A method for monitoring and controlling the movement of breeding pigs based on UWB

Abstract

The application discloses a kind of based on UWB's breeding pig walk monitoring control method, belong to general control or regulation field.The method steps of the present application are as follows: placing four base stations A, B, C, D in the square four corners position of breeding farm;UWB positioning tag with buzzer is placed on the body of breeding pig, and the positioning coordinates of breeding pig are acquired in real time;By detecting the coordinate position change of breeding pig, it can be judged whether breeding pig walks or not, if the position of pig is almost unchanged within a certain time, then the music is played through the buzzer of UWB positioning tag, reminding pig to walk, to exercise the muscle purpose of pig, so as to improve the taste of pork;And still can obtain the exercise path of pig through the change of coordinate position, estimate the daily exercise amount of pig, for the pig with less exercise amount, then automatic stimulation frequency will be strengthened, so that the daily exercise amount of each pig reaches the standard.

Description

Technical Field

[0001] This invention belongs to the general field of control or regulation, and specifically relates to a UWB-based method for monitoring and controlling the movement of farmed pigs. Background Technology

[0002] Nowadays, pig farms mostly use pen-raising methods, which restrict the pigs' movement, causing them to spend a lot of time sleeping. This results in a decline in pork quality and a poor taste, which is far from the taste of naturally raised pork. Summary of the Invention

[0003] In view of the above-mentioned technical problems in the prior art, the present invention proposes a UWB (Ultra-wideband)-based method for monitoring and controlling the movement of farmed pigs. The method is reasonably designed, overcomes the shortcomings of the prior art, and has good results.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A method for monitoring and controlling the movement of farmed pigs based on UWB includes the following steps:

[0006] Step 1: Establish a UWB-based monitoring and control system for the movement of farmed pigs;

[0007] Step 2: Obtain the real-time location coordinates of the farmed pigs;

[0008] Step 3: Send the positioning coordinates to the host computer in real time for recording and calculation;

[0009] Step 4: Calculate the change in positioning coordinates over a certain time period T(t-1) to Tt;

[0010] Based on the coordinate values ​​collected within a certain time period T(t-1)~Tt, calculate the maximum Euclidean distance Dist_max between them;

[0011] Step 5: Determine whether the maximum Euclidean distance Dist_max is greater than the set range judgment threshold Dmax;

[0012] If the result is that Dist_max is greater than Dmax, then obtain the movement path of the farmed pig, record the location data, draw the movement route map of the farmed pig, and estimate the daily amount of exercise of the farmed pig.

[0013] If the result is that Dist_max is less than or equal to Dmax, then the buzzer on the pig is enabled by the UWB positioning tag on the pig, so that it plays music to remind the pig to move.

[0014] Preferably, in step 1, four base stations, A, B, C, and D, are placed at the four corners of the square of the breeding farm.

[0015] Preferably, in step 2, the distance between the base station and the UWB positioning tag is obtained by a two-sided bidirectional ranging algorithm, and the positioning coordinates are calculated by a triangular centroid algorithm.

[0016] The beneficial technical effects of this invention are as follows:

[0017] This invention proposes a UWB-based method for monitoring and controlling the movement of farmed pigs. By detecting changes in the coordinate position of the pigs, it can determine whether the pigs are moving. If the pig's position remains almost unchanged for a certain period of time, music is played via a buzzer on the UWB positioning tag to remind the pig to move, thereby exercising the pig's muscles and improving the taste of the pork. Furthermore, the method can obtain the pig's movement path by analyzing changes in coordinate position, estimating the pig's daily exercise volume. For pigs with insufficient exercise, the stimulation frequency is automatically increased to ensure that each pig reaches the recommended daily exercise level. Attached Figure Description

[0018] Figure 1 This is a flowchart of the method of the present invention;

[0019] Figure 2 This is a schematic diagram illustrating the principle of bilateral two-way ranging.

[0020] Figure 3 This is a schematic diagram of the triangular centroid algorithm;

[0021] Figure 4 This is a schematic diagram of a UWB-based monitoring and control system for pig movement in farms.

[0022] Among them, 1- Total area of ​​the pigsty; 2- The circle defining the range for determining whether movement has occurred; 3- Tag positioning point;

[0023] Figure 5 This is a map showing the movement paths of farmed pigs. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0025] A method for monitoring and controlling the movement of farmed pigs based on UWB, the process of which is as follows: Figure 1 As shown, it includes the following steps:

[0026] Step 1: Establish a UWB-based monitoring and control system for the movement of farmed pigs;

[0027] Four base stations, A, B, C, and D, are placed at the four corners of a square in the breeding farm. Figure 4 As shown.

[0028] Step 2: Obtain the real-time location coordinates of the farmed pigs;

[0029] UWB positioning tags with buzzers are placed on farmed pigs; the distance between the base station and the UWB positioning tag is obtained through a two-sided bidirectional ranging algorithm, and the positioning coordinates are calculated through a triangular centroid algorithm.

[0030] The principle of bilateral two-way ranging is as follows: Figure 2 As shown: Node A sends a ranging data packet Poll1 to Node B. After time T2, Node B returns a ranging data packet Respond2. After time T4, Node A sends a Final signal to Node B, and so on, until Node B receives the signal. The flight time between Node A and Node B is obtained. Multiplying the flight time by the speed gives the distance between the nodes.

