Integrated yaks breeding system

Abstract

The application relates to an integrated yak breeding system, which comprises a first conveying module, a rigid support plate, an electric cleaning scraper, a second conveying module and two groups of reciprocating pushers. The first conveying module is arranged on the ground of a breeding area, the rigid support plate is sequentially arranged on the first conveying module, the electric cleaning scraper is arranged at the end of the first conveying module, the second conveying module is used for conveying the rigid support plate from the end of the first conveying module to the beginning of the first conveying module, and the two groups of reciprocating pushers are arranged at the transition positions of the first conveying module and the second conveying module respectively. The electric cleaning scraper is used for removing attachments on the rigid support plate, and a connecting sealing structure is arranged on the two connecting end faces of the rigid support plate. The integrated yak breeding system disclosed by the application can collect excrement generated in the winter fattening process of yaks through an automatic high-load collection mode. The mode has the advantages of low maintenance cost and convenient use, and is suitable for plateau breeding scenes.

Description

Technical Field

[0001] This application relates to the field of modern animal husbandry technology, and in particular to integrated yak breeding systems. Background Technology

[0002] In high-altitude areas, yaks suffer from severe nutritional deficiencies due to significantly reduced pasture yield and quality during the cold season, resulting in substantial weight loss. To improve yak health and efficiency and promote winter fattening, indoor farming methods are necessary, and a certain scale is required to reduce farming costs. One challenge of large-scale farming is waste management. For example, a single yak produces 20-30 kilograms of manure per day. In centralized farming, proper treatment is essential to prevent direct environmental impact.

[0003] Excrement management includes two parts: collection and treatment. Existing automated collection methods include automatic scrapers, conveyor belts, and automated robots. Automatic scrapers require water washing, which is not suitable for low winter temperatures and water shortages in high-altitude areas. Conveyor belts have limited load-bearing capacity and have been damaged when carrying yaks. Automated robots have limited load capacity and also have maintenance issues, making them unsuitable for high-altitude applications.

[0004] In some scenarios, manual collection is used for processing. This method is labor-intensive and requires close contact with yaks, which poses certain risks.

[0005] In terms of processing, current methods include dry manure cleaning + composting / biogas slurry and solid-liquid separation + deep treatment, but these methods still present certain challenges in the low-temperature environment of high-altitude winters. Summary of the Invention

[0006] This application provides an integrated yak breeding system that uses an automated, high-capacity collection method to collect the excrement produced by yaks during winter fattening. This method has the advantages of low maintenance cost and ease of use, and is suitable for high-altitude breeding scenarios.

[0007] The above-mentioned objective of this application is achieved through the following technical solution: This application provides an integrated yak farming system, including: The first transport module is located on the ground in the breeding area, and the first transport module has a starting end and an ending end. Rigid support plates are placed sequentially on the first transport module; An electric cleaning scraper is located at the end of the first transport module. The electric cleaning scraper is used to remove the deposits on the rigid support plate. The second transport module is used to transport the rigid support plate from the end of the first transport module to the beginning of the first transport module; Two sets of reciprocating pushers are respectively located at the transition position between the first transport module and the second transport module; The rigid support plate has a connection sealing structure on both connecting end faces.

[0008] In one possible implementation of this application, the first transport module includes: Multiple sets of transport wheels are arranged sequentially along the direction of movement of the rigid support plate; The drive unit connects to the transport wheelset. Each set of transport wheels is connected to at least one drive unit.

[0009] In one possible implementation of this application, a regeneration module for regenerating attachments on a rigid support plate is also included, the regeneration module comprising: The air separator and the collection chamber are located inside the collection chamber, which contains two independent compartments. The collection channel has one end located at the electric cleaning scraper and the other end extending into the top of one of the independent compartments inside the collection chamber.

[0010] In one possible implementation of this application, a laying module is also included, which comprises: silos; The conveyor auger has its input end connected to the hopper and its output end being a closed end. The electrically controlled valve is located on the outer casing of the transport auger.

[0011] In one possible implementation of this application, the bottom surface of the rigid support plate is provided with protrusions at intervals, and the transport roller of the first transport module is provided with guide grooves that match the protrusions; The raised surface is also equipped with an elastic anti-slip layer.

[0012] In one possible implementation of this application, a sorter is also provided at the electric cleaning scraper, which is used to classify the attachments on the rigid support plate; The sorting unit includes: An image acquisition controller is used to acquire images of the attachments on a rigid support plate and classify the attachments. The longitudinal moving module operates in a direction perpendicular to the working direction of the electric cleaning scraper. The electric telescopic pole is installed on the longitudinal movement module; The separation plate is located on the telescopic end of the electric telescopic pole.

