Cow farm grazing informatization intelligent tracking system

Abstract

The invention discloses a cattle farm grazing informatization intelligent tracking system, and relates to the field of intelligent grazing, and the system comprises an unmanned plane formation which comprises a plurality of unmanned planes with a shooting function; the movable parking cabin is used for parking the unmanned aerial vehicles in the unmanned aerial vehicle formation and providing charging service for the parked unmanned aerial vehicles; the central controller is used for controlling the unmanned aerial vehicle formation to drive the cattle herds to move from the cattle farm to a target grazing site and controlling the movable parking cabin to move to the target grazing site after the grazing is started, and controlling the unmanned aerial vehicle formation to be parked in the movable parking cabin after the cattle herds reach the target grazing site; after pasturing is finished, the unmanned aerial vehicle formation is controlled to drive the cattle herds to move to the cattle farm from the target pasturing site; the grazing information tracking unit is used for collecting cattle herd grazing information; the system can realize unmanned automatic grazing, and realizes cattle farm grazing information acquisition with low cost and high efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent grazing, and in particular to an intelligent tracking system for cattle farm grazing informationization. Background Art

[0002] With the advancement of science and technology, the introduction of intelligent equipment in pastoral areas is gradually realizing intelligent grazing. For example, wearing physiological and position monitoring equipment on cattle and sheep can monitor their health and position. Using drones can realize drone grazing.

[0003] Currently, drone grazing requires a drone helmsman or a drone operator, but drone helmsmen and operators are professionals and difficult for herders to operate. Therefore, most of the current drones are used to monitor the location of cattle and send back images during the grazing process, and cannot achieve true unmanned grazing.

[0004] There are currently two ways to collect cattle farm grazing information. The first way is to install a reading device at the gate entrance and exit of the cattle farm, install a collection device on the cattle, collect cattle information when the cattle enter and exit the cattle pen, and realize cattle farm grazing information collection. However, this collection method has the following defects: 1. The cattle need to queue up to enter and exit the cattle pen, resulting in reduced efficiency of cattle entering and exiting the cattle pen; 2. The speed of cattle entering and exiting the cattle pen is inconsistent, some are fast and some are slow. The reading device that is too fast cannot successfully read or cannot successfully read at a long distance, resulting in failure to read the information of some cattle; the second way is to install a collection device and a long-distance transmission device on the cattle, and transmit the collected information to the cattle farm through the long-distance transmission device. This method has the following defects: 1. The long-distance transmission equipment is costly, and 2. The long-distance transmission equipment has high requirements on the signal quality, and most pastoral areas are located in remote areas with poor signal quality, so some information transmission fails. Summary of the invention

[0005] The purpose of the present invention is to realize unmanned automatic grazing and to realize cattle farm grazing information collection at low cost and high efficiency.

[0006] To achieve the above object, the present invention provides a cattle farm grazing information intelligent tracking system, the system comprising:

[0007] A drone formation, wherein the drone formation includes a number of drones with a photographing function;

[0008] A movable parking cabin, the movable parking cabin is used to park the drones in the drone formation and provide charging services for the parked drones;

[0009] A central controller, the central controller is used to control the drone formation to drive the cattle from the cattle farm to the target grazing location and control the movable parking cabin to move to the target grazing location after grazing begins, and control the drone formation to park in the movable parking cabin after the cattle arrive at the target grazing location, and control the drone formation to drive the cattle from the target grazing location to the cattle farm after grazing ends;

[0010] A grazing information tracking unit, which is used to collect cattle grazing information and transmit the grazing information to a monitoring terminal in the movable parking cabin, and the monitoring terminal is used to connect with the cattle farm information processing equipment;

[0011] The central controller controls the drone formation to drive the cattle to move in the following way:

[0012] Establish a coordinate system and mark each cow in the herd and each drone in the drone formation in the coordinate system;

[0013] Construct a rectangular frame according to the coordinates of each cow in the herd in the coordinate system, wherein the coordinate points corresponding to each cow in the herd are located in or on the border of the rectangular frame;

[0014] The remaining three edges of the opening in the rectangular frame corresponding to the direction of travel are solid edges;

[0015] The central controller controls the coordinates of the drones in the drone formation to be evenly distributed on the three entity edges, and obtains the drone formation formation for driving the cattle based on the three entity edges. The central controller controls each drone to be at a preset distance from the ground, and the central controller controls the drone formation to move toward the target grazing place or cattle farm in the drone formation formation.

