A strip and paddock grazing device

Abstract

The application discloses a kind of area grazing device of demarcation wheel area, including mobile part, control module, data acquisition device, sound simulation module and battery module, wherein, control module data acquisition device, sound simulation module and battery module are all set on the mobile part, the mobile part is moved along the preset route by control module control, data acquisition device the control module remains connection, to collect the real-time data of field of pasture, sound simulation module is connected with control module, and the sound played through the sound simulation module can make the sensitive response of herd, to drive herd, battery module provides power for the data acquisition device, control module and sound simulation module described above.The present application monitors herd in real time through image acquisition probe, at the same time, NDVI probe monitors the pasture height of pasture demarcation, so as to drive herd to the next pasture round area when the pasture height reaches the minimum preset height, and then realize unmanned grazing, reduce workload, reduce grazing cost.

Description

A zoned rotation grazing device Technical Field

[0001] This invention relates to the field of animal husbandry technology, and in particular to a zoned rotation grazing device. Background Technology

[0002] In the early stages of economic development, animal husbandry often appeared as a sideline to crop production. However, with economic development, animal husbandry has become a completely independent industry with multiple branches, and modern animal husbandry is developing towards large-scale, standardized, and industrialized operations. Rotational grazing, as a relatively scientific grazing method, is a grazing method that economically and effectively utilizes grasslands. It involves grazing in rotation or cyclical patterns according to seasonal pastures and grazing areas. However, current rotational grazing methods require herders to follow the herds to the pastures, enduring harsh working conditions. Furthermore, during grazing, attention must be paid to the height of the pasture; when the pasture reaches a preset minimum height, the herds are driven to the next grazing area, resulting in a high workload for herders. To reduce this workload, current technology uses sheepdogs as assistants to herd sheep. However, sheepdogs can only help herders with herding; tasks such as observing pasture height, guarding against danger, and counting the sheep still require manual operation by the herders. Summary of the Invention

[0003] Therefore, to address the aforementioned shortcomings, the present invention provides a zoned rotation grazing device, comprising a moving part, which includes a tracked vehicle body, a frame, and a rotating device. The tracked vehicle body is movable on the ground, the rotating device is mounted on the tracked vehicle body, and the frame is mounted on the tracked vehicle body, driving the frame to rotate horizontally via the rotating device; a control module, which is mounted on the frame and controls the moving part to move along a preset route; and a data acquisition device, which is mounted on the frame and connected to the control module, including a monitoring device, a data processing device, and a data communication unit. The system includes a monitoring device connected to the control module, which monitors pasture height and herds. The monitoring device communicates with the control module via a data processing unit, which processes the collected data into readable signal data. A data communication unit is also connected to the control module, transmitting collected data and receiving user commands. A sound-mimicking module, mounted on the chassis and connected to the control module, plays sounds that trigger a sensitive response from the herd to drive it away. Finally, a battery module provides power to the data acquisition device, control module, and sound-mimicking module.

[0004] The monitoring device includes a rotating base; a pitch mounting base mounted on the rotating base, which drives the pitch mounting base to rotate horizontally; an image acquisition probe configured to acquire pasture image data, which is mounted on the pitch mounting base and drives the image acquisition probe to pitch; and an NDVI probe configured to monitor the height of pasture grass in pasture zones, which is mounted on the pitch mounting base and drives the NDVI probe to pitch.

[0005] This invention identifies herds in pasture rotation zones using image acquisition probes, collecting image data of the herds. A control module analyzes the herd's status and number based on this image data, enabling real-time herd monitoring. Simultaneously, an NDVI probe monitors the height of the pasture grass in each zone. When the grass reaches a minimum preset height, the control module plans a driving route based on the current image data, controlling the mobile unit to move along this route. During movement, a sound-simulating module emits sounds that trigger a sensitive response from the herd, such as the bark of a sheepdog or the sound of a whip, thus driving the herd to the next pasture rotation zone. This achieves unmanned grazing, reducing workload and costs. The mobile unit's built-in rotating mechanism allows the vehicle body to rotate, making the device more flexible during use. Furthermore, by mounting the image acquisition probe and NDVI probe on a pitch mount and a rotating base, the horizontal and pitch angles of each probe can be adjusted according to actual working conditions, thereby increasing the monitoring range of the device.

[0006] In another embodiment, to clean the lenses of the probes, the grazing device preferably further includes a first cleaning component for cleaning the lenses of the NDVI probe and the image acquisition probe. This first cleaning component includes a fifth power unit and a lens cleaner, which is driven by the fifth power unit to swing around one end. The lens cleaner includes a connecting rod and a cleaning part. The cleaning part is made of a flexible material and is serrated. The cleaning part is fixed to the connecting rod near the lens side and in contact with the lens. A control module periodically controls the fifth power unit to swing the lens cleaner around one end, thereby removing dirt from the lens surface through the cleaning part of the cleaner, keeping the lens clean, and preventing inaccurate data acquisition due to lens blur.