[0013] In one possible implementation of this application, the image acquisition controller acquires images of the attachments on the rigid support plate and classifies the attachments, including: Acquire images of the attachments covering the rigid support plate, and record them as the analysis images; The selected region is obtained by dividing the analyzed image into regions based on the electric cleaning scraper. Identify characteristic objects within the selected area; Continuous tracking of feature objects, recording the deformation of feature objects over time series; Based on deformation, feature objects are divided into fuel-type feature objects and fertilizer-type feature objects.

[0014] In one possible implementation of this application, determining the feature object within the selected region includes: The selected region is divided into regions to obtain sub-selected regions distributed in an array; Calculate the texture features of the sub-selected regions and group the sub-selected regions according to the texture features. Sub-selected regions in the same group have the same texture features. Determine the characteristic objects based on the grouping; When multiple texture features exist in a sub-selection region, the sub-selection region is further divided into regions and then grouped.

[0015] In one possible implementation of this application, continuously tracking and recording the deformation of the feature object over time includes: Determine the movement trajectory of the feature object within the selected area; Determine the outline of the feature object at multiple locations along the movement trajectory; By comparing the contours of feature objects over a time series, the amount of change in the contours of feature objects can be determined.

[0016] In one possible implementation of this application, after determining the feature objects within the selected area, it is also necessary to determine the height of the feature objects and filter the feature objects based on their height. Feature objects whose height is less than or equal to the set height will be discarded. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of an integrated yak breeding system provided in this application.

[0018] Figure 2 Based on Figure 1 A structural diagram after the rigid support plate has been removed.

[0019] Figure 3 This is a schematic diagram showing the relative positions of a rigid support plate and an electric cleaning scraper provided in this application.

[0020] Figure 4This is a schematic diagram of the working trajectory of an electric cleaning scraper provided in this application.

[0021] Figure 5 This is a structural schematic diagram of a regeneration module provided in this application.

[0022] Figure 6 This is a structural schematic diagram of a laying module provided in this application.

[0023] Figure 7 This is a structural schematic diagram of an electrically controlled valve provided in this application.

[0024] Figure 8 This is a schematic diagram illustrating the principle of anti-slip between a first transport module and a rigid support plate provided in this application.

[0025] Figure 9 This is a schematic diagram illustrating the principle of obtaining a selected area, as provided in this application.

[0026] Figure 10 This is a schematic diagram illustrating the principle of using a region division method to determine feature objects, as provided in this application.

[0027] Figure 11 This is a schematic diagram of the change in the contour of a feature object provided in this application.

[0028] In the diagram, 1. First transport module, 2. Rigid support plate, 3. Electric cleaning scraper, 4. Second transport module, 5. Reciprocating pusher, 6. Regeneration module, 7. Laying module, 8. Sorter, 11. Transport wheel set, 12. Driver, 13. Guide groove, 21. Connecting sealing structure, 22. Protrusion, 23. Elastic anti-slip layer, 61. Air separator, 62. Collection bin, 63. Collection channel, 71. Hopper, 72. Transport auger, 73. Electrically controlled valve, 81. Image acquisition controller, 82. Longitudinal movement module, 83. Electric telescopic rod, 84. Separation plate. Detailed Implementation

[0029] To better understand the technical solution of this application, the relevant technologies will be introduced first.

[0030] Water supply is one of the core challenges in ensuring the sustainable development of animal husbandry for yak farming on the plateau. Natural water sources in high-altitude and cold regions are constrained by factors such as seasonal freezing, high water mineralization, and uneven distribution. Limited water supply for yaks is required. Currently, methods used include constant temperature drinking water systems and insulated water cellars, while water circulation systems are added to solve the problem of pipe freezing.

[0031] Transportation costs in high-altitude areas (such as the Qinghai-Tibet Plateau) are significantly higher than in plains areas, mainly due to factors such as geographical environment, climate conditions, and infrastructure. These costs are primarily manifested in practical issues such as increased fuel consumption, high vehicle maintenance costs, high personnel and safety costs, and limited infrastructure.

[0032] If flushing is used for cleaning, there are problems with insufficient water resources and freezing, which makes the cost of flushing too high, and current aquaculture methods cannot afford it.

