Intelligent pig driving device based on laser positioning

Abstract

The present application relates to livestock breeding automation equipment technical field, disclose intelligent pig driving device based on laser positioning, including overhead crane on the guide rail and the swing arm below and the working bin, the guide rail side is equipped with cam guide plate;The limiting pin of the working bin side wall is clamped into the cam groove, and the displacement of the sleeve mechanism is generated through the connecting rod and the telescopic rod drive sleeve mechanism;The sleeve mechanism converts the lifting displacement into spin motion by the spiral guide cooperation between the inner and outer tubes, drives the secondary grating disc to rotate relative to the primary grating disc, realizes the physical modulation of sound and light signal;At the same time, the adjusting mechanism at the bottom of the working bin drives the movable framework to open and close through the electric push rod, so that the flexible lens produces curvature deformation, to adjust the reflection angle and envelope range of the signal in real time. Through mechanical linkage, the adaptive change of driving signal along with the movement track is realized, the habitual stress of live pig to fixed signal is effectively avoided, and the driving efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated livestock farming equipment technology, specifically to a laser-based intelligent pig herding device. Background Technology

[0002] In modern large-scale pig farms, the transfer of pigs to different groups, their sale, and disease prevention inspections are crucial aspects of daily management. To reduce manual labor and minimize the risk of disease transmission from direct human-pig contact, automated herding equipment has been widely adopted. This equipment is typically installed on tracks above the pigsty, using a mobile platform equipped with sound and light generators. It guides the pigs with beams of light and stimulates them with sound at specific frequencies, thus enabling efficient movement throughout the farming process.

[0003] Current automated herding devices mostly employ motor-driven mobile carts with fixed light clusters or speakers suspended at their bottom. In actual operation, these devices primarily rely on electronic timers or simple switching logic to control the activation and deactivation of signals. The mechanical structure has a relatively simple function, typically only responsible for moving the equipment from one end of the track to the other. The strength and frequency of the herding signal are usually constant, or can only be preset and cyclically switched through complex circuit systems. There is no direct logical connection between the mechanical displacement process and the physical parameters of the herding signal.

[0004] However, this existing technology has revealed significant limitations in long-term use. Because the output patterns of the driving signals are too fixed, pigs, after repeated driving, develop psychological and physiological adaptations to the monotonous, unchanging audio-visual stimuli—a phenomenon known as signal desensitization. Once pigs realize that these fixed lights and sounds pose no real threat, their stress response weakens significantly, rendering the driving commands ineffective. Pigs often remain stationary or even charge in the opposite direction. To reactivate the driving effect, frequent manual intervention is usually required to modify complex electronic parameters. This not only increases equipment maintenance costs and operational difficulty but also makes it difficult for the device to maintain stable performance over the long term in variable farming environments. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a laser-based intelligent pig herding device, which solves the problems of pigs quickly developing habitual adaptations due to the fixed signal frequency of general herding equipment, resulting in decreased herding efficiency and insufficient mechanical linkage adjustment capabilities.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a laser-based intelligent pig herding device, comprising a crane mounted on a guide rail, a swing arm movably connected below the crane via a damping shaft, and a working chamber fixedly connected to the bottom of the swing arm; a cam guide plate is mounted on the side of the guide rail, and a cam groove is formed inside the cam guide plate; a connecting rod and a limiting pin are fixedly connected to the side wall of the working chamber, and the limiting pin is engaged in the cam groove; a sleeve mechanism is provided at the bottom of the working chamber, the sleeve mechanism comprising an inner tube fixedly connected to the bottom of the working chamber and an outer tube slidably nested outside the inner tube; the outer tube and the limiting pin are connected by a telescopic rod and a connecting block.

[0007] Preferably, a rotating bead is embedded at the connection position between the connecting rod and the limiting pin, and one end of the telescopic rod is fixedly connected to the rotating bead.

[0008] Preferably, the outer wall of the inner tube is provided with a spiral groove, and a sliding pin is fixedly connected to the inner wall of one side of the outer tube. The sliding pin is inserted into the spiral groove to realize the self-rotation of the outer tube during the lifting and lowering process.

