A stray cat intelligent patrol and trapping transfer vehicle based on TNR and a control method thereof

Abstract

The present application relates to the technical field of intelligent TNR equipment, and particularly relates to a stray cat intelligent patrol and trapping transfer vehicle based on TNR and a control method thereof, which comprises a mobile chassis, a detachable trapping cabin, a cabin door, an AI visual recognition module and a control module. The detachable trapping cabin is detachably installed on the mobile chassis through a locking mechanism and is suitable for being used as a transfer container after being separated. The AI visual recognition module collects environmental images and judges whether a target cat has completed sterilization. The control module controls the mobile chassis to autonomously patrol, controls the mobile chassis to approach and open the cabin door to induce the cat to enter the trapping cabin when the target cat has not completed sterilization, and controls the cabin door to be closed after detecting that the cat has completely entered. The device can reduce manual duty, lock the unsterilized target through AI recognition, the trapping cabin can be directly detached for transfer, and the cat is prevented from being transferred twice.

Description

Technical Field

[0001] This invention relates to the field of intelligent TNR equipment technology, and in particular to an intelligent patrol, trapping and transport vehicle for stray cats based on TNR and its control method. Background Technology

[0002] TNR, or Traps, Neuter, and Reintegration, is a common method for managing stray cats in cities. The basic process is as follows: stray cats are captured, taken to an animal hospital for neutering surgery, and then released back into their original habitat to control the uncontrolled breeding of stray cats.

[0003] Currently, the capture phase of TNR (Trap-Return-to-Nest) operations mainly relies on manual labor. A common method involves volunteers or rescuers placing traditional trap cages in areas where stray cats are active, with food inside as bait. The cats then enter and step on a trigger to close the cage door. This method has the following drawbacks: Firstly, traditional traps lack the ability to move independently, requiring manual transport to the target area and fixed placement. Staff need to monitor the area on-site or nearby, consuming significant time and manpower. When stray cats are scattered throughout the target area, the coverage of a single trap is limited, necessitating the deployment of multiple traps and the assignment of personnel to oversee them.

[0004] Secondly, traditional trap cages lack stray cat identification capabilities, making it impossible to determine whether the cats entering the cage are spayed or neutered. In practice, spayed or neutered cats are frequently captured repeatedly, requiring staff to open the cage doors on-site to release them. This process increases stress on the cats and wastes limited resources. Furthermore, the inability to distinguish between targets also leads to the accidental capture of non-target animals.

[0005] Third, after capturing cats using traditional traps, the cats usually need to be transferred from the traps to specialized transport cages before being sent to an animal hospital. During the transfer process, the cats are prone to panic and struggle due to changes in the environment and human handling, which can lead to escape or injury. This also increases the risk of staff being scratched or bitten. Summary of the Invention

[0006] To address the technical problems existing in the prior art, this invention provides a TNR-based intelligent patrol, trapping, and transport vehicle for stray cats and its control method. This vehicle can autonomously patrol and identify the sterilization status of stray cats, automatically trapping unsterilized target cats. After trapping, the entire trapping cabin can be detached and used directly for transport, reducing reliance on manual patrols and on-site monitoring during TNR operations, and lowering stress responses and the risk of secondary transfers for cats during trapping and transport.

[0007] This invention discloses a TNR-based intelligent patrol, trapping, and transport vehicle for stray cats, comprising: A mobile chassis with autonomous mobility, used for patrolling target areas; A detachable trap chamber is detachably mounted to the mobile chassis via a locking mechanism; the detachable trap chamber is used to contain cats and is adapted to be used as a transport container after being separated from the mobile chassis. The hatch is located on the detachable trapping chamber; The AI ​​visual recognition module is used to collect environmental images and identify stray cat targets to determine whether the target cat has been spayed or neutered. The control module is located inside the mobile chassis and is connected to the mobile chassis, the hatch, and the AI ​​visual recognition module, respectively. The control module is configured to: control the mobile chassis to patrol autonomously; based on the judgment result of the AI ​​visual recognition module, control the mobile chassis to approach the unneutered target cat and control the hatch to open to induce the target cat into the detachable trapping chamber; and in response to detecting that the target cat has completely entered the detachable trapping chamber, control the hatch to close.

[0008] It is understood that the intelligent patrol and trapping transport vehicle for stray cats based on TNR (Trap-Neuter-Release) of the present invention consists of two main parts: a mobile chassis and a detachable trapping compartment. The mobile chassis is responsible for the autonomous movement and load-bearing function of the equipment, while the detachable trapping compartment is responsible for the containment and transport of stray cats. The two are detachably connected by a locking mechanism. The interrelationship and working process between the various technical features are described in detail below.

[0009] Regarding the structural relationship between the mobile chassis and the trapping cabin, the mobile chassis has multiple drive wheels at its bottom, which are connected to the chassis frame via a steering and lifting mechanism. The mobile chassis integrates a drive motor, power module, and control module. The drive motor provides power to the drive wheels, enabling the mobile chassis to move autonomously along a preset route in areas such as community roads, green belt edges, and narrow alleys. The control module, connected to the drive motor, controls the mobile chassis's forward, backward, turning, and obstacle avoidance movements. The detachable trapping cabin is positioned on top of the mobile chassis, connected by a locking mechanism. Specifically, the locking mechanism's connecting parts are located at the bottom of the detachable trapping cabin and the top of the mobile chassis. When the connecting parts are locked, the detachable trapping cabin is fixed to the mobile chassis, remaining stable during patrol, trapping operations, and transportation, preventing displacement or loosening due to road bumps or equipment turning. When it is necessary to transfer the trapped cats, staff simply need to release the locking mechanism to detach the detachable trapping cabin from the mobile chassis. Since the cats remain inside the detachable trap during the trapping process, the detachable trap can be used directly as a transfer container, eliminating the need to transfer the cats from the trapping device to other cages. This reduces stress on the cats due to environmental changes and also lowers the risk of staff being scratched or bitten during the transfer.