[0033] Based on the information described in the background art, the solution provided in this application is to use cow manure biochar, activated carbon, rice straw, etc. to lay on the ground of the breeding area to form an isolation layer. This isolation layer has strong water absorption and deodorization capabilities, which can perform basic treatment of excrement, while also increasing the ground temperature of the breeding area and reducing the odor of the breeding area to a certain extent, thereby reducing the ventilation frequency and improving the temperature retention capacity of the breeding area.

[0034] The isolation layer is movable. After being moved to an area outside the breeding area, the isolation layer is sorted. Some of the unused isolation layer is reused. The yak manure is sorted into fuel manure and treatment manure. The fuel manure is used as fuel, and the treatment manure and the remaining isolation layer are transported to a processing plant to make yak manure biochar. The yak manure biochar can be returned to the breeding area for use.

[0035] In summary, the technical solution provided in this application realizes the comprehensive utilization of yak manure, reduces transportation costs (by reducing the amount and frequency of transportation), and also enables the recycling of yak manure. Furthermore, this treatment method consumes almost no water resources, thus reducing water demand in the low-temperature environment of the plateau.

[0036] The technical solutions in this application will be further described in detail below with reference to the accompanying drawings.

[0037] This application discloses an integrated yak breeding system. In some examples, the integrated yak breeding system disclosed in this application includes a first transport module 1, a rigid support plate 2, an electric cleaning scraper 3, a second transport module 4, and a reciprocating pusher 5.

[0038] Please see Figure 1 and Figure 2 The first transport module 1 is set up in the breeding area ( Figure 1 The dotted area in the text represents the activity area of ​​yaks. The two ends of the first transport module 1 are called the beginning and the end, respectively. Rigid support plates 2 are placed sequentially on the first transport module 1 to form the ground. The isolation layer mentioned above is laid on the ground composed of rigid support plates 2.

[0039] The function of the first transport module 1 is to drive the rigid support plate 2 to move from the beginning to the end of the first transport module 1. During this process, the isolation layer moves along with the ground formed by the rigid support plate 2. Yaks move on the ground formed by the rigid support plate 2. Solid excrement produced by yaks in the breeding area falls on the isolation layer, and liquid excrement falling on the isolation layer is absorbed by the isolation layer.

[0040] In some examples, the first transport module 1 includes a rotating roller and a drive motor installed on the ground in the breeding area, with the drive motor connected to and transmitting power to the rotating roller via a chain.

[0041] Please see Figure 3 and Figure 4 The electric cleaning scraper 3 is located at the end of the first transport module 1 and is used to remove the attachments on the rigid support plate 2.

[0042] The second transport module 4 is used to transport the rigid support plate 2 from the end of the first transport module 1 to the beginning of the first transport module 1. The structure of the second transport module 4 is the same as that of the first transport module 1.

[0043] Two sets of reciprocating pushers 5 are respectively located at the transition position between the first transport module 1 and the second transport module 4, responsible for transferring the rigid support plate 2 between the first transport module 1 and the second transport module 4. Through the first transport module 1, the second transport module 4, and the two sets of reciprocating pushers 5, a loop can be formed, allowing the rigid support plate 2 to be reused repeatedly. The purpose of this loop is to regenerate and process the isolation layer without affecting the normal activities of the yak.

[0044] Specifically, the first transport module 1 and the second transport module 4 are arranged in parallel, and the reciprocating pusher 5 is responsible for pushing the rigid support plate 2 on the first transport module 1 onto the second transport module 4 and pushing the rigid support plate 2 on the second transport module 4 onto the first transport module 1.

[0045] The electric cleaning scraper 3 is fixedly installed and located on the movement trajectory of the rigid support plate 2 when it is pushed, and is responsible for removing the isolation layer on the rigid support plate 2.

[0046] A connection sealing structure 21 is provided on both connecting end faces of the rigid support plate 2. The function of the connection sealing structure 21 is to improve the sealing between the two adjacent rigid support plates 2 and prevent leakage.

[0047] There are two ways to replace the rigid support plate 2. The first way is centralized replacement, and the second way is continuous replacement. Centralized replacement refers to replacing the rigid support plate 2 located in the breeding area at a specific time. Continuous replacement replaces the rigid support plate 2 located in the breeding area at a set frequency.

[0048] In the first method, the initial fixing of the rigid support plate 2 is achieved by manually pushing to connect the sealing structure 21 between two adjacent rigid support plates 2, or by using a cylinder or electric cylinder. In the second method, the initial fixing of the rigid support plate 2 requires the use of a cylinder or electric cylinder, because it is not possible to assign a dedicated person to perform continuous work at this location.

