume, and ambient temperature of drinking trough 1, which is then connected to the DTU via its 485 interface. This allows data communication between the STM32F407 control board and the data remote control terminal, facilitating real-time monitoring of trough 1 data. A power switch is provided on the control board to manually turn the intelligent heating water device on and off and to implement leakage protection for trough 1.

[0086] The control method of the grassland livestock breeding drinking water intelligent heating device of the present invention comprises the following steps:

[0087] Step S100: The positioning module sends the collected location information of the intelligent heated water trough to the cloud server to locate it as a drinking point;

[0088] Step S200: The cloud server generates a movement trajectory of the livestock based on the positioning information of the positioning collar, and then predicts the time t when the livestock arrives at the drinking point based on the movement trajectory and the Beidou positioning coordinates; and

[0089] Step S300: The time t is sent to the intelligent heated drinking trough through the data remote control terminal. The intelligent heated drinking trough controls the opening of a corresponding number of heating rods 3 according to the range set by the time t to control the temperature of the heated drinking water according to the arrival time of the livestock.

[0090] In step S200, the cloud server integrates Beidou positioning data with the Kalman filter method, and analyzes and determines the time t from the current position of the livestock to the drinking point according to the motion trajectory of the positioning collar through linear fitting of the Kalman filter algorithm.

[0091] In this embodiment, step S200 further includes:

[0092] Step S201, Kalman filter state prediction:

[0093]

[0094]

[0095] Step S202: Kalman filter status update:

[0096]

[0097]

[0098]

[0099] Among them, h x or h x-1 is the current position coordinate value of the livestock, is the estimated coordinate value of the next movement position of the livestock, is the optimal estimated coordinate value of the livestock’s final arrival location, is the covariance between the true position coordinate value and the predicted coordinate value, p x is the covariance between the true value and the optimal coordinate value;

[0100] Step S203: Compare the coordinates predicted by the Kalman filter with the coordinates of the drinking water point to determine the water tank 1 with the required coordinates to be opened;

[0101] Step S204: Assume the positions of the livestock group and the water trough 1 as two points (MLonA, MLatA) and (MLonB, MLatB), and calculate the distance between the two points according to the two-point positioning formula:

[0102] C=

[0103] sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos·(MLatB);

[0104] s=R*Arccos(C)*Pi / 180;

[0105] Where R is the radius of the Earth; R and s have the same unit, and s is the distance;

[0106] Step S205: Based on the movement speed v of the livestock, the time t from the current position of the livestock to the drinking point is calculated by t=s / v.

[0107] In step S200 of this embodiment, livestock location information during grazing, grazing environment temperature and humidity, and pasture distribution information are transmitted via Beidou satellites to a database for classification and aggregation, followed by screening. The final screened livestock location information is then transmitted to the cloud server. The cloud server predicts the next location coordinates based on the livestock's current location coordinates and calculates the time t at which the livestock will arrive at the watering point by predicting the distance between the next location coordinates and the watering point's location coordinates. The screening process includes removing erroneous data, fusing duplicate data, and completing missing information, as well as aggregating, isomorphic processing, and selecting the data.

[0108] Among them, the ultrasonic sensor 55 is connected to the STM32F407 control board through the serial port to ensure that the heating rod 3 is in an inoperative state when the livestock is drinking water, thereby ensuring the safety of drinking water for cattle and sheep; the temperature sensor is also connected to the STM32F407 control board through the serial port to detect the water temperature of the water tank and the external ambient temperature to ensure that the water temperature meets the set requirements; the water quality sensor 51 is connected to the STM32F407 control board through the 485 interface to detect the pH value of the water quality in the water tank to ensure that the water quality meets the requirements for livestock drinking water; the liquid level sensor 53 is connected to the STM32F407 control board through the 485 interface to ensure that there is sufficient water in the water tank; the STM32F407 control board controls the number of electric heating rods turned on through the serial port control relay, and the electric heating rods are connected to the power converter 4 through wires to realize heating.

[0109] The present invention uses cattle and sheep positioning collars to collect real-time positioning information of cattle and sheep and transmit it to a cloud server to predict the movement trajectory of the cattle and sheep. The cloud server uses a Kalman filter algorithm based on the cattle and sheep movement trajectory data to predict the next coordinates of the cattle and sheep and calculate the time when the cattle and sheep will arrive at the drinking trough 1 using the coordinate values. Based on the length of time, the power of the heating rod 3 is controlled to save resources, heat the drinking water, avoid repeated heating of the drinking water by the device, and reduce resource waste. This effectively solves the problem of repeated heating of drinking water in the drinking trough 1 in grassland animal husbandry, which causes excessive heating time and wastes resources, and provides favorable technical support for welfare-oriented animal husbandry.