[0010] Regarding the structure and opening / closing control of the hatch, as a key component of the trapping function, the hatch is installed on the detachable trapping cabin and is used to close or open the internal space of the cabin. In this embodiment, the hatch is a double-sided hatch, located on both sides of the detachable trapping cabin. The reason for using double-sided hatches is that during trapping, both hatches can open simultaneously towards the center, increasing the passage area for the cat to enter. The cat can enter from either side, reducing the restriction on the cat's movement direction during trapping. When the detachable trapping cabin is used as a transport container, both hatches are closed and locked, effectively preventing the cat from escaping during transport. The opening and closing of the hatch is controlled by the control module through a linkage opening and closing mechanism. The linkage opening and closing mechanism includes a drive component, a connecting rod, a hinged support, and a door panel connector. The drive component is driven to the hinged support via the connecting rod, the hinged support is connected to the door panel connector, and the door panel connector is fixedly connected to the hatch. When the control module issues an open command, the drive unit activates the linkage, transmitting the motion to the door panel connector via the rotation of the hinged support, causing both side doors to open outwards synchronously. When the control module issues a close command, the drive unit reverses its action, causing both side doors to close smoothly and synchronously. Compared to traditional trap cages that rely on springs or gravity to trigger door closing, this linkage transmission makes the door opening and closing process smoother, reducing noise and impact on the cats when closing, and minimizing the fear and stress response the cats experience when suddenly the door closes upon entering the enclosure.

[0011] Regarding the AI ​​visual recognition module's recognition process, it is located at the front of the mobile chassis or detachable trapping chamber, used to collect image information of the environment and stray cats in front of the device. During the device's autonomous patrol, the AI ​​visual recognition module continuously collects images of the area in front, and the control module processes the collected images in real time, first determining whether a feline target is present in the image. After identifying a feline target, the control module further detects the ear features of the target cat, specifically checking for ear tag notches. Following TNR (Trap-Neuter-Return) practices, spayed / neutered stray cats typically have a notch in their ear as a neutering marker. Therefore, the control module determines whether the target cat has undergone spaying / neutering surgery by checking for the presence of this notch. If a notch is present, the cat is identified as spayed / neutered, and the device records the cat's activity information and continues patrolling; if no notch is present, the cat is identified as not spayed / neutered, and the device enters the trapping process. Thus, the device can simultaneously complete target screening during patrol, eliminating the need for manual on-site observation and judgment, reducing the workload of manual patrols, and lowering the risk of misjudgments and missed detections due to insufficient human experience.

[0012] Regarding the control logic of the control module and the coordination process of each module, after target identification is completed, the control module is responsible for coordinating the subsequent trapping actions of each module. The control module is located inside the mobile chassis and is connected to the chassis's drive system, the door's linkage opening and closing mechanism, and the AI ​​visual recognition module, serving as the core control unit of the entire device. The following describes the coordination process of each module in five stages: patrolling, trapping triggering, induced entry, locking and closing, and return waiting: During the patrol phase, the control module drives the mobile chassis to move autonomously within the target area along a pre-set patrol route. Simultaneously, the AI ​​visual recognition module collects environmental images and transmits them to the control module for processing. Simply put, the mobile chassis is responsible for movement, while the AI ​​visual recognition module is responsible for "seeing," working together to search for and identify stray cats within the target area.

[0013] During the trapping triggering phase, once the AI ​​visual recognition module identifies a target cat that has not been spayed / neutered, it transmits the recognition result to the control module. The control module plans an approach route based on the target cat's position in the image and controls the moving chassis to slowly approach the target cat. In some embodiments, the control module also controls the steering and lifting mechanism to lower the ground clearance of the moving chassis, causing the detachable trapping chamber to descend as a whole, bringing the entrance closer to the ground so that the cat doesn't need to cross a large height difference to enter, facilitating its self-entry.

[0014] During the induction phase, after the mobile chassis reaches the predetermined trapping position, the control module drives the linkage opening and closing mechanism to simultaneously open both side doors. Inside the detachable trapping chamber is a cat food trough containing trapping food. The scent of the food attracts the target cat to enter the detachable trapping chamber through the door. The cat food trough is placed towards the back, requiring the cat to walk deep into the chamber to reach the food. Throughout the entry process, the control module continuously monitors whether the target cat has fully entered.

[0015] Next comes the closing and locking phase. Once the control module confirms that the target cat has fully entered the detachable trap chamber, it drives the linkage opening and closing mechanism to smoothly close and lock both side doors. After the doors close, the cat is securely contained inside the detachable trap chamber. At this time, the pheromone release module located on the inner wall of the detachable trap chamber begins to release calming pheromones into the chamber through the grid-like release ports on the chamber wall, helping to alleviate the cat's anxiety in the enclosed space; at the same time, the ventilation holes on the chamber wall maintain air circulation inside the chamber, sustaining the cat's basic breathing environment.