[0049] The isolation layer on the rigid support plate 2 needs to be initially regenerated, specifically through the regeneration module 6. Please refer to [link / reference needed]. Figure 5 The regeneration module 6 includes an air separator 61, a collection chamber 62, and a collection channel 63. The air separator 61 is located inside the collection chamber 62, which contains two independent compartments. The first end of the collection channel 63 is located at the electric cleaning scraper 3, and the second end extends into the top of one of the independent compartments inside the collection chamber 62.

[0050] When the isolation layer on the rigid support plate 2 falls into the collection chamber 62, its movement trajectory is from top to bottom. The wind force blown out by the wind separator 61 is in the horizontal direction. Through the wind force, the used isolation layer can enter the first independent chamber, and the unused isolation layer can enter the second independent chamber.

[0051] If the isolation layer is stepped on during use, it will harden into lumps. These lumps cannot be used and will not be screened out. Only the loose isolation layer will be screened out. Isolation layers that have been soaked in liquid excrement will also not be screened out because these isolation layers are heavier and tend to clump together.

[0052] In some examples, please refer to Figure 6 and Figure 7 A laying module 7 was added, which includes a hopper 71, a conveying auger 72 and an electrically controlled valve 73. The hopper 71 is used to store the isolation layer that can be used directly. The input end of the conveying auger 72 is connected to the hopper 71 and is used to transport the isolation layer. The output end of the conveying auger 72 is a closed end.

[0053] An electrically controlled valve 73 is installed on the outer casing of the transport auger 72, enabling the transport auger 72 to be opened and closed. When the laying module 7 is in operation, the transport auger 72 starts first. The method used here is to operate at fixed intervals to ensure that the isolation layer can fill the internal space of the transport auger 72.

[0054] After the first fixed time period ends, the electrically controlled valve 73 opens, and the conveyor auger 72 restarts, causing the isolation layer inside the conveyor auger 72 to be evenly distributed onto the rigid support plate 2 below. After this fixed time period ends, the conveyor auger 72 stops working, and the electrically controlled valve 73 closes.

[0055] As described above, the transport auger 72 only needs to be started twice during the first startup, and only once during subsequent startups.

[0056] In some examples, please refer to Figure 8 Protrusions 22 are added at intervals on the bottom surface of the rigid support plate 2. At the same time, a guide groove 13 matching the protrusions 22 is provided on the transport roller of the first transport module 1. The function of the protrusions 22 is to be inserted into the guide groove 13 to prevent the rigid support plate 2 from shaking.

[0057] In some possible implementations, an elastic anti-slip layer 23 is added to the surface of the protrusion 22. The elastic anti-slip layer 23 is generally made of rubber. The elastic anti-slip layer 23 can provide elastic deformation and friction, which can prevent relative sliding of the rigid support plate 2 during movement and reduce the swaying of the rigid support plate 2 when it is not moving.

[0058] In some examples, a sorter 8 is added to the electric cleaning scraper 3. The sorter 8 is used to classify the deposits on the rigid support plate 2, that is, to separate yak dung into fuel-type dung and treatment-type dung. The sorter 8 consists of four parts: an image acquisition controller 81, a longitudinal movement module 82, an electric telescopic rod 83, and a separation plate 84.

[0059] The image acquisition controller 81 is used to acquire images of the attachments on the rigid support plate 2 and classify the attachments. The longitudinal movement module 82 works in a direction perpendicular to the working direction of the electric cleaning scraper 3, and its function is to drive the electric telescopic rod 83 and the separation plate 84 to move.

[0060] The electric telescopic pole 83 is fixedly installed on the longitudinal moving module 82, and the separation plate 84 is fixedly installed on the telescopic end of the electric telescopic pole 83.

[0061] The purpose of using both the longitudinal movement module 82 and the electric telescopic rod 83 here is to adjust the angle. The axis of the longitudinal movement module 82 and the axis of the electric telescopic rod 83 are not on the same straight line. When the longitudinal movement module 82 moves, it can drive the electric telescopic rod 83 to move closer to the rigid support plate 2.

[0062] Next, the electric telescopic rod 83 drives the separation plate 84 to scoop up the attached material on the rigid support plate 2.