[0007] In another embodiment, to monitor environmental data in the grazing area and promptly move the herd to the barn area, the data acquisition device preferably includes a temperature and humidity acquisition unit configured to collect temperature and humidity data from the designated pasture zones. This unit is connected to the control module and the data processing device, which converts the collected temperature and humidity data into a data format readable by the control module. Additionally, a wind direction and speed acquisition unit is configured to collect wind direction and speed data from the designated pasture zones. This unit is also connected to the control module and the data processing device, which converts the collected wind direction and speed data into a data format readable by the control module. By monitoring the pasture's temperature, humidity, and wind direction and speed in real time, and based on this data, a decision is made as to whether to move the herd to the barn area.

[0008] In another embodiment, to provide energy to the battery module, the grazing device preferably further includes an energy storage device integrally mounted on the movable part and connected to the battery module. The energy storage device includes an energy accumulator connected to the battery module and a solar panel mounted on the movable part and connected to the energy accumulator. The solar panel converts light energy into electrical energy, and the energy accumulator stores the converted electrical energy and converts it into current to replenish the battery module, thereby providing energy to the battery module.

[0009] To achieve automatic sunlight tracking and improve power generation efficiency, the energy storage device preferably further includes a tracking component that adjusts the angle of the solar panel's facing surface according to the light intensity. The tracking component includes a first power unit; a first connecting part, which is driven to rotate horizontally by the first power unit; a second power unit; a second connecting part, which is mounted on the first connecting part and is driven to pitch by the second power unit, on which the solar panel is fixedly mounted; and a light intensity comparison device, which is fixedly mounted on the second connecting part and located on one side of the solar panel. The light intensity comparison device compares the angle of sunlight. When the sun deflects at a certain angle, the control module issues a command, and the first and second power units drive the solar panel to move. The panel stops when it reaches a position directly facing the sun, waiting for the next angle of sun deflection, continuing this intermittent movement. It stops operating on cloudy days or at night when there is no sun. Whenever the sun appears, it automatically finds and tracks the panel, operating fully automatically without manual intervention, thus achieving automatic sunlight tracking and improving power generation efficiency.

[0010] In another embodiment, to clean the surface of the solar panel and prevent excessive dirt buildup that could reduce power generation efficiency, the grazing device preferably further includes a second cleaning component for cleaning the sun-facing surface of the solar panel. This second cleaning component includes a fixed track fixedly installed on both sides of the solar panel where the light intensity comparison device is mounted; a mounting frame disposed on the sun-facing surface of the solar panel, with rollers positioned on the mounting frame near the solar panel corresponding to the fixed track, the rollers being partially housed within the fixed track; a seventh power device that drives the rollers to rotate; a roller brush mounted on the mounting frame, with its bristles in contact with the sun-facing surface of the solar panel; and a sixth power device that drives the roller brush to rotate circumferentially. By rotating the rollers via the seventh power device, the entire second cleaning component moves along the track direction, while the sixth power device drives the roller brush to rotate, thereby cleaning the entire sun-facing surface of the solar panel and preventing excessive dirt buildup that could reduce power generation efficiency.

[0011] In another embodiment, to improve the herd driving effect and efficiency, the device further includes an interception component disposed on the front side of the aforementioned vehicle frame. The interception component includes a main pole with curved rods at both ends. The main pole and the curved rods work together to form an interception bar that can prevent the herd from moving in a predetermined direction. This, in conjunction with the sound mimicry module, drives the herd towards a predetermined area, improving the herd driving effect and efficiency.

[0012] Furthermore, to improve the interception range of the interception assembly, preferably, the interception assembly further includes a fourth power device; and an extension rod, which is enclosed within the main rod body. The fourth power device drives the extension rod to move along the axis of the main rod body, with one end of the extension rod extending outward from the main rod body along the axis of the main rod body, and the aforementioned bent rod is fixedly installed on this end. By driving the extension rod to extend outward along the axis of the main rod body through the fourth power device, the length of the interception rod is increased, thereby increasing the interception range of the interception assembly.

[0013] Furthermore, to reduce the space occupied by the device, preferably, the interception assembly also includes a third power unit; and a pitching frame, which is pivotally mounted on the front side of the frame. The pitching frame is driven by the third power unit to perform pitching movements, and the main rod is fixedly mounted on the pitching frame. When it is not necessary to drive the herd, the fourth power unit will retract the extension rod, and the third power unit will fold the entire interception assembly onto the moving part, thereby reducing the space occupied by the device.