[0016] During the return journey, after the capture is complete, the control module saves the target cat's image information, capture time, and capture location, and uploads the mission status to the mobile terminal via the positioning communication module. Subsequently, the control module controls the mobile chassis to autonomously return to the pre-set docking position. Once at the docking position, the equipment waits for staff to arrive. Staff release the locking mechanism and detach the entire detachable trap chamber using the handle on top, then transport it directly to the veterinary hospital for the cat's spaying / neutering surgery. Throughout the entire transport and pre-operative waiting process, the cat remains within the same detachable trap chamber, without undergoing a secondary transfer from the trapping device to a transport cage.

[0017] In summary, the various technical features of this invention exhibit a close synergistic relationship. Specifically: the autonomous mobility of the mobile chassis enables the device to proactively patrol and search areas frequented by stray cats, eliminating the need for manual transport of trap cages for on-site deployment. The image recognition and sterilization status assessment functions of the AI ​​visual recognition module allow the device to differentiate targets, trapping only cats that have not yet been sterilized, avoiding repeated captures of sterilized cats and reducing accidental capture of other non-target animals. The control module, as the core connecting the various functional components, sequentially links patrol movement, target recognition, and hatch opening and closing according to a set logical order, forming an automated trapping operation. The detachable trapping cabin, connected to the mobile chassis via a locking mechanism, allows the same cabin to be used as a trapping space during the patrol and trapping phase, and also as a transport container after detachment, achieving seamless integration of trapping and transport functions and eliminating the intermediate step of transferring cats between two containers.

[0018] The present invention provides a TNR-based intelligent patrol, trapping, and transport vehicle for stray cats and its control method, which has the following technical advantages: Firstly, by combining the autonomous mobility of the mobile chassis with the image acquisition and recognition functions of the AI ​​visual recognition module, the device can actively search for stray cats within the target area and determine their sterilization status, changing the traditional TNR (Trap-Neuter-Return) operation method that relies on manual placement of traps and on-site surveillance. Based on the judgment results of the AI ​​visual recognition module, the control module only performs approach and trapping operations on target cats that have not been sterilized, reducing the repeated capture of sterilized cats and also lowering the probability of accidental capture of other non-target animals.

[0019] Secondly, the control module controls the opening and closing of the hatch via a linkage mechanism, ensuring smooth operation during the process. Compared to traditional trap cages that use springs or gravity to trigger the closing, this reduces noise and impact force during closing, helping to minimize stress on the cats upon entering the enclosure. After the hatch closes, the pheromone release module and ventilation holes inside the trap cage provide basic environmental protection for the cats, further reducing their stress during waiting and transportation.

[0020] Furthermore, the detachable trapping cabin is detachably connected to the mobile chassis via a locking mechanism. After the trapping is completed, staff can remove the entire trapping cabin and use it directly as a transport container. The cats remain in the same cabin from the time they are trapped to the time they are transported to the animal hospital. They do not go through the process of moving from one container to another, which reduces the risk of the cats escaping and getting injured due to changes in the environment. It also reduces the probability of staff being scratched or bitten during the transfer. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the intelligent patrol, trapping, and transport vehicle for stray cats according to the present invention; Figure 2 This is a schematic diagram of the main structure of the intelligent patrol, trapping, and transport vehicle for stray cats according to the present invention; Figure 3 This is a side view structural schematic diagram of the intelligent patrol, trapping, and transport vehicle for stray cats according to the present invention; Figure 4 This is a top view of the intelligent patrol, trapping, and transport vehicle for stray cats according to the present invention. Figure 5This is a schematic diagram of the separation structure of the detachable trapping chamber and the mobile chassis of the present invention; Figure 6 This is a schematic diagram of the structure of the double-sided hatch and linkage opening and closing mechanism of the present invention; Figure 7 This is a schematic diagram of the structure for inducing food and water inside the trapping chamber when the door is open, according to the present invention. Figure 8 This is a schematic diagram of the pheromone sustained-release module of the present invention; Figure 9 This is a schematic diagram of the steering mechanism of the mobile chassis wheel assembly and the vehicle body lifting mechanism of the present invention; Figure 10 This is a schematic diagram of the AI ​​visual recognition module of the present invention identifying the sterilized ears of stray cats; Figure 11 This is a schematic diagram of the charging pile of the present invention; Figure 12 This is a schematic diagram showing the automatic docking of the patrol and trapping transport vehicle with the charging pile according to the present invention; Figure 13 This is a control flowchart for the stray cat identification and safe trapping method of the present invention; Figure 14 This is a flowchart of the disassembly and medical transport of the trapping chamber of the present invention; Figure 15 This is a flowchart of the postoperative release and health monitoring of stray cats according to the present invention; Figure 16 This is a complete TNR operation flowchart of the present invention; Figure 17 This is a flowchart of the control method for the TNR-based intelligent patrol, trapping, and transport vehicle for stray cats, as described in this invention.

[0023] Figure label: 1. Mobile chassis; 2. Detachable trap chamber; 3. Top cover; 4. Solar photovoltaic panel; 5. Handle; 6. AI visual recognition module; 7. Door; 8. Linkage opening and closing mechanism; 9. Ventilation vent; 10. Cat food trough; 11. Water dispenser; 12. Pheromone release module; 13. Locking mechanism; 14. Drive wheel; 15. Steering and lifting mechanism; 16. Pheromone placement compartment door; 17. Magnetic charging port; 18. Magnetic charging interface; 19. Charging station; 20. Charging indicator light. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments of the present invention are not limited to the following description, and those skilled in the art can make various changes and modifications without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention.