[0009] Preferably, a primary physical grating disk is fixed at the bottom end of the inner tube, and a secondary physical grating disk is fixed at the bottom end of the outer tube. The primary physical grating disk and the secondary physical grating disk are arranged opposite to each other, and the phase overlap area between the secondary physical grating disk and the primary physical grating disk changes as the outer tube rotates.

[0010] Preferably, a laser module is installed at the center of the bottom of the working chamber, and a sound-emitting module is installed around the laser module array on the inner wall of the inner tube.

[0011] Preferably, the bottom of the working chamber is also equipped with an audio-visual adjustment mechanism, which includes an electric actuator installed at the bottom of the working chamber. The output end of the electric actuator is fixedly connected to a collar, which moves within the sleeve mechanism.

[0012] Preferably, the outer wall of the collar is hinged to a plurality of push frames via a mounting base, and the end of each push frame is hinged to a movable skeleton, which is distributed in a silhouette-like folded structure around the sleeve mechanism.

[0013] Preferably, the movable frame has a movable groove, and flexible lenses are installed between adjacent movable frames. The flexible lenses undergo physical curvature deformation synchronously with the opening angle of the movable frame.

[0014] Preferably, a fixing rod is fixedly connected to the side wall of the working chamber, and the other end of the fixing rod is fixedly connected to the cam guide plate to provide mechanical support for the displacement of the limiting pin inside the cam groove.

[0015] Preferably, one end of the movable frame is connected to the outer edge of the bottom of the outer tube, and the other end of the movable frame expands outward with the thrust of the pusher frame.

[0016] This invention provides a laser-based intelligent pig herding device. It has the following beneficial effects: 1. This invention, through the linkage of the cam guide plate, the limiting pin, and the telescopic rod, spontaneously converts the displacement stroke into the action of the actuator during the movement of the overhead crane, realizing the adaptive adjustment of the driving signal frequency according to the movement state, effectively avoiding the habitual insensitivity of pigs due to a single signal, and ensuring long-term driving effect.

[0017] 2. This invention utilizes the spiral guiding structure between the inner and outer tubes to transform simple linear thrust into the circumferential rotation of the grating disk, causing periodic phase changes between the two grating disks; it can physically truncate the laser light path in a mechanical manner, generating a flashing signal with strong visual impact, and in conjunction with the sound field formed by multiple sets of sound generating units, it effectively improves the interference frequency and guiding intensity of the dual sound and light stimulation.

[0018] 3. The adjustment mechanism of this invention drives the movable frame to open and close via an electric push rod, thereby forcing the flexible lens to produce a physical curvature change. This design, which uses mirror deformation to change the focus of beam reflection and the angle of sound wave scattering, realizes stepless adjustment of the envelope range of the driving signal, enabling the device to flexibly adjust the working area according to the actual width of the pigsty and the distribution of pigs, thus enhancing the applicability of the equipment in different breeding scenarios. Attached Figure Description

[0019] Figure 1 This is an overall view of the driving device of the present invention; Figure 2 This is a three-dimensional schematic diagram of the main equipment of the driving device of the present invention; Figure 3 This is a schematic diagram of the disassembled structure of the sleeve mechanism of the present invention; Figure 4 This is a schematic diagram of the internal structure of the main equipment of the driving device of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the sound and light adjustment mechanism of the present invention; Figure 7 for Figure 6 Enlarged view of section B in the middle.