[0016] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0017] This system can rely on drone formations to automatically drive cattle to target grazing locations, and drive cattle from target grazing locations to cattle farms, without the need for drone helmsmen and operators to operate, thus realizing unmanned automatic grazing.

[0018] After collecting cattle grazing information, the grazing information tracking unit transmits the collected information to the monitoring terminal in the movable parking cabin through a low-power short-distance transmission device for storage. After the movable parking cabin returns to the cattle farm, the monitoring terminal connects with the cattle farm information processing equipment and transmits the stored information to the cattle farm information processing equipment for processing. There is no need to transmit information over long distances, nor to install reading equipment at the cattle farm gate, which avoids reading failures and reduced efficiency in entering and exiting the cattle farm, and can achieve low-cost, efficient, and relatively complete cattle farm grazing information tracking and collection with data that is not easily lost and data collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation on the embodiments of the present invention;

[0020] Figure 1 A schematic diagram of the composition of an intelligent tracking system for cattle grazing information;

[0021] Figure 2 Schematic diagram of a drone formation forming a rectangular frame to drive cattle;

[0022] Among them, 1-the coordinate point corresponding to the drone in the coordinate system, 2-the coordinate point corresponding to the cow in the coordinate system, 3-the solid edge of the rectangular box, and 4-the opening edge of the rectangular box. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those within the scope of this description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0025] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0026] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0027] Embodiment 1;

[0028] Please refer to Figure 1 , Figure 1 The present invention provides a cattle farm grazing information intelligent tracking system, the system comprising:

[0029] A drone formation, wherein the drone formation includes a plurality of drones with a shooting function; wherein the drone formation in the embodiment of the present invention includes a plurality of drones, the number of which can be adjusted according to the size of the cattle herd to be grazed, and the embodiment of the present invention does not specifically limit the number of drones, and the drone in the embodiment of the present invention is a drone that can accept corresponding control instructions to fly and hover, and is usually an intelligent drone carrying a camera or a camera or a lens;

[0030] A movable parking cabin, the movable parking cabin is used to park the drones in the drone formation and provide charging services for the parked drones; the movable parking cabin is a movable carrier equipped with an intelligent drone parking cabin or parking equipment, etc. The movable carrier can be a remote-controlled intelligent unmanned vehicle or an intelligent electric vehicle or a corresponding device with a mobile function, usually an electric vehicle with an automatic driving function. In order to facilitate walking in the pastoral area, a mountain off-road vehicle can be selected. After the destination coordinate information is sent to the electric vehicle before grazing, the existing navigation system and intelligent driving system can be used to automatically move to the target grazing location or return to the parking area of ​​the cattle farm; for automatic navigation and intelligent driving, this part belongs to the existing technology of navigation and automatic driving, and the embodiments of the present invention will not be repeated accordingly. The drone parking cabin can refer to CN116513022A, CN114750970A, CN118744811A, etc., and the embodiments of the present invention will not be repeated accordingly. After the drone formation completes the driving of the cattle herd, it will fly to the movable parking cabin for parking and charging;

[0031] A central controller, the central controller is used to control the drone formation to drive the cattle from the cattle farm to the target grazing location after grazing begins and to control the movable parking cabin to move to the target grazing location, and to control the drone formation to park in the movable parking cabin after the cattle arrive at the target grazing location, and to control the drone formation to drive the cattle from the target grazing location to the cattle farm after grazing ends; the central controller is signal-connected to each drone in the drone formation, and is used to issue control instructions to each drone to control its flight, such as flight attitude, speed and direction, etc., and the central controller is also used to control the movement of the movable parking cabin;