[0063] There are two collection methods on the separation plate 84. The first method is to use manual collection, such as the method of replacing the isolation layer every few days in the solution provided in this application. The second method is to use automated collection, in which case a rotating motor needs to be added between the electric telescopic rod 83 and the separation plate 84, and the connection method between the electric telescopic rod 83 and the separation plate 84 is changed to a rotating connection.

[0064] After the longitudinal moving module 82 drives the electric telescopic rod 83 and the separation plate 84 to reset, the separation plate 84 flips over, and the objects on the separation plate 84 fall into the collection bucket below.

[0065] The image acquisition controller 81 acquires images of the attachments on the rigid support plate 2 and classifies the attachments in the following specific way: S101, acquire an image of the attachments on the rigid support plate 2, and record it as the analysis image; S102, the analysis image is divided into regions according to the electric cleaning scraper 3 to obtain the selected region; S103, Determine the feature object within the selected area; S104, continuously track the feature object and record the deformation of the feature object in the time series; S105, based on deformation, the feature objects are divided into fuel type feature objects and fertilizer type feature objects.

[0066] In steps S101 to S105, images of the attachments covering the rigid support plate 2 are first acquired. Please refer to [link / reference]. Figure 9 Then, the analysis image is divided into regions according to the electric cleaning scraper 3 to obtain the selected region. The reason for dividing the analysis image into regions according to the electric cleaning scraper 3 is that when the electric cleaning scraper 3 comes into contact with the attached material, the attached material will be subjected to force and deform.

[0067] This deformation occurs near the electric cleaning scraper 3, so the analysis image needs to be divided into regions based on the electric cleaning scraper 3.

[0068] This can also be described as dividing the area on the analysis image into a processing area and an unprocessed area based on the electric cleaning scraper 3. Since the influence range of the electric cleaning scraper 3 is limited, no subsequent processing steps are required for the unprocessed area.

[0069] After determining the selection area, the feature object is identified within the selection area. Here, the feature object refers to the yak dung mentioned earlier. Then, the feature object is continuously tracked, and its deformation over time is recorded.

[0070] The deformation variable of the feature object here is used to quantify the degree of deformation of yak dung when it is compressed. Finally, based on the deformation variable, the feature objects are divided into fuel-type feature objects and fertilizer-type feature objects.

[0071] Here, the distinction between fuel-type and fertilizer-type feature objects is based on their moisture content. If the moisture content is high, the feature object is classified as a fertilizer-type feature object; otherwise, it is classified as a fuel-type feature object.

[0072] The specific method for identifying feature objects within the selected region is as follows: The selected region is divided into regions to obtain sub-selected regions distributed in an array; Calculate the texture features of the sub-selected regions and group the sub-selected regions according to the texture features. Sub-selected regions in the same group have the same texture features. Determine the characteristic objects based on the grouping; When multiple texture features exist in a sub-selection region, the sub-selection region is further divided into regions and then grouped.

[0073] The above method identifies feature objects based on texture features, as the texture features of yak dung, insulating layers, etc., are clearly distinguishable. Region segmentation is also used here. Figure 10 The method shown is used to determine the specific location of the feature object, because only the approximate location of the feature object needs to be determined when removing it.

[0074] When multiple texture features exist in a sub-selection region, the sub-selection region is further divided into groups. This step is generally performed only once, and its purpose is to determine the location of some edges of the feature objects.

[0075] The specific method for continuously tracking and recording the deformation of feature objects over time series is as follows: S201, Determine the movement trajectory of the feature object within the selected area; S202, Determine the outline of the feature object at multiple locations on the movement trajectory; S203, compare the contours of feature objects over time series to determine the amount of change in the contours of feature objects.

[0076] In steps S201 to S203, the amount of change in the contour of the feature object is determined by studying the contour changes of the feature object. This is because when the moisture content of the feature object is high, it is prone to deformation when subjected to compression. Figure 11 As shown.

[0077] Specifically, the reference direction for determining the amount of change in the contour of the feature object is parallel to the moving direction of the electric cleaning scraper 3. When the amount of change in the contour of the feature object in this direction exceeds a set value, the feature object is marked as a fertilizer-type feature object.

[0078] This specific value can be a fixed value or a proportional value (the maximum length or maximum width of the feature object parallel or perpendicular to the moving direction of the electric cleaning scraper 3). The specific value needs to be set according to the situation of the farm, the classification ratio, and the requirements, etc. There are no restrictions here.

[0079] In some possible implementations, after identifying the feature objects within the selected area, it is also necessary to determine the height of the feature objects and filter them based on their height. Feature objects whose height is less than or equal to the set height will be discarded.

