Free-range animal positioning method and system and animal wearing equipment

Abstract

The invention provides a free-range animal positioning method, a free-range animal positioning system and animal wearing equipment. The detection method comprises the following steps: acquiring attitude data of a free-range animal through an attitude detection module of the animal wearing equipment; performing spectral analysis on the attitude data, and performing free-range animal behavior action recognition according to a spectral analysis result to obtain walking action data; counting the moving distance of the free-range animal according to the walking action data; when the moving distance exceeds a preset distance threshold value, a positioning module and a communication module of the animal wearing equipment are controlled to be opened to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to a server to achieve positioning of the free-range animal. According to the invention, the positioning data reporting frequency can be reduced and the power consumption can be reduced on the premise of ensuring the positioning precision of the free-range animals.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a method and system for positioning free-range animals and an animal wearable device. Background Art

[0002] In some areas, herders have large grasslands and mountains suitable for free-range cattle. Depending on the breed of cattle and the local environment, some are free-range from Spring Festival to autumn, while others are free-range in the wild all year round. The advantage of this method is that it reduces the cost of fodder and labor costs, but the disadvantage is that cattle may get lost, walk out of their own pastures, get sick or injured, and need to be inspected regularly.

[0003] The current practice is to wear animal wearable devices such as ear tags or collars on free-range cattle, equip the animal wearable devices with GPS modules and communication modules (4G modules, LoRa modules or 5G modules), and then regularly turn on the GPS modules and communication modules to report the location. If the reporting time interval is long, it will affect the positioning accuracy and make it difficult to find cattle on site. When the reporting time interval is short, the 4G module and 5G module need to be frequently turned on and off. Since the GPS module, 4G module, and 5G module are all high-power consumption, the working current is 20-60mA, which will cause an increase in power consumption and affect the battery life of the animal wearable device.

[0004] In addition, the detection of cow walking, ruminating, eating grass and other movements is related to the physiological habits of cows, and these data can reflect the health of cows. At present, animal movement detection usually uses the posture detection module in the animal wearable device to collect animal posture data, and transmits the animal posture data to the server. The server uses the neural network or machine learning motion recognition model to perform movement detection based on the animal posture data. This method has large calculation volume and high power consumption. Due to energy consumption and cost considerations, animal wearable devices usually use a single-chip microcomputer as the control unit. Therefore, the method of using neural network or machine learning model to perform movement detection is not suitable for execution in the control unit of the animal wearable device. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide a free-range animal positioning method, system and animal wearable device, which can reduce the frequency of positioning data reporting and reduce power consumption while ensuring the positioning accuracy of free-range animals.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application provides a method for locating free-range animals, which is applied to a control unit of an animal wearable device. The method for locating free-range animals includes:

[0007] Collecting posture data of free-range animals through a posture detection module of the animal wearable device;

[0008] Performing spectrum analysis on the posture data, and performing behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data;

[0009] Counting the moving distance of the free-range animals according to the walking action data;

[0010] When the moving distance exceeds a preset distance threshold, the GPS positioning module and the communication module of the animal wearable device are controlled to turn on to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to the server to realize the positioning of the free-range animal.

[0011] In an optional embodiment of the present application, spectrum analysis is performed on the posture data, and the free-range animal behavior action recognition is performed according to the spectrum analysis result to obtain action data, including:

[0012] Performing Fourier transformation on the posture data to convert the posture data into a frequency domain signal;

[0013] The free-range animal behavior action recognition is performed according to the frequency domain signal to obtain the action data.

[0014] In an optional embodiment of the present application, the free-range animal behavior action recognition is performed according to the frequency domain signal to obtain the action data, including:

[0015] Calculate the sum of energy in the entire frequency range according to the frequency domain signal as the total power;

[0016] The free-range animal behavior action recognition is performed according to the total power and a preset threshold range to obtain the action data.

[0017] In an optional embodiment of the present application, counting the moving distance of the free-range animal according to the walking action includes:

[0018] Counting the walking duration of the free-range animal according to the walking action data;

[0019] The moving distance of the free-range animal is obtained according to the walking duration and the preset walking speed.

[0020] In an optional embodiment of the present application, the animal motion data further includes grazing motion data, rumination motion data and lying motion data;

[0021] The free-range animal positioning method further comprises:

[0022] When the real-time position of the free-range animal is reported to the server, the animal motion data is also reported to the server to achieve health monitoring of the free-range animal.