[0020] The components include: 1. Working compartment; 2. Overhead crane; 3. Guide rail; 4. Damping shaft; 5. Swing arm; 6. Connecting rod; 7. Limit pin; 8. Fixing rod; 9. Cam guide plate; 10. Cam groove; 12. Rotating ball; 13. Telescopic rod; 14. Connecting block; 15. Sleeve mechanism; 1501. Inner tube; 1502. Spiral groove; 1503. Primary physical grating disk; 1504. Outer tube; 1505. Secondary physical grating disk; 1506. Sliding pin; 1507. Laser module; 1508. Sound-emitting module; 16. Sound and light adjustment mechanism; 1601. Electric actuator; 1602. Collar; 1603. Mounting base; 1604. Push frame; 1605. Movable frame; 1606. Movable groove; 1607. Flexible lens. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 - Appendix Figure 4 This invention provides a laser-based intelligent pig herding device, including a crane 2 mounted on a guide rail 3. A swing arm 5 is movably connected to the bottom of the crane 2 via a damping shaft 4, and a working chamber 1 is fixedly connected to the bottom of the swing arm 5. A cam guide plate 9 is mounted on the side of the guide rail 3, and a cam groove 10 is formed inside the cam guide plate 9. A connecting rod 6 and a limiting pin 7 are fixedly connected to the side wall of the working chamber 1, and the limiting pin 7 is inserted into the cam groove 10. A sleeve mechanism 15 is provided at the bottom of the working chamber 1. The sleeve mechanism 15 includes an inner tube 1501 fixedly connected to the bottom of the working chamber 1 and an outer tube 1504 slidably nested outside the inner tube 1501. The outer tube 1504 and the limiting pin 7 are connected by a telescopic rod 13 and a connecting block 14.

[0023] The overhead crane 2, in conjunction with the guide rail 3, moves horizontally in a straight line, driving the driving device to position itself above the pigsty. Below the overhead crane 2, a swing arm 5 is movably connected via a damping shaft 4. The restricted swinging of the damping shaft 4 converts motion inertia into displacement, achieving automatic adjustment of the driving angle. The working chamber 1, fixedly connected to the bottom of the swing arm 5, provides support and protection for the internal acoustic and optical actuators. The cam guide plate 9 on the side of the guide rail 3 constrains the movement trajectory of the limiting pin 7 via an internal cam groove 10, and, in conjunction with the connecting rod 6, converts angular displacement into linear control stroke. The sleeve mechanism 15 at the bottom of the working chamber 1 uses an outer tube 1504 to slide and extend in conjunction with an inner tube 1501, thereby changing the length of the acoustic and optical outlet pipe and adjusting the directivity of the sound beam and the laser focal length. The mechanical displacement collected by the limiting pin 7 is directly transmitted to the outer tube 1504 via the telescopic rod 13 and connecting block 14, realizing the linkage from motion inertia to changes in acoustic and optical parameters.

[0024] Please see the appendix Figure 4 A rotating bead 12 is embedded at the connection position between the connecting rod 6 and the limiting pin 7, and one end of the telescopic rod 13 is fixedly connected to the rotating bead 12.

[0025] The connecting rod 6 supports the limiting pin 7 and transmits the displacement of the working chamber 1 to the limiting pin 7, driving the limiting pin 7 to engage inside the cam groove 10 and perform reciprocating motion along a preset path, thereby achieving precise switching of complex actions; the rotating ball 12 provides multi-directional rotational support at the connection point, reducing transmission friction resistance while preventing structural jamming; the telescopic rod 13 transmits thrust through the fixed end in cooperation with the rotating ball 12, precisely driving the displacement obtained by the limiting pin 7 to the sleeve mechanism 15.

[0026] Please see the appendix Figure 3 and attached Figure 5 The inner tube 1501 has a spiral groove 1502 on its outer wall, and a sliding pin 1506 is fixedly connected to the inner wall of one side of the outer tube 1504. The sliding pin 1506 is inserted into the spiral groove 1502 to realize the self-rotation of the outer tube 1504 during the lifting and lowering process.

[0027] The inner tube 1501 serves as a support carrier for the spiral groove 1502, constraining the movement trajectory of the outer tube 1504. The spiral groove 1502, in conjunction with the spiral guide motion of the sliding pin 1506, converts linear thrust into rotational torque, realizing the physical conversion of lifting displacement into spin angle. The sliding pin 1506, fixed to the inner wall of one side of the outer tube 1504, performs forced linkage transmission within the groove, transmitting the constraint of the inner tube 1501 to the outer tube 1504, which performs composite displacement motion, causing the end grating disk to generate a spatial phase difference. The sliding pin 1506 is engaged inside the spiral groove 1502 and slides along the trajectory, causing the outer tube 1504 to spin during lifting, thereby simultaneously adjusting the optical interference frequency while adjusting the directivity of the sound beam.