[0032] A grazing information tracking unit, wherein the grazing information tracking unit is used to collect cattle grazing information and transmit the grazing information to a monitoring terminal in a movable parking cabin, and the monitoring terminal is used to connect with cattle farm information processing equipment; the grazing information tracking unit includes a plurality of collection terminals, and each cow corresponds to a collection terminal, wherein each collection terminal includes: a collection device, a communication device, a positioning device, and a power supply device. The collection device may include a device for collecting the physical state of the cattle, such as various physiological monitoring devices or sensors and health detection devices, etc. The communication device is a short-distance transmission device, such as Zigbee, WiFi, Bluetooth, Z-wave and other short-distance communication devices, etc., and the embodiments of the present invention will not be repeated accordingly. The positioning device may be a GPS or Beidou positioning device, and the power supply device may be a battery;

[0033] The central controller controls the drone formation to drive the cattle to move in the following way:

[0034] Establish a coordinate system and mark each cow in the herd and each drone in the drone formation in the coordinate system;

[0035] A rectangular frame is constructed according to the coordinates of each cow in the herd in the coordinate system, and the coordinate points corresponding to each cow in the herd are all located in the rectangular frame or on the border. Since the rectangular frame is constructed based on the coordinates of the cows at the outermost edge of the herd, the coordinate points of the cows will be partially in the rectangular frame and partially on the border of the rectangular frame;

[0036] The remaining three edges of the opening in the rectangular frame corresponding to the direction of travel are solid edges;

[0037] The central controller controls the coordinates of the drones in the drone formation to be evenly distributed on the three entity edges, and obtains the drone formation formation for driving the cattle based on the three entity edges. The central controller controls each drone to be at a preset distance from the ground, and the central controller controls the drone formation to move toward the target grazing place or cattle farm in the drone formation formation.

[0038] The working method of the system of the present invention is as follows: after the cattle are released from the cattle farm, the cattle farm staff inputs the place to be grazed today, i.e., the target grazing place, and the grazing time in the background, and then the central controller generates corresponding control instructions based on the target grazing place and sends them to the drone formation to control the flight of the drone formation. After the drone formation takes off from the movable parking cabin, the central controller controls the movable parking cabin to automatically move to the target grazing place. After the drone formation takes off, it takes a picture to obtain a ground image, identifies each cow in the cattle herd from the ground image, and then obtains the coordinates of each cow based on the constructed coordinate system, and then controls the drone formation to form a rectangular frame. Since the coordinate points corresponding to each cow in the cattle herd are all located in the rectangular frame or on the border, the rectangular frame formation forms an encirclement effect on the cattle herd. The central controller controls the coordinates of the drones in the drone formation to be evenly distributed on the three physical edges, forming a The purpose of this is to make the cattle be driven by the drone formation corresponding to the three entity sides, and the driving direction is to move toward the remaining side of the rectangular box, so as to form the effect of encircling the cattle and then driving the cattle in a direction. The drone formation formation for driving the cattle by the drone formation is obtained based on the three entity sides. The center line of the remaining side of the rectangular box minus the three entity sides in the formation is the driving direction of the formation, and the extension line of the center line passes through the target grazing place. The central controller controls each drone to have a preset distance value from the ground. If the distance is too low, it is easy to accidentally injure the cattle. If it is too high, the driving effect is reduced. Therefore, a suitable distance is needed. The specific distance can be adjusted according to actual needs. The embodiment of the present invention does not make specific limitations. The central controller controls the drone formation to move toward the target grazing place or cattle farm in the drone formation formation.

[0039] Among them, after the drone formation drives the cattle to the target grazing location, the drone formation is parked in a movable parking cabin. When the grazing time is up, the drone formation flies out of the movable parking cabin and drives the cattle to the cattle farm in the above manner. The movable parking cabin automatically drives back to the cattle farm, realizing unmanned automatic grazing without the need for drone helmsmen and operators.

[0040] To understand the drone formation driving cattle, please refer to Figure 2 , Figure 2 Schematic diagram of drone formation forming a rectangular frame to drive cattle pasture, Figure 2 In the figure, 1 is the coordinate point of the drone in the coordinate system, 2 is the coordinate point of the cow in the coordinate system, 3 is the solid edge of the rectangular frame, and 4 is the opening edge of the rectangular frame. Figure 2 The lines in the middle are the driving directions.