[0025] like Figures 1 to 4As shown, this embodiment provides a TNR-based intelligent patrol and trapping transport vehicle for stray cats, including a mobile chassis 1, a detachable trapping compartment 2, a top cover 3, a solar photovoltaic panel 4, a handle 5, an AI visual recognition module 6, a door 7, a linkage opening and closing mechanism 8, a ventilation hole 9, a cat food trough 10, a drinking water device 11, a pheromone slow release module 12, a locking mechanism 13, a drive wheel 14, a steering and lifting mechanism 15, a pheromone placement compartment door 16, a magnetic charging port 17, a magnetic charging interface 18, a charging pile 19, and a charging indicator light 20.

[0026] The detachable trapping chamber 2 is positioned above the mobile chassis 1 and is detachably connected to the mobile chassis 1 via a locking mechanism 13. A top cover 3 is positioned above the detachable trapping chamber 2, and solar photovoltaic panels 4 are installed on the sun-receiving area of ​​the top cover 3. An AI visual recognition module 6 is positioned at the front of the mobile chassis 1 or the detachable trapping chamber 2. A door 7 is located on the detachable trapping chamber 2.

[0027] like Figures 1 to 4 As shown, the stray cat intelligent patrol and trapping transport vehicle provided in this embodiment includes a mobile chassis 1, a detachable trapping cabin 2, a cabin door 7, an AI visual recognition module 6, and a control module.

[0028] The mobile chassis 1 is capable of autonomous movement and is used for autonomous patrolling within the target area. The mobile chassis 1 internally houses a drive motor, a power module, and a control module. The drive motor propels the equipment forward, backward, and steers; the power module supplies power to all electrical components of the vehicle; and the control module coordinates and controls the operation of all components. The interior surface of the detachable trapping chamber 2 features an easy-to-clean design, facilitating cleaning and disinfection after use.

[0029] The detachable trap chamber 2 is detachably mounted to the mobile chassis 1 via a locking mechanism 13. The detachable trap chamber 2 is used to contain cats and is suitable for use as a transport container after being separated from the mobile chassis 1.

[0030] The hatch 7 is located on the detachable trap chamber 2.

[0031] AI visual recognition module 6 is used to collect environmental images and identify stray cat targets to determine whether the target cat has been spayed or neutered.

[0032] The control module is located within the mobile chassis 1 and is connected to the mobile chassis 1, the hatch 7, and the AI ​​visual recognition module 6. The control module is configured to: control the mobile chassis 1 to patrol autonomously; based on the judgment results of the AI ​​visual recognition module 6, control the mobile chassis 1 to approach unneutered target cats and control the hatch 7 to open to lure the target cats into the detachable trapping chamber 2; and in response to detecting that the target cat has completely entered the detachable trapping chamber 2, control the hatch 7 to close.

[0033] Furthermore, such as Figure 6As shown, the hatch 7 is a double-sided hatch, located on both sides of the detachable trapping chamber 2. Furthermore, the transfer vehicle in this embodiment also includes a linkage opening and closing mechanism 8, which includes a drive component, a connecting rod, a hinged support, and a door panel connector. The linkage opening and closing mechanism 8 is connected to the double-sided hatch 7. The drive component drives the connecting rod to move, which in turn rotates the door panel connector via the hinged support, thereby causing the double-sided hatch 7 to open and close synchronously.

[0034] During operation, when trapping is required, the drive unit receives an opening signal from the control module, driving the linkage to move along a preset trajectory. The linkage transmits the motion to the door panel connector via a hinged support, causing the door panel connector to simultaneously open the two side doors 7 outwards, creating a larger passage for the cat to enter. Once the target cat is detected to have fully entered the detachable trapping chamber 2, the drive unit receives a closing signal from the control module, driving the linkage to move in the opposite direction, causing the two side doors 7 to simultaneously and smoothly close and lock.

[0035] With the above structure, the two side doors 7 open and close simultaneously, which can expand the cat's access passage, reduce the noise and collision risk generated when a single door opens and closes, and reduce the cat's stress response.

[0036] Furthermore, such as Figure 9 As shown, the mobile chassis 1 has multiple drive wheels 14 at its bottom, and the drive wheels 14 are connected to the mobile chassis 1 via a steering and lifting mechanism 15. The steering and lifting mechanism 15 is configured to drive the drive wheels 14 to turn and adjust the ground clearance of the mobile chassis 1, so as to lower the detachable trapping chamber 2 so that the entrance of the chamber door 7 is close to the ground during the trapping phase, and maintain the ground clearance of the mobile chassis 1 during the patrol phase to maintain passability.

[0037] During operation, the steering and lifting mechanism 15 receives a steering signal from the control module, driving the drive wheel 14 to deflect at a preset angle, thus achieving the device's steering movement. During the trapping phase, the steering and lifting mechanism 15 receives a lowering signal from the control module, driving the mobile chassis 1 to descend, bringing the entrance of the detachable trapping chamber 2's door 7 closer to the ground, reducing the height difference when cats enter the chamber. During the patrol phase, the steering and lifting mechanism 15 maintains the mobile chassis 1 at a preset ground clearance, ensuring the device's mobility in complex environments such as community roads and greenbelt edges.