[0014] The present invention has the following advantages:

[0015] This invention identifies herds in pasture rotation zones using image acquisition probes, collecting image data of the herds. A control module analyzes the herd's status and number based on this image data, enabling real-time herd monitoring. Simultaneously, an NDVI probe monitors the height of the pasture grass in each zone. When the grass reaches a minimum preset height, the control module plans a driving route based on the current image data, controlling the mobile unit to move along this route. During movement, a sound-simulating module emits sounds that trigger a sensitive response from the herd, such as the bark of a sheepdog or the sound of a whip, thus driving the herd to the next pasture rotation zone. This achieves unmanned grazing, reducing workload and costs. The mobile unit's built-in rotating mechanism allows the vehicle body to rotate, making the device more flexible during use. Furthermore, by mounting the image acquisition probe and NDVI probe on a pitch mount and a rotating base, the horizontal and pitch angles of each probe can be adjusted according to actual working conditions, thereby increasing the monitoring range of the device.

[0016] The control module controls the fifth power unit to swing the lens cleaner around one end at regular intervals, thereby removing dirt from the lens surface and keeping the lens clean to avoid inaccurate data acquisition due to lens blur.

[0017] By monitoring the temperature, humidity, wind direction, and wind speed of the pasture in real time, the herds are driven to the shed area based on the temperature, humidity, wind direction, and wind speed data.

[0018] Solar panels convert sunlight into electricity, which is then stored by an energy storage device and converted into current to power the battery modules. A light intensity comparison device compares the angle of sunlight; when the sun deflects at a certain angle, the control module sends a command, and the first and second power units drive the solar panels to move. The panels stop when they reach a position directly facing the sun, waiting for the next angle of deflection, continuing this intermittent movement. Operation ceases on cloudy days or at night when the sun is not visible. Whenever the sun is visible, the solar panels automatically find and track their position, operating fully automatically without human intervention, thus achieving automatic sunlight tracking and improving power generation efficiency.

[0019] The seventh power unit drives the roller to rotate, thereby moving the entire second cleaning component along the track. At the same time, the sixth power unit drives the roller brush to rotate, thereby cleaning the sun-facing surface of the entire solar panel to prevent excessive dirt on the surface of the solar panel from reducing power generation efficiency.

[0020] The main pole and the curved pole work together to form an intercepting bar that can prevent the herd from moving in a predetermined direction. This, combined with the sound-mimicking module, drives the herd towards a designated area, improving the effectiveness and efficiency of herd control. A fourth power unit drives an extension pole to extend outward along the axis of the main pole, increasing the length of the intercepting bar and thus the interception range of the assembly. When the herd is not being driven, the fourth power unit retracts the extension pole, and the third power unit folds the entire intercepting assembly into the moving part, reducing the space occupied by the device. Attached Figure Description

[0021] Figure 1 is a schematic diagram of the grazing device;

[0022] Figure 2 is a side view of the grazing device shown in Figure 1;

[0023] Figure 3 is a schematic diagram of the internal structure of the grazing device shown in Figure 1;

[0024] Figure 4 is a schematic diagram of the monitoring device in the grazing apparatus shown in Figure 1;

[0025] Figure 5 is a partial structural schematic diagram of the monitoring device shown in Figure 4;

[0026] Figure 6 is a partial cross-sectional schematic diagram of the monitoring device shown in Figure 5.

[0027] Figure 7 is a schematic diagram of the cleaner structure of the first cleaning component in the monitoring device shown in Figure 6.

[0028] Figure 8 is a partial structural schematic diagram of the data acquisition device in the grazing apparatus shown in Figure 1;

[0029] Figure 9 is a schematic diagram of the energy storage device in the grazing device shown in Figure 1;

[0030] Figure 10 is a schematic diagram of the internal structure of the energy storage device shown in Figure 9;

[0031] Figure 11 is a schematic diagram of the structure of the solar panel in the energy storage device;

[0032] Figure 12 is a schematic diagram of the structure of the second cleaning component in the solar panel in Figure 11;

[0033] Figure 13 is a schematic diagram of the interception component in the grazing device shown in Figure 1;

[0034] Figure 14 is a partial structural diagram of the interception component shown in Figure 11;

[0035] Figure 15 is a schematic diagram of part of the frame structure of the moving part in the grazing device shown in Figure 1.

[0036] Figure 16 is a schematic diagram of the extension of the interception component in the grazing device shown in Figure 1;

[0037] Figure 17 is a folded schematic diagram of the interception component in the grazing device shown in Figure 1.

[0038] 100. Moving part; 101. Tracked vehicle body; 102. Frame; 103. Rotating device; 104. Collision avoidance radar.

[0039] 200. Energy storage device; 201. Support base; 202. Solar panel; 203. Light intensity comparison device; 204. First connecting part; 205. Second power unit; 206. First power unit; 207. Energy storage device; 208. Second connecting part.

[0040] 300. Data acquisition device; 310. Wind direction and speed acquisition unit; 320. First warning light; 330. Data processing device; 340. Monitoring device; 341. Rotating base; 342. Pitch mounting base; 343. Image acquisition probe; 344. NDVI probe; 350. Data communication unit; 360. Temperature and humidity acquisition unit.