[0041] Among them, in the embodiment of the present invention, the drones in the drone formation obtain their respective real-time coordinate information and transmit the real-time coordinate information to the central controller;

[0042] The drone formation takes real-time photos to obtain images of the herd, and identifies the real-time coordinate information of each cow based on the herd image. The cow can be identified using the drone's built-in target recognition function or image processing software, and the coordinates of the cow can be obtained after identification.

[0043] Based on the real-time coordinate information of each cow, the maximum value x of the coordinate information of the cow in the x direction is obtained. max and the minimum value x min , get the maximum value y of the cow coordinate information in the y direction max and the minimum value y min ;

[0044] Maximum x max The corresponding coordinate point and the minimum value x min The line connecting the corresponding coordinate points is the first line, and the maximum value y max The corresponding coordinate point and the minimum value y min The connecting line between the corresponding coordinate points is the second line, and a rectangular frame is constructed with the first line as the length and the second line as the width or with the first line as the width and the second line as the length;

[0045] The line between the center point of the rectangular frame and the target grazing location or cattle farm is the third line, the edge in the rectangular frame intersecting with the third line is the open edge, and the other three edges in the rectangular frame are solid edges. The solid edge is used to drive the cattle, and the open edge is used for the driving direction and travel direction of the cattle.

[0046] Each cow in the herd is provided with a mark, which can be used to quickly identify the cow and distinguish different cows. The mark can be a stripe or a QR code or a number or a text or a color combination sprayed on the cow, which is not specifically limited in the embodiment of the present invention.

[0047] Among them, in the embodiment of the present invention, the system also includes a query unit and a positioning unit, the positioning unit is used to obtain the real-time location information of the cattle; the query unit is used to query and obtain the corresponding weather information based on the real-time location information of the cattle, and specifically can obtain the weather information of the corresponding location from the weather website based on the real-time location information; the central controller is also used to determine whether to generate a control instruction for controlling the drone formation to drive the cattle to move based on the weather information. If the weather shows that there will be rain or snow in the future, which is not suitable for grazing, the central controller generates a control instruction to end the grazing time in advance, and generates a control instruction to control the drone formation to end grazing and drive the cattle back to the cattle farm, so as to realize automatic and intelligent grazing based on weather and location to ensure the health of the cattle.

[0048] Among them, in an embodiment of the present invention, the system also includes a road information acquisition unit and a driving unit, the road information acquisition unit is used to obtain road position information; the driving unit is used to judge the real-time distance between the cattle herd and the road based on the road position information and the real-time position information of the cattle herd, and drive the cattle herd away if the real-time distance is less than a threshold. With the development of tourism, most pastoral areas are located in scenic spots or close to roads. Traffic accidents often occur in which cattle and sheep in pastoral areas collide with vehicles on the road, causing corresponding losses to tourists and herdsmen. In order to reduce the occurrence of such accidents and ensure safe grazing, this system is designed with a road information acquisition unit and a driving unit. The road information acquisition unit can be used to obtain road location information. For example, the coordinates and location information of the roads along the road can be queried from the highway website; the driving unit is used to judge the real-time distance between the cattle and the road based on the road location information and the real-time location information of the cattle. If the real-time distance is less than the threshold, the cattle are driven away. If the real-time distance is less than 50 meters or 100 meters, the cattle are driven away so that the cattle are kept away from the road as much as possible to ensure the safety of the cattle and highway traffic. The driving unit can be an audible and visual alarm, which generates sound and light to drive the cattle away after receiving the driving command.

[0049] Among them, in an embodiment of the present invention, the system also includes an alarm unit, which includes a number of alarms evenly distributed on both sides of the road, and the alarm is used to determine the straight-line distance between the cattle herd and the road based on the real-time position information of the cattle herd and its own position, and to issue an alarm when the straight-line distance is less than a set value, wherein the real-time position information of the cattle herd can be obtained through the positioning device worn by the cattle, and the set value can be adjusted according to actual needs, and the embodiment of the present invention does not make corresponding limitations.