[0038] With the above structure, the equipment can move flexibly in environments such as narrow alleys and the edges of green belts, and at the same time, the height of the hatch can be lowered during the trapping process to make it easier for stray cats to enter on their own.

[0039] Furthermore, such as Figure 7As shown, the transport vehicle also includes a cat food trough 10 and a water dispenser 11, which are installed inside the detachable trap chamber 2. The cat food trough 10 is positioned deep within the detachable trap chamber 2, requiring stray cats to venture into the chamber to obtain food, thus guiding them fully into the chamber. The water dispenser 11 provides water to the cats while they wait for transport.

[0040] During operation, food is placed in the cat food trough 10, which is located deep inside the detachable trapping chamber 2. Stray cats need to enter the chamber completely to obtain the food. The watering device 11 provides basic drinking water for the cats while they are waiting to be transferred after being trapped.

[0041] With the above structure, the position of the cat food trough 10 can guide stray cats to fully enter the detachable trapping chamber 2, ensuring that the cats are located in the preset area inside the chamber after the door 7 is closed, which is convenient for subsequent transfer.

[0042] Furthermore, such as Figure 8 As shown, the transfer vehicle also includes a pheromone slow-release module 12, which is installed on the inner wall of the detachable trap chamber 2. The side wall of the detachable trap chamber 2 has multiple ventilation holes 9 and a grid-like slow-release port. The ventilation holes 9 are used to maintain air circulation inside the chamber, and the pheromone slow-release module 12 releases soothing pheromones into the detachable trap chamber 2 through the slow-release port. The outer wall of the detachable trap chamber 2 has a pheromone placement door 16 for replenishing solid pheromones.

[0043] During operation, the solid pheromone in the pheromone release module 12 continuously evaporates into the chamber through the grid-like release vents, releasing feline soothing pheromones. Ventilation vents 9 maintain air circulation within the chamber, ensuring even distribution of the pheromones. When the remaining solid pheromone is insufficient, staff open the pheromone placement door 16 to replenish it.

[0044] Through the above structure, the pheromone slow-release module 12 can continuously release soothing pheromones during the process of the cat being captured and waiting for transfer, thereby reducing the cat's tension and stress response.

[0045] Specifically, such as Figure 5 As shown, the locking mechanism 13 includes a mating connector disposed at the bottom of the detachable trap chamber 2 and the upper part of the movable chassis 1. Furthermore, the transfer vehicle in this embodiment also includes a handle 5 disposed at the top of the detachable trap chamber 2 for moving the detachable trap chamber 2 after the locking mechanism 13 is released.

[0046] During operation, the locking mechanism 13's connecting parts fix the relative positions of the detachable trapping chamber 2 and the mobile chassis 1 in the locked state, allowing them to separate after the lock is released. After trapping is completed, the staff arrives at the docking position, releases the locking mechanism 13, and uses the handle 5 to remove the detachable trapping chamber 2 from the mobile chassis 1 as a whole. The detachable trapping chamber 2 is then used directly as a transport container to the animal hospital.

[0047] With the above structure, the cats remain in the same enclosure throughout the capture, transfer, and pre-operative waiting process, eliminating the need to transfer the cats to other cages and reducing the risk of cats escaping, getting injured, and staff being scratched or bitten.

[0048] Furthermore, such as Figure 11 and Figure 12 As shown, the transport vehicle also includes a top cover 3, a solar photovoltaic panel 4, a magnetic charging port 17, and a charging pile 19. The charging pile 19 is equipped with a magnetic charging interface 18. The top cover 3 is located above the detachable trapping chamber 2. The solar photovoltaic panel 4 is installed in the sunlight-receiving area of ​​the top cover 3 to provide auxiliary power. The magnetic charging port 17 is located at the rear of the mobile chassis 1 and is used for magnetic docking with the magnetic charging interface 18. A charging indicator light 20 is associated with the magnetic charging port 17 and illuminates after magnetic docking is completed.

[0049] The control module is also configured to: when the trapping is completed or the power is insufficient, control the mobile chassis 1 to return to the charging pile 19 position, and complete the charging by magnetically connecting the magnetic charging port 17 with the magnetic charging interface 18.

[0050] During operation, the solar photovoltaic panel 4 converts solar energy into electrical energy while patrolling outdoors or in standby mode, providing auxiliary power to the equipment. When the trapping is complete or the equipment's battery is low, the control module controls the mobile chassis 1 to return to the charging pile 19 along a preset route, automatically docking with the magnetic charging interface 18 via the magnetic charging port 17, and the charging indicator light 20 illuminates to indicate the charging status. Furthermore, the control module can choose to continue patrolling or proceed to the charging pile 19 for charging based on the equipment's own battery level.

[0051] Through the above structure, the equipment can automatically return to base and dock for charging, improving the convenience of continuous patrols and long-term operation. The charging pile 19 serves as a fixed location, making it easy for staff to quickly locate the equipment.

[0052] Furthermore, such as Figure 10As shown, the transport vehicle in this embodiment also includes a positioning and communication module connected to the control module. Furthermore, the AI ​​visual recognition module 6 is specifically used to identify whether there is an ear tag notch in the target cat's ear, and to determine whether the target cat has been spayed / neutered based on the recognition result. An ear tag notch refers to a specific shaped notch cut by a veterinarian in the ear during spaying / neutering surgery on stray cats, serving as a visual marker that the cat has been spayed / neutered, and is a common method for identifying spaying / neutering status in TNR operations.