[0023] In an optional embodiment of the present application, it also includes: controlling the GPS positioning module and the communication module of the animal wearable device to turn on according to a preset time interval to obtain the real-time position of the free-range animal, and reporting the real-time position of the free-range animal to the server to achieve the positioning of the free-range animal.

[0024] To achieve the above-mentioned purpose and other related purposes, the present application provides a free-range animal positioning system, which is applied to a control unit of an animal wearable device, and the free-range animal positioning system includes:

[0025] A data acquisition module, used to collect posture data of free-range animals through a posture detection module of the animal wearable device;

[0026] A motion recognition module, used for performing spectrum analysis on the posture data, and performing behavior motion recognition of the free-range animal according to the spectrum analysis result, so as to obtain motion data, wherein the motion data includes walking motion data;

[0027] A distance statistics module, used for counting the moving distance of the free-range animals according to the walking action data;

[0028] The data reporting module is used to control the GPS positioning module and the communication module of the animal wearable device to turn on when the moving distance exceeds a preset distance threshold, so as to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to realize the positioning of the free-range animal.

[0029] To achieve the above objectives and other related objectives, the present application provides an animal wearable device, including:

[0030] Posture detection module, used to collect posture data of free-range animals;

[0031] A control unit is connected to the posture detection module, and is used to obtain the posture data, perform spectrum analysis on the posture data, and perform behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data; and count the moving distance of the free-range animal according to the walking motion data;

[0032] A GPS positioning module, connected to the control unit, for obtaining the real-time location of the free-range animals;

[0033] A communication module connected to the control unit, wherein the control unit is used to control the GPS positioning module and the communication module to turn on when the moving distance exceeds a preset distance threshold, so as to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server, so as to realize the positioning of the free-range animal;

[0034] A power supply module is used to supply power to the posture detection module, the control unit and the communication module.

[0035] In an optional embodiment of the present application, the posture detection module includes a three-axis acceleration sensor.

[0036] In an optional embodiment of the present application, the animal wearable device includes an ear tag or a collar.

[0037] In an optional embodiment of the present application, the communication module includes a 4G module, a 5G module or a LoRa module.

[0038] The free-range animal positioning method, system and animal wearable device of the present application collect posture data of free-range animals through the posture detection module of the animal wearable device; perform spectrum analysis on the posture data, and identify the behavior and action of the free-range animal according to the spectrum analysis result to obtain action data, wherein the action data includes walking action data; count the moving distance of the free-range animal according to the walking action data; when the moving distance exceeds a preset distance threshold, control the GPS positioning module and communication module of the animal wearable device to turn on to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to realize the positioning of the free-range animal. This method can reduce the frequency of reporting positioning data and reduce power consumption while ensuring the positioning accuracy of free-range animals. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Shown is a schematic flow chart of a method for locating free-range animals according to an embodiment of the present application;

[0040] Figure 2a Displayed as frequency domain signal of the cow’s posture data when it turns its ears;

[0041] Figure 2b They are shown as frequency domain signals of the posture data of cattle when eating grass;

[0042] Figure 2c They are shown as frequency domain signals of the posture data of the cow when walking;

[0043] Figure 2d They are shown as frequency domain signals of the posture data of cattle when ruminating;

[0044] Figure 3 Shown is a structural block diagram of a free-range animal positioning system according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following describes the implementation of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application.

[0046] See also Figure 1-3 It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present application in a schematic manner, and the illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0047] The present application discloses an animal wearable device capable of performing animal positioning and motion recognition. The animal wearable device may be an ear tag or a collar. The ear tag is worn on the ear of the animal, and the collar is set on the neck of the animal. The animal wearable device includes a posture detection module, a control unit, a communication module, a power supply module, and a positioning module; the control unit is respectively connected to the posture detection module, the communication module, and the positioning module, and the power supply module is respectively powered by the posture detection module, the control unit, the communication module, and the positioning module.

[0048] The posture detection module is used to collect the posture data of the animal. The posture detection module can use a low-power three-axis acceleration sensor, which not only has low energy consumption and an operating current of less than 2μA, but also has low cost and small size, and is easy to integrate into animal wearable devices to further reduce the energy consumption of animal wearable devices. It should be noted that in other embodiments, an energy-consuming inertial measurement unit IMU, a six-axis sensor, a nine-axis sensor, etc. can also be used instead.