[0110] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An intelligent heating device for grassland livestock drinking water, characterized in that: Heating control based on satellite positioning and cloud server computing decisions, including: An intelligent heated drinking water trough includes a water trough, a plurality of heating rods, a control box, and a data acquisition module. The plurality of heating rods are arranged in the water trough and connected to a power supply. The control box is arranged on one side of the water trough. A control board is arranged in the control box. The control board is respectively connected to the heating rods, the power supply, and the data acquisition module. A positioning module, including a drinking trough positioning module and a positioning collar. The drinking trough positioning module is disposed in the control box and is used to collect location information of the drinking trough and transmit it to a cloud server. The positioning collar is worn on the livestock and is used to collect livestock positioning information and transmit it to the cloud server to generate a motion trajectory. A data remote control terminal is connected to the water trough positioning module and the cloud server respectively; The cloud server generates livestock movement trajectory data based on the positioning information uploaded by the positioning collar, calculates the time t it takes for the livestock to travel from its current location to the watering point, and sends the time t to the control panel via the data remote control terminal. The control panel controls the number of heaters turned on based on the time t to control the temperature of the heated drinking water according to the livestock's arrival time. The cloud server integrates Beidou positioning data with the Kalman filter method, and analyzes and determines the time t it takes for the livestock to travel from its current location to the watering point based on the movement trajectory of the positioning collar through linear fitting of the Kalman filter algorithm. The linear fitting process using the Kalman filter algorithm further includes: first, performing Kalman filter state prediction and Kalman filter state update; then, comparing the coordinates predicted by the Kalman filter with the coordinates of the drinking point to determine the water trough with the required coordinates; assuming the livestock group and the water trough locations are two points (MLonA, MLatA) and (MLonB, MLatB), and calculating the distance between the two points according to the two-point positioning formula: C=sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB); s=R*Arccos(C)*Pi / 180; Where R is the radius of the Earth; R and s have the same unit, and s is the distance; Finally, according to the movement speed v of the livestock, the time t from the current position of the livestock to the drinking point is calculated by t=s / v.

2. The intelligent heating device for grassland livestock drinking water according to claim 1, characterized in that: The data acquisition module includes: A water quality sensor is provided in the lower middle portion of the inner cylinder of the water tank and is connected to the control board for detecting the pH value of the water in the water tank; A water temperature sensor is provided in the water tank and connected to the control board, and is used to detect the water temperature in the water tank; A liquid level sensor is provided at the bottom of the inner cylinder of the water tank and is connected to the control board, and is used to detect the water level in the water tank; an ambient temperature sensor, disposed outside the water inlet of the water tank and connected to the control board, for detecting the external ambient temperature of the water tank; and Ultrasonic sensors are respectively arranged at the four corners of the water trough and connected to the control board, and are used to detect whether livestock are close to the water trough.

3. The intelligent heating device for grassland livestock drinking water according to claim 1 or 2, characterized in that: The heating rod is an electric heating rod, which is connected to a power converter via a wire. The control board controls the number of times the electric heating rod is turned on via a serial port control relay.

4. A control method for an intelligent heating device for grassland livestock drinking water, characterized in that: The intelligent heating device for grassland livestock drinking water according to any one of claims 1 to 3 is used to control drinking water heating, comprising the following steps: S100, the positioning module sends the collected location information of the intelligent heated water trough to the cloud server to locate it as a drinking water point; S200, the cloud server generates a movement trajectory of the livestock based on the positioning information of the positioning collar, and then predicts the time t when the livestock arrives at the drinking point based on the movement trajectory and the Beidou positioning coordinates; and S300, sending the time t to the intelligent heated drinking trough via a data remote control terminal, and the intelligent heated drinking trough controlling the opening of a corresponding number of heating rods according to a range set by the time t, so as to control the temperature of the heated drinking water according to the arrival time of the livestock; In step S200, the cloud server analyzes and determines the time t from the current position of the livestock to the drinking point based on the movement trajectory of the positioning collar and the linear fitting of the Kalman filter algorithm based on the Beidou positioning data and the Kalman filter method; further comprising: S201, Kalman filter state prediction: S202, Kalman filter status update: Among them, h x or h x-1 is the current position coordinate value of the livestock, is the estimated coordinate value of the next movement position of the livestock, is the optimal estimated coordinate value of the livestock’s final arrival location, is the covariance between the true position coordinate value and the predicted coordinate value, p x is the covariance between the true value and the optimal coordinate value; S203, comparing the coordinates predicted by the Kalman filter with the coordinates of the drinking water point, and determining to open the water tank with the required coordinates; S204. Assume the locations of the livestock herd and the water trough to be two points (MLonA, MLatA) and (MLonB, MLatB), and calculate the distance between the two points according to the two-point positioning formula: C=sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB); s=R*Arccos(C)*Pi / 180; Where R is the radius of the Earth; R and s have the same unit, and s is the distance; S205 , according to the movement speed v of the livestock, the time t from the current position of the livestock to the drinking point is calculated by t=s / v.

5. The control method of the grassland livestock breeding drinking water intelligent heating device according to claim 4, characterized in that: In step S200, the location information of the livestock during grazing, the temperature and humidity of the grazing environment, and the distribution information of the pasture grassland are sent to the database via the Beidou satellite for classification and aggregation, and screening processing is performed. The final screened livestock location information is sent to the cloud server. The cloud server predicts the location coordinates of the next point based on the current location coordinates of the livestock, and calculates the time t when the livestock arrives at the drinking point by predicting the distance between the next location coordinates and the location coordinates of the drinking point.

6. The control method of the grassland livestock breeding drinking water intelligent heating device according to claim 5, characterized in that: The screening process includes removing erroneous data, fusing duplicate data, and completing lost information, and aggregating, isomorphic processing, and selecting data.

7. The control method of the grassland livestock breeding drinking water intelligent heating device according to claim 4, characterized in that: The data remote control terminal includes a data remote control module and a data display module. The data remote control module is used to send the time t to the control panel and control the power on and off of the intelligent heated water trough through the data remote control terminal or mobile terminal; the data display module is used to send the water temperature, water quality, water volume and ambient temperature of the intelligent heated water trough collected by the control panel to the data remote control terminal or mobile terminal to observe the data of the water trough in real time.

8. The control method of the grassland livestock breeding drinking water intelligent heating device according to claim 7, characterized in that: The control board is an STM32F407 control board, and the data remote control module sends the time t to the STM32F407 control board through a 2G / 3G / 4G DTU.

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