[0050] In the embodiment of the present invention, the drone carries a sound and light drive, and the central controller is also used to control the opening and closing of the sound and light drive during the process of the drone formation driving the cattle. The sound and light drive can be a sound and light alarm, which emits sound and light to drive away cattle after being turned on.

[0051] Among them, in the embodiment of the present invention, the central controller controls the sound and light repellent in the following manner:

[0052] Based on the coordinate information of each cow corresponding to multiple consecutive moments from the current moment, the continuous coordinate set of each cow is obtained. The continuous coordinate set can be used to determine the movement distance of the cow at consecutive moments.

[0053] The movement distance of each cow is obtained based on the continuous coordinate set of each cow;

[0054] If the moving distance of the cattle is less than the threshold, the central controller controls the sound and light repellent corresponding to the drone with the smallest distance value from the cattle to start to repel the cattle; by comparing the moving distance with the threshold, it can be determined whether the cattle is moving or moving slowly. The threshold value can be adjusted according to actual needs, and the embodiment of the present invention does not make corresponding limitations;

[0055] After the preset time period, the sound and light repellent corresponding to the drone will be turned off.

[0056] Among them, the sound and light repellent can be fixed on the bottom of the drone, or suspended between the drone support frames through a bracket.

[0057] Among them, the applicant found that when the drone formation drove the cattle, some cattle would stay in place to eat grass or not move, causing the entire herd to drive slowly. Therefore, in order to achieve efficient and fast driving, the cattle that stayed in place to eat grass or did not move or moved slowly were driven by sound and light to speed up their movement. The specific method is:

[0058] First, the coordinates of the cow at multiple consecutive moments are obtained, and the coordinates of the cow at multiple consecutive moments are used to determine whether it is moving or moving slowly. If it is determined that it has not moved or is moving slowly, sound and light repellent is performed. Compared with drone repellent, the repellent effect is better and can make it move quickly. When it speeds up and reaches the normal speed, the corresponding sound and light repellent is turned off.

[0059] Among them, the drone formation in the present invention includes multiple drones, and some drones may malfunction during use. In order to ensure the normal operation of the formation, a spare drone is provided in the movable parking cabin. The central controller is also used to control the spare drone to replace the faulty drone and join the drone formation when a faulty drone appears in the drone formation. That is, after a faulty drone appears, the spare drone takes off and replaces the original faulty drone and joins the drone formation, so that the drone formation is restored to its original state. Among them, the specific control method is to obtain the number of the faulty drone, obtain the real-time position it should be in based on its number, and then control the spare drone to fly to the real-time position to realize drone replacement and supplement.

[0060] Among them, in order to achieve a better driving effect, under the influence of the drone driving, the system also includes a guiding unit, which is used to guide the cattle to move toward the destination, and the guiding unit includes a movable unit carrying a guide, and the guiding unit is used to guide the cattle to the target grazing place or cattle farm. The guiding unit includes a movable carrier or unit, such as an electric car that can drive automatically, and then a guide storage device is provided at the rear of the car, which can store licking bricks, water, fruits, etc. that the cattle like to eat, so as to attract the cattle to follow the guiding unit to move, so that the cattle can quickly move to the destination for grazing under the dual effects of driving and guiding.

[0061] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0062] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A cattle farm grazing information intelligent tracking system, characterized in that: The system comprises: A drone formation, wherein the drone formation includes a number of drones with a photographing function; A movable parking cabin, the movable parking cabin is used to park the drones in the drone formation and provide charging services for the parked drones; A central controller, the central controller is used to control the drone formation to drive the cattle from the cattle farm to the target grazing location and control the movable parking cabin to move to the target grazing location after grazing begins, and control the drone formation to park in the movable parking cabin after the cattle arrive at the target grazing location, and control the drone formation to drive the cattle from the target grazing location to the cattle farm after grazing ends; A grazing information tracking unit, which is used to collect cattle grazing information and transmit the grazing information to a monitoring terminal in the movable parking cabin, and the monitoring terminal is used to connect with the cattle farm information processing equipment; The central controller controls the drone formation to drive the cattle to move in the following way: Establish a coordinate system and mark each cow in the herd and each drone in the drone formation in the coordinate system; Construct a rectangular frame according to the coordinates of each cow in the herd in the coordinate system, wherein the coordinate points corresponding to each cow in the herd are located in or on the border of the rectangular frame; The remaining three edges of the opening in the rectangular frame corresponding to the direction of travel are solid edges; The central controller controls the coordinates of the drones in the drone formation to be evenly distributed on the three entity edges, and obtains the drone formation formation for driving the cattle based on the three entity edges. The central controller controls each drone to be at a preset distance from the ground, and the central controller controls the drone formation to move toward the target grazing place or cattle farm in the drone formation formation.