[0080] The height of feature objects is generally calculated using binocular vision algorithms, which is existing technology and will not be elaborated here. The reason for filtering feature objects by height is to remove some feature objects with high water content in advance.

[0081] It should be understood that when yak dung has a high water content, its hardness decreases, resulting in insufficient ability to maintain its shape, and its height gradually decreases over time. For yak dung with high water content, it can be screened directly by height, without needing to use deformation methods for judgment. The height value here is a value set according to the situation and is not limited here.

[0082] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An integrated yak breeding system, characterized in that, include: The first transport module (1) is located on the ground of the breeding area. The first transport module (1) has a starting end and an ending end. Rigid support plates (2) are placed sequentially on the first transport module (1); An electric cleaning scraper (3) is provided at the end of the first transport module (1). The electric cleaning scraper (3) is used to remove the deposits on the rigid support plate (2). The second transport module (4) is used to transport the rigid support plate (2) from the end of the first transport module (1) to the beginning of the first transport module (1); Two sets of reciprocating pushers (5) are respectively located at the transition position between the first transport module (1) and the second transport module (4); Among them, a connection sealing structure (21) is provided on both connection end faces of the rigid support plate (2). It also includes a sorter (8) located at the electric cleaning scraper (3), which is used to classify the attachments on the rigid support plate (2); The sorter (8) includes: Image acquisition controller (81) is used to acquire images of the attachments on the rigid support plate (2) and classify the attachments; The longitudinal moving module (82) operates in a direction perpendicular to the working direction of the electric cleaning scraper (3); An electric telescopic rod (83) is mounted on the longitudinal movement module (82); A separation plate (84) is provided on the telescopic end of the electric telescopic rod (83); The image acquisition controller (81) acquires images of the attachments on the rigid support plate (2) and classifies the attachments, including: Acquire an image of the attachments on the rigid support plate (2) and record it as the analysis image; The image is divided into regions based on the electric cleaning scraper (3) to obtain the selected region; Identify characteristic objects within the selected area; Continuous tracking of feature objects, recording the deformation of feature objects over time series; Based on deformation, feature objects are divided into fuel-type feature objects and fertilizer-type feature objects; Identifying characteristic objects within the selected region includes: The selected region is divided into regions to obtain sub-selected regions distributed in an array; Calculate the texture features of the sub-selected regions and group the sub-selected regions according to the texture features. Sub-selected regions in the same group have the same texture features. Determine the characteristic objects based on the grouping; When multiple texture features exist in a sub-selection region, the sub-selection region is further divided into regions and then grouped. Continuously tracking and recording the deformation of feature objects over time includes: Determine the movement trajectory of the feature object within the selected area; Determine the outline of the feature object at multiple locations along the movement trajectory; By comparing the contours of feature objects over a time series, the amount of change in the contours of feature objects can be determined.

2. The integrated yak breeding system according to claim 1, characterized in that, The first transport module (1) includes: Multiple sets of transport wheel sets (11) are arranged sequentially along the moving direction of the rigid support plate (2); The drive unit (12) is connected to the transport wheel assembly (11); Each set of transport wheels (11) is connected to at least one drive (12).

3. The integrated yak breeding system according to claim 1, characterized in that, It also includes a regeneration module (6) for regenerating deposits on the rigid support plate (2), the regeneration module (6) comprising: The air separator (61) and the collection chamber (62) are located inside the collection chamber (62), which contains two independent compartments. The collection channel (63) has its first end located at the electric cleaning scraper (3) and its second end extending into the upper part of one of the independent compartments inside the collection chamber (62).

4. The integrated yak breeding system according to claim 1 or 3, characterized in that, It also includes a laying module (7), which includes: hopper (71); The conveying auger (72) has its input end connected to the hopper (71) and its output end is a closed end. An electrically controlled valve (73) is located on the outer casing of the transport auger (72).

5. The integrated yak breeding system according to claim 1, characterized in that, The bottom surface of the rigid support plate (2) is provided with protrusions (22) spaced apart, and the transport roller of the first transport module (1) is provided with guide grooves (13) that match the protrusions (22). An elastic anti-slip layer (23) is also provided on the surface of the protrusion (22).

6. The integrated yak breeding system according to claim 1, characterized in that, After identifying the feature objects within the selected area, it is also necessary to determine the height of the feature objects and filter them based on their height. Feature objects whose height is less than or equal to the set height will be discarded.

Images