[0041] 400. Interception assembly; 401. Pitching frame; 402. Third power unit; 403. Main pole; 404. Bending pole; 405. Extension pole; 406. Fourth power unit;

[0042] 500. Onomatopoeia module;

[0043] 600, First cleaning component; 601, Cleaner; 601A, Connecting rod; 601B, Cleaning section; 602, Fifth power unit; 603, Connecting end.

[0044] 700. Second cleaning component; 701. Fixed track; 702. Mounting bracket; 703. Roller brush; 704. Sixth power unit; 705. Seventh power unit; 706. Roller.

[0045] 900, Battery Module.

[0046] 1000, Control Module. Detailed Implementation

[0047] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0048] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0049] As described in the background section, attention must be paid to the height of the pasture during grazing. When the pasture reaches a preset minimum height, the flock must be driven to the next grazing area, resulting in a high workload for herders. To reduce the workload of herders, existing technologies use sheepdogs as assistants to help herders herd sheep. However, sheepdogs can only help herders herd sheep, while the observation of pasture height, the warning of danger to the flock, and the counting of sheep still need to be done by the herders themselves.

[0050] Example 1:

[0051] Therefore, in order to solve the above-mentioned technical problems, this embodiment provides a zoned rotation grazing device, as shown in Figures 1-3. The grazing device includes a moving part 100, a control module 1000, a data acquisition device 300, a sound-mimicking module 500, and a battery module 900. The control module 1000, the data acquisition device, the sound-mimicking module, and the battery module are all mounted on the frame 102. The moving part moves along a preset route under the control of the control module 100. The data acquisition device 300 is connected to the control module 1000 to collect real-time data of the pasture. The sound-mimicking module 500 is connected to the control module 1000 and plays sounds that can cause the herd to react sensitively in order to drive the herd. The battery module provides power to the data acquisition device 300, the control module 1000, and the sound-mimicking module 500.

[0052] As shown in Figure 3, the aforementioned moving part 100 includes a tracked vehicle body 101, a frame 102, and a rotating device 103. The tracked vehicle body 101 can move on the ground. The rotating device 103 is mounted on the tracked vehicle body 101. The frame 102 is mounted on the tracked vehicle body 101 and connected to the output shaft of the rotating device 103. The rotating device includes, but is not limited to, a motor, a rotary hydraulic cylinder, or other devices capable of driving the frame 102 to rotate horizontally.

[0053] As shown in Figure 3, the data acquisition device 300 includes a monitoring device 340, a data processing device 330, and a data communication unit 350. The monitoring device 340 is connected to the control module 1000 and monitors the height of pasture grass and herds. The monitoring device 340 communicates with the control module through the data processing device 330, which processes the acquired data into signal data readable by the control module. The data communication unit 350 is connected to the control module 1000 and sends acquired data and receives user commands through the data communication unit 350.

[0054] Specifically, as shown in Figure 4, the monitoring device 340 in this embodiment includes a rotating base 341, a pitch mounting base 342, an image acquisition probe 343, and an NDVI probe 344. The pitch mounting base 342 is mounted on the rotating base 341, and the rotating base 341 drives the pitch mounting base 342 to rotate horizontally. The image acquisition probe 343 and the NDVI probe 344 are both mounted on the pitch mounting base 342, and the pitch mounting base 342 drives the image acquisition probe 343 and the NDVI probe to move in pitch.

[0055] In this embodiment, an image acquisition probe identifies the herds in the pasture rotation area and collects image data of the herds. The control module analyzes the status and number of the herds based on the image data, thereby realizing real-time monitoring of the herds. At the same time, the NDVI probe monitors the height of the pasture grass in the pasture zoning area.

[0056] An NDVI probe assesses the health and growth of a plant by measuring its absorption and reflection of light at different wavelengths. This NDVI probe operates based on the principle of visible and near-infrared light reflection. Plant leaves absorb visible light more readily and reflect infrared light more readily. The NDVI probe utilizes this characteristic to calculate the NDVI value, thus assessing the greenness and health of the plant by comparing the reflectance of visible and near-infrared light.

[0057] When the control module determines that the pasture height has reached the minimum preset height based on the spectral data collected by the NDVI probe, the control module plans a driving route based on the current image data to control the moving unit to move along the planned driving route. At the same time, during the movement, the control module emits sounds that will make the herd react sensitively, such as the barking of a sheepdog or the sound of a whip, so as to drive the herd to the next pasture rotation area.

[0058] This invention enables unmanned grazing, reducing workload and grazing costs.

[0059] In addition, the rotating device included in the moving part of the present invention can drive the vehicle body to rotate, thereby making the device more flexible during use. At the same time, by mounting the image acquisition probe 343 and the NDVI probe on the pitch mount and the rotating base, the horizontal and pitch angles of the above probes can be adjusted according to the actual working conditions, thereby improving the monitoring range of the monitoring device.