[0028] Please see the appendix Figure 3The bottom end of the inner tube 1501 is fixed with a primary physical grating disk 1503, and the bottom end of the outer tube 1504 is fixed with a secondary physical grating disk 1505. The primary physical grating disk 1503 and the secondary physical grating disk 1505 are arranged opposite to each other. The phase overlap area between the secondary physical grating disk 1505 and the primary physical grating disk 1503 changes as the outer tube 1504 rotates.

[0029] The inner tube 1501 provides a static mounting carrier for the primary physical grating disk 1503 to ensure the stability of the optical reference. The primary physical grating disk 1503 is used to initially physically shield the laser beam to form a basic projection grating. The outer tube 1504 drives the secondary physical grating disk 1505 to rotate synchronously, converting mechanical spin into optical modulation. This causes the secondary physical grating disk 1505 to cooperate with the primary physical grating disk 1503 to produce optical interference and change the intensity or shape of the beam projection. The primary physical grating disk 1503 and the secondary physical grating disk 1505 achieve phase overlap through relative setting, physically truncate the passing light to generate a dynamic flashing signal, enhancing the sense of driving away stimulation. The secondary physical grating disk 1505 rotates circumferentially with the outer tube 1504. By changing the physical light-transmitting area between the two grating disks, the linkage effect of adjusting the frequency of the driving beam is achieved.

[0030] Please see the appendix Figure 4 A laser module 1507 is installed at the center of the bottom of the working chamber 1, and a sound-emitting module 1508 is installed around the inner wall of the inner tube 1501, which is surrounded by an array of laser modules 1507.

[0031] The working chamber 1 provides a mechanical mounting base and sealed protection for the internal core components, ensuring the collimation and stability of the laser module 1507. The laser module 1507 projects a visible laser beam downwards, and the movement of the light spot achieves visual guidance and positioning of the pigs. The inner tube 1501 provides a fixed wall for the sound-emitting modules 1508 distributed around the laser module 1507 array, which converges and outputs the dispersed sound waves. The sound-emitting modules 1508 generate noise or driving commands of specific frequencies and coordinate with the laser module 1507 to form a dual physical stimulus of sound and light, which improves driving efficiency while preventing habitual stress in pigs.

[0032] Please see the appendix Figure 2 and attached Figure 6 The bottom of the working chamber 1 is also equipped with a sound and light adjustment mechanism 16. The sound and light adjustment mechanism 16 includes an electric push rod 1601 installed at the bottom of the working chamber 1. The output end of the electric push rod 1601 is fixedly connected to a collar 1602, which moves within the sleeve mechanism 15.

[0033] The working chamber 1 provides a mounting carrier and support for the internal components, ensuring the structural stability of the acoustic and optical adjustment mechanism 16. The acoustic and optical adjustment mechanism 16 is used to compensate the output acoustic and optical physical parameters in real time, improving the driving accuracy according to the actual scenario. The electric push rod 1601 installed at the bottom of the working chamber 1 provides reciprocating linear power and performs telescopic movement in conjunction with external control commands, converting electrical signals into precise linear strokes. The collar 1602 acts as a transmission medium to synchronously drive the displacement of the adjustment components, efficiently transmitting the driving force of the electric push rod 1601 to the execution end. The collar 1602 cooperates with the internal cavity of the sleeve mechanism 15 for guided sliding, thereby changing the physical geometry of the acoustic and optical propagation path and realizing differentiated dynamic output of the driving signal.

[0034] Please see the appendix Figure 6 and attached Figure 7 Multiple push frames 1604 are hinged to the outer wall of the collar 1602 via the mounting base 1603. The end of the push frame 1604 is hinged to a movable frame 1605. The movable frame 1605 is distributed around the sleeve mechanism 15 in a silhouette-like folded structure.