[0031] T1 = 2 × TOF + T2

[0032] T5 = 2 × TOF + T4

[0033] Multiplying both sides of the two equations and rearranging them, we get:

[0034] T1×T5-T2×T4=2×TOF×(T5+T2)

[0035] By combining T1+T4=T2+T5, the time of flight (TOF) of the signal can be obtained:

[0036]

[0037] The time of flight (TOF) and electromagnetic wave transmission rate (3×10) 8 Multiplying the distances (in m / s) by the distances (in m / s) gives the distance between nodes A and B

[0038] Trilateral centroid algorithm principle:

[0039]

[0040] Due to environmental interference or ranging errors in reality, it's unlikely that the distances measured by the base station will perfectly converge at a single point. More practical situations are as follows... Figure 3 As shown:

[0041] The centroid X of the triangle formed by the three intersection points a(x1,y1), b(x2,y2), and c(x3,y3) is used as the coordinate point of the label. The calculated solutions are all real numbers, exhibiting high accuracy and robustness.

[0042] Expanding and simplifying the system of equations yields:

[0043]

[0044] This corresponds to the linear equation AX = B. Solving for the x-coordinate using the least squares method can reduce errors. The resulting (x, y) coordinates are the centroid coordinates of triangle abc. The specific results are as follows:

[0045] X = (A T A) -1 A T B

[0046] Step 3: Send the positioning coordinates to the host computer in real time for recording and calculation;

[0047] Step 4: Calculate the change in positioning coordinates over a certain time period T(t-1) to Tt;

[0048] Based on the coordinate values ​​collected within a certain time period T(t-1)~Tt, calculate the maximum Euclidean distance Dist_max between them;

[0049] The total breeding time for one day is T. The system first selects T. (t-1) ~T t All coordinate points, the next time period to be selected is T. t ~T (t+1 ), and select time periods sequentially. Assume T (t-1) ~T t If there are n coordinate points, then a total The distance is calculated using the Euclidean distance formula.

[0050]

[0051] And then compare the obtained maximum value Dist_max with the set D max The range determination threshold is compared. If the calculated result is less than D... max If the result is greater than D, it indicates that the pig is sleeping. In this case, the host computer needs to control the UWB tag to play music to remind the pig to move. max This indicates that the pigs are active, and their activity paths can be recorded and plotted to obtain their daily activity level. The activity level S can be calculated using the formula:

[0052]

[0053] Step 5: Determine whether the maximum Euclidean distance Dist_max is greater than the set range judgment threshold Dmax;

[0054] If the result is that Dist_max is greater than Dmax, then obtain the movement path of the farmed pigs, record the location data, and draw a movement route map of the farmed pigs, such as... Figure 5 As shown; estimate the daily exercise volume of the pigs.

[0055] If the result is that Dist_max is less than or equal to Dmax, then the buzzer is enabled by the UWB positioning tag, which plays music to remind the pigs to move.

[0056] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A method for monitoring and controlling the movement of farmed pigs based on UWB, characterized in that: Includes the following steps: Step 1: Establish a UWB-based monitoring and control system for the movement of farmed pigs; Four base stations, A, B, C, and D, are placed at the four corners of the square structure of the breeding farm. Step 2: Obtain the real-time location coordinates of the farmed pigs; The distance between the base station and the UWB positioning tag is obtained through a two-sided bidirectional ranging algorithm, and the positioning coordinates are calculated through a triangular centroid algorithm. The principle of bilateral two-way ranging is as follows: Node A sends a ranging data packet Poll1 signal to Node B, and Node B passes through... After a certain time, a ranging data packet, the Respond2 signal, is returned; node A then sends a Final signal to node B after time T4, until node B receives the signal; the flight time between node A and node B is obtained, and multiplying the flight time by the speed gives the distance between the nodes: ； ； Multiplying both sides of the two equations and rearranging them, we get: ； United The time of flight (TOF) of the signal can be obtained: ； Multiplying the TOF flight time by the electromagnetic wave transmission rate gives the distance between nodes A and B. Trilateral centroid algorithm principle: ； Find the centroid X of the triangle formed by the three intersection points a(x1,y1), b(x2,y2), and c(x3,y3) of the three circles, and use it as the coordinate point of the label. Expanding and simplifying the system of equations yields: ； That is, the corresponding linear equation AX=B, by solving the x-coordinate using the least squares method, the obtained (x,y) coordinates are the centroid coordinates of triangle abc, as shown in the following results: ； Step 3: Send the positioning coordinates to the host computer in real time for recording and calculation; Step 4: Calculate the change in positioning coordinates over a certain time period T(t-1)~Tt; Based on the coordinate values ​​collected within a certain time period T(t-1)~Tt, calculate the maximum Euclidean distance Dist_max between them; Let T be the total breeding time per day. First, select T. (t-1) ~T t All coordinate points, the next time period to be selected is T. t ~T (t+1 ), and select time periods sequentially; assuming T (t-1) ~T t If there are n coordinate points, then a total The distance is calculated using the Euclidean distance formula: ； Step 5: Determine whether the maximum Euclidean distance Dist_max is greater than the set range judgment threshold Dmax; If the result is that Dist_max is greater than Dmax, then obtain the movement path of the farmed pig, record the location data, draw the movement route map of the farmed pig, and estimate the daily amount of exercise of the farmed pig. The amount of exercise S is calculated using the formula: ； If the result is that Dist_max is less than or equal to Dmax, then the buzzer on the pig is enabled by the UWB positioning tag on the pig, so that it plays music to remind the pig to move.

Images