2. The cattle farm grazing information intelligent tracking system according to claim 1 is characterized by: The drones in the drone formation obtain their respective real-time coordinate information and transmit the real-time coordinate information to the central controller; The drone formation takes real-time photos to obtain images of the cattle herd, and identifies the real-time coordinate information of each cattle based on the images of the cattle herd; Based on the real-time coordinate information of each cow, the maximum value x of the coordinate information of the cow in the x direction is obtained. max and the minimum value x min , get the maximum value y of the cow coordinate information in the y direction max and the minimum value y min ; Maximum x max The corresponding coordinate point and the minimum value x min The line connecting the corresponding coordinate points is the first line, and the maximum value y max The corresponding coordinate point and the minimum value y min The connecting line between the corresponding coordinate points is the second line, and a rectangular frame is constructed with the first line as the length and the second line as the width or with the first line as the width and the second line as the length; The line between the center point of the rectangular frame and the target grazing location or cattle farm is the third line, the edge of the rectangular frame intersecting the third line is an open edge, and the remaining three edges of the rectangular frame are solid edges.

3. The cattle farm grazing information intelligent tracking system according to claim 1 is characterized in that: Each cow in the herd is marked with a label.

4. The cattle farm grazing information intelligent tracking system according to claim 1 is characterized in that: The system also includes a query unit and a positioning unit. The positioning unit is used to obtain real-time location information of the cattle herd; the query unit is used to query and obtain corresponding weather information based on the real-time location information of the cattle herd; and the central controller is also used to determine whether to generate a control instruction for controlling the drone formation to drive the cattle herd to move based on the weather information.

5. The cattle farm grazing information intelligent tracking system according to claim 4 is characterized in that: The system also includes a road information acquisition unit and a driving unit. The road information acquisition unit is used to obtain road position information; the driving unit is used to determine the real-time distance between the cattle herd and the road based on the road position information and the real-time position information of the cattle herd, and drive the cattle herd away if the real-time distance is less than a threshold.

6. The intelligent tracking system for cattle grazing information according to claim 4 is characterized in that: The system also includes an alarm unit, which includes a number of alarms evenly distributed on both sides of the road. The alarm is used to determine the straight-line distance between the cattle herd and the road based on the real-time position information of the cattle herd and its own position, and to issue an alarm when the straight-line distance is less than a set value.

7. The cattle farm grazing information intelligent tracking system according to claim 1 is characterized in that: The drone carries a sound and light repellent, and the central controller is also used to control the opening and closing of the sound and light repellent during the process of the drone formation repelling the cattle.

8. The cattle farm grazing information intelligent tracking system according to claim 7 is characterized in that: The central controller controls the sound and light repellent in the following manner: Obtaining a continuous coordinate set of each cow based on coordinate information corresponding to multiple consecutive moments from the current moment of each cow; The movement distance of each cow is obtained based on the continuous coordinate set of each cow; If the moving distance of the cow is less than the threshold, the central controller controls the sound and light drive corresponding to the drone with the smallest distance from the cow to start driving the cow away; After the preset time period, the sound and light repellent corresponding to the drone will be turned off.

9. The cattle farm grazing information intelligent tracking system according to claim 1 is characterized in that: A spare UAV is arranged in the movable parking cabin, and the central controller is also used for controlling the spare UAV to replace the faulty UAV and join the UAV formation when a faulty UAV appears in the UAV formation.

10. The cattle farm grazing information intelligent tracking system according to claim 1, characterized in that: The system further comprises a guiding unit, which comprises a movable unit carrying a guide, and is used for guiding the cattle to a target grazing location or cattle farm.

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