[0053] During operation, the positioning and communication module records the location of cats, uploads identification results and device status, and receives patrol, trapping, return, and release commands from the remote terminal. After the AI ​​visual recognition module 6 acquires an image of the target cat's ear, the control module compares the identified stray cat's individual information with historical identification records to obtain the corresponding historical trapping and / or release records. During trapping, the positioning and communication module records the target cat's capture location and uploads it to the remote terminal. During the release phase, the control module reads the previously recorded capture location and controls the mobile chassis 1 to navigate to the capture location for release. In subsequent patrols, the AI ​​visual recognition module 6 re-identifies the released cats and monitors their health status based on historical identification records. Staff can also remotely set parameters such as patrol area, patrol time, and identification conditions via a mobile terminal, and the control module automatically executes the corresponding procedures according to the set parameters.

[0054] Through the above structure, the device can record the capture location, capture time, sterilization status, and release location of cats, and interact with mobile terminals to improve information connection and management traceability at each stage of TNR.

[0055] Based on the above structure, embodiments of the present invention also provide a control method for a TNR-based intelligent patrol, trapping, and transport vehicle for stray cats, such as... Figures 13 to 16 As shown, it includes the following steps: Before the operation, staff send patrol tasks to the control module via mobile terminals, and set the patrol area, working time, and target recognition conditions. After completing the system self-test, the control module confirms the status of the control module, AI vision recognition module 6, drive wheel 14, steering and lifting mechanism 15, linkage opening and closing mechanism 8, positioning and communication module, and power supply.

[0056] Step S1: Control the device to patrol autonomously in the target area, continuously collect environmental images through the AI ​​visual recognition module 6, identify stray cat targets and determine whether the target cat has been spayed or neutered.

[0057] Specifically, during the patrol, the AI ​​visual recognition module 6 continuously collects images of the surrounding environment. The control module identifies animal targets in the images and determines whether a stray cat is an unneutered cat to be lured by checking for ear tag gaps. If no target is identified, the patrol and image collection continue; if a stray cat is identified but determined to be neutered, its activity information is recorded and the patrol continues; if an unneutered cat is identified, the target is locked and its current location is recorded.

[0058] like Figure 13 As shown, after identifying a stray cat that meets the trapping conditions, the positioning and communication module records the target's location, and the control module plans an approach route based on the target's location.

[0059] Step S2: In response to the determination that the target cat has not been spayed / neutered, the target location is recorded, and the device is controlled to approach the target. Specifically, the drive wheels 14 and the steering lifting mechanism 15 are controlled to make the device slowly approach the target, and the steering lifting mechanism 15 lowers the height of the vehicle body so that the entrance of the detachable trapping chamber 2 is close to the ground, allowing stray cats to easily enter the chamber without having to cross a significant height difference.

[0060] Step S3: The control door 7 opens, guiding the target cat into the detachable trap chamber 2 through the cat food in the cat food trough 10. Upon reaching the predetermined trapping position, the control module drives the linkage opening and closing mechanism 8, causing both doors 7 to open outwards simultaneously. The cat food trough 10 inside the detachable trap chamber 2 contains trapping food to guide the stray cat into the chamber; the water device 11 provides basic drinking water for the cat.

[0061] Step S4: In response to detecting that the target cat has fully entered the detachable trap chamber 2, the control door 7 closes. Once the control module confirms that the cat has fully entered the detachable trap chamber 2, the linkage opening and closing mechanism 8 smoothly closes and locks the double doors 7 to prevent the cat from escaping. The pheromone release module 12 inside the chamber releases calming pheromones through release ports on the chamber walls, and the ventilation holes 9 maintain air circulation inside the chamber to reduce stress on the cat during waiting and transportation.

[0062] After the capture is completed, the control module saves the image of the target cat, the capture time and capture location, and uploads the task status to the mobile terminal through the positioning communication module.

[0063] Step S5: The control device returns to the pre-set docking position for the detachable trapping chamber 2 to be disassembled from the mobile chassis 1 and transported. Figure 14As shown, when the stray cat intelligent patrol and capture transfer vehicle runs out of power or after the capture is completed, the device moves to the charging pile 19. The control module controls the mobile chassis 1 to dock with the charging pile 19, so that the magnetic charging port 17 at the rear of the vehicle body connects with the magnetic charging interface 18 of the charging pile 19. At the same time, the charging indicator light 20 turns green to complete automatic charging and wait for staff to handle it.

[0064] After arriving at the docking location, the staff releases the locking mechanism 13 and removes the detachable trapping chamber 2 from the mobile chassis 1 using the handle 5. The detachable trapping chamber 2 is then used directly as a transport container to the animal hospital. The system records the information regarding the veterinary visit and sterilization / neutering procedures.

[0065] Step S6: After the detachable trapping chamber 2 is reinstalled onto the mobile chassis 1, the control equipment navigates to the capture location based on the recorded capture location, and the hatch 7 is opened for release. For example... Figure 15 As shown, after the cats have completed sterilization and post-operative observation, and after checking and replenishing the cat food in the cat food trough 10 and the water in the water dispenser 11, and opening the pheromone placement compartment door 16 to check and replenish the remaining amount of solid pheromones, the staff will reinstall the detachable trapping compartment 2 onto the mobile chassis 1 and secure it with the locking mechanism 13.

[0066] The control module reads the previously recorded capture location, and the control device returns the cat to its original activity area. Upon reaching the release location, the device lowers the vehicle height and controls the opening of both side doors 7, allowing the cat to leave the detachable trap chamber 2 on its own, thus completing the on-site release.