[0049] The communication module is used to communicate with the server and report the relevant data of the animal wearable device to the server. The communication module can be a 4G module, a 5G module or a LoRa module. The positioning module is used to obtain the real-time location of the animal. The positioning module is a GPS positioning module.

[0050] The control unit is used to obtain the posture data, perform spectrum analysis on the posture data, and perform behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data; the moving distance of the free-range animal is counted according to the walking motion data; when the moving distance exceeds a preset distance threshold, the GPS positioning module and the communication module are controlled to be turned on to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to the server to realize the positioning of the free-range animal. The control unit can adopt a single-chip microcomputer.

[0051] Figure 1 The flowchart of the method for locating free-range animals in the embodiment of the present application is shown, which is applied to the control unit of the animal wearable device. Figure 1 The method for locating free-range animals comprises the following steps:

[0052] Step S10, collecting posture data of free-range animals through the posture detection module of the animal wearable device;

[0053] Step S20, performing spectrum analysis on the posture data, and performing behavior recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data;

[0054] Step S30, counting the moving distance of the free-range animals according to the walking action data;

[0055] Step S40: When the moving distance exceeds a preset distance threshold, the GPS positioning module and the communication module of the animal wearable device are controlled to turn on to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to the server to realize the positioning of the free-range animal.

[0056] The free-range animal positioning of the present application can be applied to the motion detection and positioning of cattle, sheep and other animals in a free-range state, and will be described below using free-range cattle as an example.

[0057] First, step S10 is executed to collect the posture data of the free-range animals through the posture detection module of the animal wearable device. When performing action detection of cattle, it is necessary to first obtain the posture data of the cattle. In this embodiment, the posture detection module in the ear tag is used to collect the posture data of the cattle, and the posture data is sent to the control unit, wherein the posture data may include acceleration data of the cattle when turning ears, walking, running, eating grass, ruminating, lying still, etc., and there are differences in the acceleration data corresponding to different behaviors.

[0058] Next, step S20 is executed to perform spectrum analysis on the posture data, and to perform behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data.

[0059] Since there are spectral differences in the acceleration data of cattle when they perform different behaviors such as turning their ears, walking, running, eating grass, ruminating, and lying still, the control unit of the present application can first perform a spectrum analysis on the cattle's posture data, and then identify the cattle's behavioral actions based on the spectral analysis results to obtain action data corresponding to the cattle's behavior, and the action data may include walking action data, running action data, eating grass action data, ruminating action data, lying still action data and other data.

[0060] In a specific embodiment of the present application, when performing spectrum analysis on the posture data and performing behavioral action recognition of the free-range animal based on the spectrum analysis result to obtain action data, the posture data can be first subjected to Fourier transformation to convert the posture data into a frequency domain signal; and then the behavioral action recognition of the free-range animal is performed based on the frequency domain signal to obtain action data.

[0061] Figure 2a-2d The frequency domain signals of the posture data collected by the ear tags when the cow is turning its ears, eating grass, walking, and ruminating are shown respectively. Figure 2a-2d It can be seen that when the cow turns its ears, the power in the frequency spectrum shows a decreasing trend with the increase of frequency, and the total power is greater than 1000; when the cow is eating grass, the power is equivalent at 1-2HZ, and then decreases significantly, with the total power between 660 and 700. When the cow walks, the power in the frequency spectrum shows a decreasing trend with the increase of frequency, and the total power is between 600 and 660. When the cow ruminates, the power is evenly distributed in the frequency spectrum, and the total power is between 550 and 600. It should be noted that when the collar is used as an animal wearable device, due to the different installation positions of the collar and the ear tag, the collected posture data is different, which leads to differences in the frequency signal.

[0062] It can be seen that the total power of the frequency domain signal of the posture data of the cattle in the entire frequency range is different when they have different behavioral actions, so the difference in total power can be used as the basis for identifying different actions. Specifically, when the behavior and action recognition of the free-range animal is performed according to the frequency domain signal to obtain the action data, the sum of the energy in the entire frequency range can be calculated according to the frequency domain signal as the total power; then the behavior and action recognition of the free-range animal is performed according to the total power and the preset threshold range to obtain the action data, wherein different actions of the same free-range animal correspond to different preset threshold ranges, and the preset threshold ranges corresponding to the same action of different free-range animals are also different.

[0063] Compared with the existing motion detection methods of neural networks or machine learning models, the motion detection method of spectrum analysis in the present application reduces the computational complexity and power consumption of animal motion detection, and can directly complete animal motion detection in the control unit of animal wearable devices such as ear tags or animal collars.