[0060] Example 2:

[0061] Since the device operates outdoors for extended periods, dust from the air or rainwater can accumulate on the lens. If this dust is not cleaned regularly, it can cause the lenses of the image acquisition probe and the NDVI probe to become blurry, resulting in inaccurate data acquisition and affecting subsequent judgments and actions.

[0062] Therefore, to address the aforementioned technical deficiencies, this embodiment proposes an improvement upon Embodiment 1. As shown in Figures 5 and 6, the grazing device further includes a first cleaning assembly 600 for cleaning the lenses of the NDVI probe and the image acquisition probe. This first cleaning assembly 600 includes a fifth power unit 602 and a lens cleaner 601. The lens cleaner 601 includes a connecting rod 601A and a cleaning part 601B. The cleaning part 601B is made of a flexible material and is serrated. The cleaning part is fixed to the connecting rod 601A near the lens side and contacts the lens. One end of the connecting rod is pivotally connected to the outside of the probe via a connecting end 603, and the other end of the connecting end 603 penetrates the probe's outer shell and connects to the output end of the fifth power unit 602 located inside the probe.

[0063] In this embodiment, the control module periodically controls the fifth power unit 602 to drive the lens cleaner 601 to swing around one end, thereby removing dirt from the lens surface by the cleaning part 601B of the cleaner, keeping the lens clean, and avoiding inaccurate data acquisition due to lens blur. The aforementioned fifth power unit includes, but is not limited to, a motor, a rotary hydraulic cylinder, or other devices capable of driving the cleaner to rotate around the axis of the connecting end.

[0064] Example 3:

[0065] To monitor environmental data in the grazing area and promptly move herds to the shed area, this embodiment proposes an improvement upon Embodiment 2. As shown in Figure 8, the data acquisition device 300 in the grazing apparatus described in this embodiment further includes a temperature and humidity acquisition unit 360 and a wind direction and speed acquisition unit 310. The temperature and humidity acquisition unit is configured to collect temperature and humidity data of the pasture zones. This unit is connected to the control module 1000 and the data processing device 330. The data processing device 330 converts the temperature and humidity data collected by the temperature and humidity acquisition unit 360 into a data format readable by the control module 1000. The wind direction and speed acquisition unit is configured to collect wind direction and speed data of the pasture zones. This unit is connected to the control module 1000 and the data processing device 310. The data processing device 310 converts the wind direction and speed data collected by the wind direction and speed acquisition unit into a data format readable by the control module 1000.

[0066] The wind direction and speed data collection unit collects data such as wind direction and speed of the pasture, and the temperature and humidity data collection unit collects data such as air temperature and humidity of the pasture. After the above data is processed into a data mode that the control module can read by the data processing device 300, it is uploaded to the control module. The control module performs meteorological analysis based on the above data. When the temperature, air humidity or wind speed is greater than the preset value, it will drive the herd to the shed area.

[0067] In addition, the system can receive meteorological data from remote terminals through the data communication unit. The control module combines the meteorological data with the current wind direction and speed data, air temperature and humidity data to perform weather forecast analysis, and determines whether to drive the herd to the shed area based on the results of the weather forecast analysis.

[0068] The aforementioned remote terminals include, but are not limited to, handheld communicators, computers, etc.

[0069] Example 4:

[0070] Prolonged outdoor work can deplete the battery module's power, causing the grazing device to malfunction. Therefore, the device needs to be charged or the battery replaced regularly during operation, which is time-consuming and labor-intensive.

[0071] Therefore, in order to solve the above-mentioned technical defects, this embodiment improves the grazing device described in the above embodiments. As shown in Figures 1 and 2, the grazing device in this embodiment also includes an energy storage device 200. The energy storage device 200 is integrally mounted on the movable part 100 and connected to the battery module 900. As shown in Figures 9 and 10, the energy storage device 200 includes an energy storage unit 207 and a solar panel 207. The energy storage unit is connected to the battery module 900, and the solar panel 207 is disposed on the movable part and connected to the energy storage unit 207.

[0072] In this embodiment, solar panels convert solar energy into electrical energy. An energy storage device 207 stores the electrical energy converted from the solar panels and converts it into current to power the battery module, thus achieving automatic energy supply to the battery module and reducing the frequency of charging by staff. In this embodiment, the energy storage device 200 can be fixedly mounted on the vehicle frame using a base 201 to provide a certain level of illumination for the solar panels, preventing them from being blocked by other parts of the device.