[0067] like Figure 16 As shown, the above steps fully demonstrate the TNR operation process from autonomous patrolling, AI identification, safe capture, return to standby, dismantling and transfer to precise release.

[0068] Furthermore, the above step S6 is followed by: Step S7: Record the release time and location; during subsequent patrols, the released cats are re-identified using the AI ​​visual recognition module 6, and their identities are confirmed based on the ear tag notch features and historical recognition records. Their activity status and health are monitored, and the monitoring information is uploaded to the mobile terminal.

[0069] After the release is completed, the system records the release time and location. During subsequent patrols, the AI ​​visual recognition module 6 can again capture images of the released cats and match them based on ear tag features and historical records to continuously monitor their activity status and health, uploading the monitoring information to the mobile terminal.

[0070] Through the above steps, the equipment can complete autonomous patrol, target identification, safe capture, low-stress placement, overall transfer, in-situ release, and subsequent monitoring, forming a complete TNR operation closed loop.

[0071] Based on the above, the specific usage process of this invention will be described below with reference to a complete workflow. For example... Figure 17 As shown, the TNR-based intelligent patrol, trapping, and transport vehicle for stray cats of this invention sequentially performs the following steps: Step 1: Task Initiation and System Self-Check. Staff send patrol tasks to the control module via mobile terminals, setting the patrol area, working hours, and target recognition conditions. After the control module completes a system self-check and confirms that all components are functioning normally, the control equipment begins autonomous patrolling according to the preset route.

[0072] Step Two: Autonomous Patrol and Target Recognition. After the system self-check is completed, the device begins autonomous patrolling areas such as community roads, green belt edges, and alleyways. The AI ​​visual recognition module 6 continuously collects images of the surrounding environment. The control module identifies animal targets in the images and determines whether a stray cat is an unneutered cat to be lured by checking for ear tag gaps. If a neutered cat is identified, its activity information is recorded and the patrol continues; if an unneutered cat is identified, the target is locked and its current location is recorded.

[0073] Step 3: Approaching the target and preparing for trapping. The control module plans an approach route based on the location of the target cat and information about surrounding obstacles, controls the drive wheels 14 and the steering and lifting mechanism 15 to slowly approach the target, and adjusts the vehicle body to a suitable height for trapping, so that the entrance of the hatch 7 is close to the ground.

[0074] Step 4: Opening the hatches and providing food. Upon reaching the designated trapping location, the control module drives the linkage opening and closing mechanism 8 to open the hatches 7 on both sides simultaneously. The cat food trough 10 inside the detachable trapping chamber 2 contains trapping food to guide stray cats into the chamber; the water device 11 provides basic drinking water for the cats.

[0075] Step 5: Confirm entry and close the hatch. Once the control module confirms that the cat has fully entered the detachable trap chamber 2, the linkage opening and closing mechanism 8 smoothly closes and locks the double hatch doors 7. The pheromone release module 12 inside the chamber releases calming pheromones through the release port, and the ventilation holes 9 maintain air circulation inside the chamber to reduce the cat's stress response.

[0076] Step 6: Information Recording and Return Charging. The control module saves the target cat image, capture time, and capture location, and uploads the mission status to the mobile terminal via the positioning communication module. The device returns to the charging station 19 according to the route, automatically docks and charges via the magnetic charging port 17 and magnetic charging interface 18, and the charging indicator light 20 turns green while waiting for staff.

[0077] Step 7: Detachment, Transfer, and Veterinary Treatment / Neutering. Upon arrival at the docking location, staff release the locking mechanism 13 and use handle 5 to detach the detachable trap 2 from the mobile chassis 1. The detachable trap 2 is then used directly as a transport container to the animal hospital. The cat remains inside the same compartment throughout the process, eliminating the need for secondary transfer. The system records the veterinary treatment and sterilization / neutering information.

[0078] Step 8: Reloading and Precise Release. After the cats have completed their spaying / neutering and post-operative observation, staff check and replenish the cat food in the food trough 10, the water in the water dispenser 11, and the remaining solid pheromones in the pheromone placement compartment 16. The detachable trap pod 2 is then reinstalled onto the mobile chassis 1 and secured with the locking mechanism 13. The control module reads the original capture location and plans the release route. Upon reaching the release location, the device lowers the vehicle height and opens both side doors 7, allowing the cats to leave the detachable trap pod 2 on their own, completing the on-site release.

[0079] Step 9: Release Recording and Follow-up Monitoring. After release, the system records the release time and location. During subsequent patrols, the AI ​​visual recognition module 6 re-identifies the released cats, confirming their identities based on ear tag notch features and historical recognition records, and monitoring their activity status and health, uploading the monitoring information to the mobile terminal.