[0064] Next, step S30 is executed to count the moving distance of the free-range animal according to the walking action data. Specifically, when counting the moving distance of the free-range animal according to the walking action, the control unit may first count the walking duration of the free-range animal according to the walking action data starting from the time when the positioning data was last reported; and obtain the moving distance of the free-range animal from the time when the positioning data was last reported according to the walking duration and the preset walking speed. Since the walking distance of free-range cattle in the wild ranges from several kilometers to dozens of kilometers a day, and the walking speed of cattle is 3-5 kilometers / hour, the preset walking speed can be set to 3-5 kilometers / hour.

[0065] Finally, step S40 is executed. When the moving distance exceeds the preset distance threshold, the GPS positioning module and the communication module of the animal wearable device are controlled to turn on to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to the server to realize the positioning of the free-range animal.

[0066] After calculating and obtaining the moving distance of the cattle from the time of the most recent reported positioning data, the moving distance can be compared with the preset distance threshold to determine whether the moving distance is greater than the preset distance threshold. If so, it is necessary to control the GPS positioning module and the communication module to turn on, use the GPS positioning module to obtain the real-time position of the cattle, and send it to the server through the communication module to realize the positioning of the cattle.

[0067] Since the GPS positioning module and communication module are only controlled to open and report the location when the moving distance of the cattle exceeds the preset distance threshold, and the GPS positioning module and communication module can be kept in standby mode at other times, the cattle have limited walking time every day, which can greatly reduce the frequency of positioning reports. Because the working current of the GPS positioning module and communication module is 20-60mA, and the standby current is at the μA level, this method can reduce the working time of the GPS positioning module and communication module while ensuring the positioning accuracy of free-range animals, greatly reducing the positioning energy consumption. Judging from the activity data of cattle, cattle walk for 2 to 5 hours. According to 5 hours of walking, the reporting frequency can be reduced to 5 / 24, and the power consumption data will be reduced to 1 / 3 to 1 / 5 of the original method, which greatly increases the battery life of animal wearable devices.

[0068] In the present application, the free-range animal positioning method can also control the GPS positioning module and the communication module of the animal wearable device to open at a preset time interval to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to achieve the positioning of the free-range animal. As an example, in the normal positioning mode, the real-time position of the free-range animal can be reported once every 3 hours (configurable); in the fast positioning mode, the reporting time can be shortened, such as reporting the real-time position of the free-range animal once every 15 minutes (configurable).

[0069] In the present application, the free-range animal positioning method can also report the animal motion data to the server when reporting the real-time position of the free-range animal to the server, so as to achieve health monitoring of the free-range animal.

[0070] In the present application, the free-range animal positioning method can also obtain animal respiratory rate data based on the posture data corresponding to the lying motion data when the motion data is lying motion data; and report the animal respiratory rate data to the server according to preset reporting rules to monitor the health status of the cattle.

[0071] For the same cow, its walking motion data, running motion data, grazing motion data, rumination motion data, lying motion data, and breathing rate data are relatively stable data in a period of time. If there are large changes, it means that there is a problem with the cow's health. Therefore, the server can monitor the cow's health status based on the reported motion data.

[0072] Specifically, cattle are ruminants, and the grass they eat goes into their first stomach. In a safe place, the cattle then regurgitate the grass, chew it in their mouths, and swallow it into their second stomach. The time and frequency of cattle rumination vary depending on factors such as the breed, age, gender, breeding environment, and feed type of the cattle. Generally speaking, healthy cattle begin to ruminate 30 minutes to 1 hour after they stop eating, ruminating for about 8 hours a day and ruminating 10 to 15 times. By testing the daily rumination time of cattle, you can find out whether the cattle are healthy.

[0073] The time cattle spend grazing varies depending on factors such as breed, age, gender, feeding environment, and feed type. Generally speaking, cattle need to spend 6 to 8 hours grazing every day, with a larger intake in the morning and evening. Detecting the time cattle spend grazing every day can indicate the health of cattle.

[0074] Cows go into estrus every 20 days, and their walking and running movements increase significantly during estrus. Detecting the amount of walking movements of cows can guide the timing of artificial insemination.