[0073] In addition, to maximize the power generation efficiency of the solar panels, the energy storage device 200 in this embodiment also includes a tracking component that adjusts the angle of the solar panel's facing surface according to the light intensity. This tracking component is mounted entirely on the aforementioned fixed base and includes a first power unit 206, a first connecting part 204, a second connecting part 208, a second power unit 205, and a light intensity comparison device 203. The first power unit 206 is fixedly mounted on the aforementioned fixed base 201, and the first connecting part 204 is mounted on the top of the fixed base 201 and connected to the output shaft of the first power unit 206. The first power unit 206 includes, but is not limited to, a motor, a rotary cylinder, and a rotary hydraulic cylinder. The second connecting part 208 is pivotally mounted on the first connecting part 204, and the second power device 205 is fixedly mounted on the second connecting part 208. The output shaft of the second power device 205 is connected to the pivot shaft at the connection between the first connecting part and the second connecting part. The second power device includes, but is not limited to, a motor, a rotary cylinder, a rotary hydraulic cylinder, or other devices that can drive the second connecting part 208 to pitch. The solar panel 207 is fixedly mounted on the second connecting part 208, and the light intensity comparison device 203 is fixedly mounted on the second connecting part 208 and is located on one side of the solar panel 207.

[0074] The solar panel is moved by comparing the angle of sunlight using a light intensity comparison device. When the sun deflects at a certain angle, the control module sends a command, and the first and second power units drive the solar panel to move. It stops when it reaches the position directly facing the sun and waits for the next angle of sun deflection. This intermittent movement continues. It stops when it is cloudy or at night when there is no sun. As long as the sun is present, it automatically finds and tracks the solar panel to the desired position. It operates fully automatically without human intervention, achieving automatic sunlight tracking and thus improving power generation efficiency.

[0075] Example 5:

[0076] Since the device operates outdoors for extended periods, dust from the air or rainwater can adhere to the sun-facing surface of the solar panels, thereby reducing their power generation efficiency.

[0077] Therefore, to address this technical deficiency, this embodiment proposes an improvement upon embodiment 4. As shown in Figures 11 and 12, the grazing device in this embodiment further includes a second cleaning component 700 for cleaning the sun-facing surface of the solar panel. This second cleaning component includes a fixed track 701, a mounting frame 702, a seventh power device 705, a roller brush 703, and a sixth power device 704. The fixed track 701 is fixedly installed on both adjacent sides of the side of the solar panel where the light intensity comparison device 203 is installed. The mounting frame is disposed on the sun-facing surface of the solar panel 202. A roller 706 is disposed on the mounting frame 702 near the solar panel, corresponding to the fixed track 701. The roller is partially accommodated within the fixed track. Inside channel 701, the aforementioned seventh power device 705 is mounted on mounting bracket 702. It drives the aforementioned roller to rotate through direct connection, gear transmission mechanism, belt pulley transmission mechanism or other connection methods. In addition, the seventh power device includes, but is not limited to, servo motor, stepper motor or other devices that can drive the roller to rotate. The aforementioned roller brush 703 is mounted on mounting bracket 702, and the bristles of the roller brush are in contact with the sun-facing surface of the solar panel 202. One end of the roller brush is connected to the output end of the sixth power device 704 mounted on the mounting bracket. The sixth power device 704 includes, but is not limited to, servo motor, stepper motor, rotary cylinder or other devices that can drive the aforementioned roller brush 703 to rotate around its own circumference.

[0078] In this embodiment, the seventh power device 705 drives the roller to rotate, thereby causing the entire second cleaning component to move along the track direction. At the same time, the sixth power device drives the roller brush 703 to rotate, thereby cleaning the sun-facing surface of the entire solar panel and avoiding excessive dirt on the surface of the solar panel to reduce power generation efficiency.

[0079] Example 6:

[0080] Furthermore, to improve the herding effect and efficiency, this embodiment proposes further improvements based on the above embodiments. As shown in Figures 1 and 2, the grazing device described in this embodiment also includes an interception component 400. This interception component 400 is located on the front side of the frame 102, as shown in Figure 13. The interception component 400 includes a main pole 403, with bent rods 404 at both ends of the main pole 403. The main pole 403 and the bent rods 404 cooperate to form an interception bar that can prevent the herd from moving in a predetermined direction. This works in conjunction with the sound mimicry module to drive the herd to a predetermined area, thereby improving the herding effect and efficiency.

[0081] In addition, the interception assembly 400 described in this embodiment also includes a fourth power device 405 and an extension rod 406. The extension rod 406 is enclosed within the main rod body 403. The fourth power device 405 is mounted on the main rod body 403, and its output end is connected to the extension rod 406. The fourth power device 405 includes, but is not limited to, a cylinder, a hydraulic cylinder, a linear electric cylinder, a motor-screw structure, a motor-gear rack structure, or other devices or structures capable of driving the extension rod 406 to move along the axial direction of the main rod body 403. One end of the extension rod 406 extends outward from the main rod body 403 along the axial direction, and the bent rod 404 is fixedly mounted on that end. As shown in Figure 16, by driving the extension rod 406 to extend outward along the axial direction of the main rod body 403 through the fourth power device 405, the length of the interception rod is increased, thereby increasing the interception range of the interception assembly.