[0080] Step 10: Task Completion and Loop. After completing the current task, the device will choose to continue patrolling or head to charging station 19 to charge, depending on its battery level, and await the next control command.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A TNR-based intelligent patrol, trapping, and transport vehicle for stray cats, characterized in that, include: Mobile chassis (1) with autonomous mobility for patrolling target areas; A detachable trap chamber (2) is detachably mounted to the mobile chassis (1) via a locking mechanism (13); the detachable trap chamber (2) is used to contain cats and is adapted to be used as a transfer container after being separated from the mobile chassis (1); The hatch (7) is located on the detachable trapping chamber (2); AI visual recognition module (6) is used to collect environmental images and identify stray cat targets to determine whether the target cat has been spayed or neutered. The control module is located inside the mobile chassis (1) and is connected to the mobile chassis (1), the hatch (7) and the AI ​​visual recognition module (6) respectively. The control module is configured to: control the mobile chassis (1) to patrol autonomously; based on the judgment result of the AI ​​visual recognition module (6), control the mobile chassis (1) to approach the target cat that has not been sterilized, and control the hatch (7) to open to induce the target cat to enter the detachable trapping chamber (2); in response to detecting that the target cat has completely entered the detachable trapping chamber (2), control the hatch (7) to close.

2. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: The hatch (7) is a double-sided hatch, which is respectively located on both sides of the detachable trapping chamber (2); It also includes a linkage opening and closing mechanism (8), which includes a driving component, a connecting rod, a hinged support and a door panel connector; the linkage opening and closing mechanism (8) is connected to the double-sided hatch (7), the driving component drives the connecting rod to move, and drives the door panel connector to rotate through the hinged support, thereby driving the double-sided hatch (7) to open and close synchronously.

3. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: The mobile chassis (1) is provided with multiple drive wheels (14) at the bottom, and the drive wheels (14) are connected to the mobile chassis (1) through a steering and lifting mechanism (15); The steering and lifting mechanism (15) is configured to drive the drive wheel (14) to turn and adjust the ground clearance of the mobile chassis (1) to lower the detachable trap chamber (2) so that the entrance of the door (7) is close to the ground during the trapping phase, and to maintain the ground clearance of the mobile chassis (1) during the patrol phase to maintain passability.

4. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: It also includes a pheromone slow-release module (12), which is disposed on the inner wall of the detachable trapping chamber (2); The side wall of the detachable trap chamber (2) is provided with multiple ventilation holes (9) and grid-shaped slow release ports. The ventilation holes (9) are used to maintain air circulation inside the chamber. The pheromone slow release module (12) releases soothing pheromones into the detachable trap chamber (2) through the slow release ports. The outer wall of the detachable trap chamber (2) is provided with a pheromone placement door (16) for replenishing solid pheromones.

5. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: It also includes a cat food trough (10) and a water dispenser (11), which are located inside the removable trap chamber (2); The location of the cat food trough (10) guides stray cats deep into the detachable trap chamber (2) until they are fully inside.

6. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that, The locking mechanism (13) includes a connecting piece disposed at the bottom of the detachable trap chamber (2) and the upper part of the mobile chassis (1); It also includes a handle (5) located on the top of the detachable trap chamber (2) for moving the detachable trap chamber (2) after the locking mechanism (13) is released.

7. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: It also includes a top cover (3), which is located above the detachable trapping chamber (2); a solar photovoltaic panel (4), which is installed in the light-receiving area of ​​the top cover (3) to provide auxiliary power; a magnetic charging port (17) and a charging pile (19), wherein the charging pile (19) is provided with a magnetic charging interface (18); The magnetic charging port (17) is located at the rear of the mobile chassis (1) and is used to magnetically connect with the magnetic charging interface (18). The charging indicator light (20) is associated with the magnetic charging port (17) and lights up after the magnetic docking is completed; The control module is further configured to: when the trapping is completed or the power is insufficient, control the mobile chassis (1) to return to the position of the charging pile (19) and complete the charging by magnetically connecting the magnetic charging port (17) with the magnetic charging interface (18).

8. The TNR-based intelligent patrol, trapping, and transport vehicle for stray cats according to claim 1, characterized in that: It also includes a positioning communication module, which is connected to the control module; The AI ​​visual recognition module (6) is specifically used to identify whether there is a notch in the ear tag on the target cat's ear, and to determine whether the target cat has been spayed or neutered based on the recognition result; The control module is further configured to: compare the identified stray cat individual information with historical identification records to obtain the corresponding historical trapping records and / or release records; record the capture location of the target cat through the positioning communication module during trapping; read the capture location and control the mobile chassis (1) to navigate to the capture location for release during the release phase; and re-identify the released cats through the AI ​​visual recognition module (6) during subsequent patrols and monitor their health status based on the historical identification records.

9. A control method for a TNR-based intelligent patrol, trapping, and transport vehicle for stray cats, characterized in that, Includes the following steps: S1: The control device autonomously patrols the target area, continuously collects environmental images through the AI ​​visual recognition module (6), identifies stray cat targets and determines whether the target cat has been sterilized; S2: In response to the determination that the target cat has not been spayed / neutered, record the target location and control the device to move closer to the target; S3: Control the hatch (7) to open, and guide the target cat into the detachable trap chamber (2) through the cat food in the cat food trough (10); S4: In response to detecting that the target cat has fully entered the removable trap chamber (2), control the door (7) to close; S5: The control device returns to the preset docking position for disassembling and transporting the detachable trapping chamber (2) from the mobile chassis (1); S6: After the detachable trapping chamber (2) is reinstalled onto the mobile chassis (1), the control device navigates to the capture location according to the recorded capture location and opens the door (7) to release the animal.

10. The control method according to claim 9, characterized in that, Following step S6, the following is also included: S7: Record the release time and location; during subsequent patrols, the released cats are re-identified through the AI ​​visual recognition module (6), and the identity of the cats is confirmed based on the ear tag notch feature and historical recognition records, and their activity status and health status are monitored, and the monitoring information is uploaded to the mobile terminal.

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