[0075] The respiratory rate of cattle can be affected by many factors, such as breed, age, sex, health status, ambient temperature and activity level. Generally speaking, adult cattle breathe 10 to 30 times per minute, and calves breathe 20 to 50 times per minute. If a cattle's respiratory rate is found to be abnormal, further examination and treatment may be required, such as fever.

[0076] Since cattle often eat grass and ruminate, if a cattle is stolen, the thief will take off the ear tag or collar and throw it on the ground or hang it on a tree. The ear tag or collar will not detect the characteristic action of cattle eating grass and ruminating. If it takes a long time, the alarm information can be prompted to the owner of the cattle, and the owner of the cattle can rush to the scene and call the police in the shortest time. Therefore, the free-range animal positioning method can also send an alarm information to the owner of the free-range animal in time when the grazing action data and rumination action data of the free-range animal are not detected for a long time. So that the owner of the free-range animal can rush to the scene or call the police in the shortest time.

[0077] The embodiment of the present application further discloses an animal motion detection system 10 , which includes a data acquisition module 11 , a motion recognition module 12 , a distance statistics module 13 and a data reporting module 14 .

[0078] The data acquisition module 11 is used to collect the posture data of free-range animals through the posture detection module of the animal wearable device;

[0079] The action recognition module 12 is used to perform spectrum analysis on the posture data, and perform behavior action recognition of the free-range animal according to the spectrum analysis result to obtain action data, wherein the action data includes walking action data;

[0080] The distance statistics module 13 is used to count the moving distance of the free-range animals according to the walking action data;

[0081] The data reporting module 14 is used to control the GPS positioning module and the communication module of the animal wearable device to turn on when the moving distance exceeds the preset distance threshold, so as to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to realize the positioning of the free-range animal.

[0082] The data reporting module 14 is also used to report the animal motion data to the server when reporting the real-time position of the free-range animal to the server, so as to realize the health monitoring of the free-range animal.

[0083] It should be noted that the free-range animal positioning system 10 of the present application is a system corresponding to the above-mentioned method for detecting animal eating actions, and the functional modules in the free-range animal positioning system 10 respectively correspond to the corresponding steps in the method for detecting animal eating actions. The free-range animal positioning system 10 of the present application can be implemented in conjunction with the method for detecting animal eating actions. The relevant technical details mentioned in the method for detecting animal eating actions of the present application are still valid in the free-range animal positioning system 10, and in order to reduce repetition, they will not be repeated here. Accordingly, the relevant technical details mentioned in the free-range animal positioning system 10 of the present application can also be applied to the above-mentioned method for detecting animal eating actions.

[0084] It should be noted that the above-mentioned functional modules can be fully or partially integrated into one physical entity during actual implementation, or they can be physically separated. And these units can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some units can also be implemented in the form of processing elements calling software, and some units can be implemented in the form of hardware. In addition, these units can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the control unit or instructions in the form of software.

[0085] In summary, the free-range animal positioning method, system and animal wearable device of the present application collect posture data of free-range animals through the posture detection module of the animal wearable device; perform spectrum analysis on the posture data, and identify the behavior and action of the free-range animal according to the spectrum analysis results to obtain action data, wherein the action data includes walking action data; count the moving distance of the free-range animal according to the walking action data; when the moving distance exceeds the preset distance threshold, control the GPS positioning module and communication module of the animal wearable device to turn on to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to realize the positioning of the free-range animal. This method can reduce the frequency of reporting positioning data and reduce power consumption while ensuring the positioning accuracy of free-range animals.

[0086] In the description herein, many specific details are provided, such as examples of parts and / or methods, to provide a complete understanding of the embodiments of the present application. However, those skilled in the art will recognize that the embodiments of the present application can be practiced without one or more specific details or by other devices, systems, components, methods, parts, materials, parts, etc. In other cases, known structures, materials or operations are not specifically shown or described in detail to avoid blurring the aspects of the embodiments of the present application.

[0087] The above description of the embodiment shown in the application (including the content described in the abstract of the specification) is not intended to be exhaustive or to limit the application to the precise form disclosed herein. Although the specific embodiment of the application and the example of the application are described herein for the purpose of illustration only, as those skilled in the art will recognize and understand, various equivalent modifications can be within the spirit and scope of the application. As pointed out, these modifications can be made to the application according to the above description of the embodiment described in the application, and these modifications will be within the spirit and scope of the application.