[0082] In addition, as shown in Figure 14, the interception assembly in this embodiment also includes a third power unit 402 and a pitch frame 401. The pitch frame 401 is pivotally mounted on the front side of the frame 102. The main body of the third power unit is mounted on the frame 102, and its output end is connected to the pitch frame 401. The third power unit 402 includes, but is not limited to, a cylinder, an electric cylinder, a hydraulic cylinder, a motor, or other devices capable of driving the pitch frame 401 to pitch. The main rod 403 is fixedly mounted on the pitch frame 401. As shown in Figure 17, when it is not necessary to drive the herd, the fourth power unit 405 will retract the extension rod, and the third power unit 402 will fold the entire interception assembly onto the moving part, thereby reducing the space occupied by the device.

[0083] Of course, in addition to the features described in the above embodiments, as shown in Figure 2, the present invention also includes status indicator lights on the device to display the device's status, where green indicates normal operation, yellow indicates the need for maintenance, and red indicates a malfunction. Furthermore, the data acquisition device 300 also includes a warning light 320; when the warning light illuminates, it indicates that the pasture environment has reached a state where the herds need to be driven to the barn area.

[0084] As shown in Figure 15, the present invention can also be equipped with anti-collision detection radar 104 around the vehicle frame. The anti-collision detection radar 104 detects obstacles around the device, thereby avoiding collision between the device and the obstacles.

[0085] Example 7:

[0086] This embodiment proposes a zoned rotation grazing method based on embodiments 1-6 above, which uses the grazing device described in the above embodiments.

[0087] The method includes:

[0088] Herd monitoring: Image acquisition probes identify herds in the rotation areas of the pasture and collect image data of the herds. The control module analyzes the status and number of herds based on the image data and sends the image data and analysis results to a remote terminal via the data communication unit. When the herd's status, such as theft or poaching, is judged to be dangerous, the control module controls the sound-mimicking module to emit a warning sound to scare away the thieves or poachers, and at the same time sends the alarm information to the remote terminal to alert the rancher. When a herd is lost, the control module will send the number of lost herds and loss warning information to the remote terminal via the data communication unit to remind the rancher to handle and search for them in a timely manner.

[0089] Forage Monitoring: NDVI probes monitor the height of forage in designated pasture zones. NDVI probes assess the health and growth of the pasture by measuring the absorption and reflection of light at different wavelengths. This NDVI probe operates based on the principle of visible and near-infrared light reflection. Plant leaves absorb visible light more readily and reflect infrared light more readily. The NDVI probe utilizes this characteristic to calculate the NDVI value, assessing the greenness and health of the pasture by comparing the reflectance of visible and near-infrared light. The control module calculates the forage height based on the spectral data collected by the NDVI probe, obtaining the calculated forage height result, and makes judgments based on the aforementioned forage height calculation structure.

[0090] Environmental monitoring: The wind direction and speed acquisition unit collects data such as wind direction and speed in the pasture, while the temperature and humidity acquisition unit collects data such as air temperature and humidity in the pasture. This data is processed by the data processing device 300 into a data format readable by the control module before being uploaded to the control module. The control module performs meteorological analysis based on this data. When the temperature, air humidity, or wind speed exceeds preset values, the herd will be driven to the shed area. Additionally, the control module receives meteorological data from remote terminals via the data communication unit. It combines this meteorological data with current wind direction and speed data, as well as air temperature and humidity data, to perform weather forecast analysis and determine whether to drive the herd to the shed area based on the forecast analysis results.

[0091] Driving: When the control module determines that the herd needs to be driven, the control module plans the driving route based on the current image data, that is, it plans the best driving route based on the pasture zoning distribution, herd distribution status and other data. The control module then starts to execute the action according to the planned driving route.

[0092] The control module controls the third power unit to lower the pitch frame, then controls the fourth power unit to extend the extension rod to both sides, and then controls the moving unit to move along the planned herding route. Simultaneously, during the movement, the control module emits sounds that trigger a sensitive response from the herd, such as the barking of a sheepdog or the crack of a whip, thereby driving the herd. During the herding process, depending on the actual herding situation, the control module can control the rotating device within the moving unit to rotate the vehicle body.

[0093] Energy storage: The solar panel converts light energy into electrical energy. The energy storage device 207 stores the electrical energy converted by the solar panel and converts it into current to replenish the battery module. During the energy storage process, the light intensity comparison device compares the angle of the sunlight. When the sun deflects at a certain angle, the control module issues a command, and the first and second power devices drive the solar panel to move. When it reaches the position directly facing the sun, it stops and waits for the next angle of sun deflection. This intermittent movement continues. The operation stops when it is cloudy or at night when there is no sun.

[0094] Energy supply: When the control module determines that the battery module's power is lower than the preset power, the control module controls the energy storage device 207 to release current to replenish the battery module's power until the battery module's power reaches the preset power range.

[0095] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A grazing rotation system, characterized in that, The device includes a moving part, which comprises a tracked vehicle body, a frame, and a rotating device. The tracked vehicle body can move on the ground, the rotating device is mounted on the tracked vehicle body, and the frame is mounted on the tracked vehicle body. The rotating device drives the frame to rotate horizontally. The device also includes a control module, which is mounted on the frame and controls the moving part to move along a preset route. A data acquisition device, mounted on the aforementioned vehicle frame and connected to the aforementioned control module, includes a monitoring device, a data processing device, and a data communication unit. The monitoring device monitors pasture height and herds via the control module. The monitoring device communicates with the control module via the data processing device, which processes the acquired data into signal data readable by the control module. The data communication unit is connected to the control module and transmits acquired data and receives user commands. A sound effect module, also mounted on the aforementioned vehicle frame and connected to the control module, plays sounds that elicit a sensitive response from the herd to drive it away. The monitoring device includes a battery module that provides power to the data acquisition device, control module, and sound simulation module; the monitoring device also includes a rotating base. The grazing device includes a pitch mounting base mounted on the aforementioned rotating base, which drives the pitch mounting base to rotate horizontally; an image acquisition probe configured to acquire pasture image data, mounted on the aforementioned pitch mounting base, which drives the image acquisition probe to pitch; and an NDVI probe configured to monitor the height of pasture zoning, mounted on the aforementioned pitch mounting base, which drives the NDVI probe to pitch; the grazing device also includes an energy storage device integrally mounted on the aforementioned moving part and connected to the aforementioned battery module, the energy storage device including an energy accumulator connected to the aforementioned battery module; and a solar panel mounted on the aforementioned moving part and connected to the energy accumulator; the energy storage device also includes a tracking component that adjusts the angle of the solar panel's facing surface according to the light intensity, the tracking component including a first power unit; a first connecting part, which is driven to rotate horizontally by the aforementioned first power unit; and a second... The device includes: a power unit; a second connecting part mounted on the first connecting part, the second power unit driving the second connecting part to pitch, and the solar panel being fixedly mounted on the second connecting part; a light intensity comparison device fixedly mounted on the second connecting part and disposed on one side of the solar panel; the grazing device further includes a second cleaning assembly for cleaning the sun-facing surface of the solar panel, the second cleaning assembly including a fixed track fixedly mounted on both sides of the side of the solar panel on which the light intensity comparison device is mounted; a mounting frame disposed on the sun-facing surface of the solar panel, with rollers disposed on the mounting frame near the solar panel corresponding to the fixed track, the rollers being partially accommodated within the fixed track; a seventh power unit driving the rollers to rotate; a roller brush mounted on the mounting frame, the brush bristles contacting the sun-facing surface of the solar panel; and a sixth power unit driving the roller brush to rotate circumferentially.

2. The grazing rotation device according to claim 1, characterized in that, The grazing device also includes a first cleaning assembly for cleaning the lenses of the NDVI probe and the image acquisition probe. The first cleaning assembly includes a fifth power unit and a lens cleaner, which is driven by the fifth power unit to swing around one end. The lens cleaner includes a connecting rod and a cleaning part. The cleaning part is made of flexible material and is serrated. The cleaning part is fixed to the connecting rod near the side of the lens and is in contact with the lens.

3. The grazing rotation device according to claim 1, characterized in that, The data acquisition device further includes a temperature and humidity acquisition unit configured to collect temperature and humidity data of the pasture zones. The temperature and humidity acquisition unit is connected to the control module and the data processing device. The data processing device converts the temperature and humidity data collected by the temperature and humidity acquisition unit into a data mode readable by the control module. It also includes a wind direction and speed acquisition unit configured to collect wind direction and speed data of the pasture zones. The wind direction and speed acquisition unit is connected to the control module and the data processing device. The data processing device converts the wind direction and speed data collected by the wind direction and speed acquisition unit into a data mode readable by the control module.

4. The grazing and rotation system according to claim 1, characterized in that, The device also includes an interception assembly disposed on the front side of the aforementioned frame. The interception assembly includes a main rod with bent rods at both ends.

5. A grazing rotation system according to claim 4, characterized in that, The interception assembly also includes a fourth power unit; and an extension rod, which is enclosed in the main rod body. The fourth power unit drives the extension rod to move along the axis of the main rod body. One end of the extension rod extends out of the main rod body along the axis of the main rod body, and the bent rod is fixedly installed on that end.

6. A grazing rotation device according to claim 5, characterized in that, The interception assembly also includes a third power unit; and a pitching frame, which is pivotally mounted on the front side of the frame and drives the pitching motion of the pitching frame through the third power unit, with the main rod fixedly mounted on the pitching frame.

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