[0088] This paper has generally described systems and methods as details that are helpful for understanding the application. In addition, various specific details have been given to provide an overall understanding of the embodiments of the application. However, those skilled in the relevant art will recognize that the embodiments of the application can be put into practice without one or more specific details, or put into practice using other devices, systems, accessories, methods, assemblies, materials, parts, etc. In other cases, known structures, materials and / or operations are not particularly shown or described in detail to avoid confusion in various aspects of the embodiments of the application.

[0089] Thus, although the present application has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the above disclosure, and it should be understood that in some cases, some features of the present application will be adopted without corresponding use of other features without departing from the scope and spirit of the proposed invention. Therefore, many modifications may be made to adapt specific environments or materials to the substantial scope and spirit of the present application. The present application is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode for carrying out the present application, but the present application will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the present application will be determined solely by the appended claims.

Claims

1. A method for locating free-range animals, characterized in that: The control unit applied to an animal wearable device, the free-range animal positioning method comprises: Collecting posture data of free-range animals through a posture detection module of the animal wearable device; Performing spectrum analysis on the posture data, and performing behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data; Counting the moving distance of the free-range animals according to the walking action data; When the moving distance exceeds a preset distance threshold, the GPS positioning module and the communication module of the animal wearable device are controlled to turn on to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to the server to realize the positioning of the free-range animal.

2. The method for locating free-range animals according to claim 1, characterized in that: include: Performing spectrum analysis on the posture data, and performing behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, including: Performing Fourier transformation on the posture data to convert the posture data into a frequency domain signal; The free-range animal behavior action recognition is performed according to the frequency domain signal to obtain the action data.

3. The method for locating free-range animals according to claim 2, characterized in that: Performing the free-range animal behavior action recognition according to the frequency domain signal to obtain the action data includes: Calculate the sum of energy in the entire frequency range according to the frequency domain signal as the total power; The free-range animal behavior action recognition is performed according to the total power and a preset threshold range to obtain the action data.

4. The method for locating free-range animals according to claim 1, characterized in that: Counting the moving distance of the free-range animal according to the walking action includes: Counting the walking duration of the free-range animal according to the walking action data; The moving distance of the free-range animal is obtained according to the walking duration and the preset walking speed.

5. The method for locating free-range animals according to claim 1, characterized in that: The animal motion data also includes grazing motion data, rumination motion data and lying motion data; The free-range animal positioning method further comprises: When the real-time position of the free-range animal is reported to the server, the animal motion data is also reported to the server to achieve health monitoring of the free-range animal.

6. The method for locating free-range animals according to claim 1, characterized in that: Also includes: The GPS positioning module and the communication module of the animal wearable device are controlled to turn on at preset time intervals to obtain the real-time position of the free-range animal, and the real-time position of the free-range animal is reported to a server to achieve the positioning of the free-range animal.

7. A free-range animal positioning system, characterized in that: A control unit applied to an animal wearable device, the free-range animal positioning system comprises: A data acquisition module, used to collect posture data of free-range animals through a posture detection module of the animal wearable device; A motion recognition module, used for performing spectrum analysis on the posture data, and performing behavior motion recognition of the free-range animal according to the spectrum analysis result, so as to obtain motion data, wherein the motion data includes walking motion data; A distance statistics module, used for counting the moving distance of the free-range animals according to the walking action data; The data reporting module is used to control the GPS positioning module and the communication module of the animal wearable device to turn on when the moving distance exceeds a preset distance threshold, so as to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server to realize the positioning of the free-range animal.

8. An animal wearable device, characterized in that: include: Posture detection module, used to collect posture data of free-range animals; A control unit is connected to the posture detection module, and is used to obtain the posture data, perform spectrum analysis on the posture data, and perform behavioral motion recognition of the free-range animal according to the spectrum analysis result to obtain motion data, wherein the motion data includes walking motion data; and count the moving distance of the free-range animal according to the walking motion data; A GPS positioning module, connected to the control unit, for obtaining the real-time location of the free-range animals; A communication module connected to the control unit, wherein the control unit is used to control the GPS positioning module and the communication module to turn on when the moving distance exceeds a preset distance threshold, so as to obtain the real-time position of the free-range animal, and report the real-time position of the free-range animal to the server, so as to realize the positioning of the free-range animal; A power supply module is used to supply power to the posture detection module, the control unit and the communication module.

9. The animal wearable device according to claim 8, characterized in that: The posture detection module includes a three-axis acceleration sensor.

10. The animal wearable device according to claim 8, characterized in that: The animal wearable device includes an ear tag or a collar.

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