[0035] The collar 1602 serves as the radial distribution base of the mounting base 1603, evenly distributing the axial driving force to multiple push frames 1604 on the outer periphery. The hinged support provided by the mounting base 1603 ensures smooth rotation of the push frames 1604 during reciprocating transmission. The push frames 1604 work in conjunction with the collar 1602 to swing, converting linear power into radial expansion or contraction motion, thereby achieving synchronous adjustment of the angle of the movable frame 1605. The movable frame 1605, as the mechanical force-bearing body at the actuator end, changes the physical envelope of the device and works in conjunction with the push frames 1604 to perform silhouette-like telescopic motion, thereby adjusting the shielding area or reflection angle of the outer periphery of the sleeve mechanism 15, achieving a multi-level physical adjustment linkage effect for the sound and light signals.

[0036] Please see the appendix Figure 6 and attached Figure 7 The movable frame 1605 has a movable groove 1606, and flexible lenses 1607 are installed between adjacent movable frames 1605. The flexible lenses 1607 generate physical curvature deformation synchronously with the opening angle of the movable frame 1605.

[0037] The movable frame 1605 provides a physical support carrier and deformation driving force for the flexible lens 1607. The movable groove 1606 opened on it provides sliding stroke space for the connector and cooperates with the movable frame 1605 to limit sliding, guiding the frame to fold or unfold smoothly to ensure smooth operation of the mechanism and prevent jamming. The flexible lenses 1607 installed between the movable frames 1605 are used to reflect or block the internal light, thereby changing the optical distribution characteristics of the device's periphery. The flexible lens 1607 generates physical curvature deformation synchronously with the opening angle of the movable frame 1605. By cooperating with the elastic bending movement of the movable frame 1605, the reflection focus or scattering angle of the mirror surface is changed, achieving the linkage effect of adjusting the coverage of the driving beam in real time by using physical deformation.

[0038] Please see the appendix Figure 2 A fixing rod 8 is fixedly connected to the side wall of the working chamber 1. The other end of the fixing rod 8 is fixedly connected to the cam guide plate 9, which is used to provide mechanical support for the displacement of the limit pin 7 inside the cam groove 10.

[0039] The working chamber 1 provides a mechanical mounting base and support center for external components, ensuring the overall stable operation of the device and preventing structural swaying. The fixed rod 8 serves as a rigid connection medium between the working chamber 1 and the cam guide plate 9, stably transmitting the fixed load to the guide end and locking the position in conjunction with the cam guide plate 9, so that it maintains the preset spatial posture during operation to improve the trajectory guidance accuracy. The cam guide plate 9 provides a physical trajectory carrier for the moving parts, guiding the actuator to move according to specific mechanical logic. At the same time, the cam groove 10 opened inside uses physical contour interference to constrain the active boundary, achieving the effect of converting the driving power into a specific displacement trajectory and preventing overtravel or deviation.

[0040] Please see the appendix Figure 2 Appendix Figure 6 and attached Figure 7 One end of the movable frame 1605 is connected to the outer edge of the bottom of the outer tube 1504, and the other end of the movable frame 1605 expands outward with the thrust of the push frame 1604.

[0041] The movable frame 1605, as the main actuator for adjusting the physical envelope range of sound and light, changes the diffusion area of ​​the beam or sound wave through physical displacement. One end of the movable frame 1605 is connected to the outer edge of the bottom of the outer tube 1504, which provides a stable fixed support and mounting base to ensure that the position of the adjustment mechanism and the central axis of the sleeve is relatively fixed. The other end of the movable frame 1605 expands outward with the mechanical power transmitted from the collar 1602 by the push frame 1604. The lever transmission of the push frame 1604 and the movable frame 1605 converts the axial thrust into a radial expansion stroke, so that the movable frame 1605 and the push frame 1604 perform radial opening and closing movements and change the spatial geometry of the load component, so as to achieve the linkage effect of dynamically adjusting the coverage width of the driving signal according to the operation requirements.

[0042] Working principle: The overhead crane 2 drives the swing arm 5 to move along the guide rail 3. Utilizing the restricted swing characteristics of the damped rotating shaft 4, it drives the working chamber 1 and its internal components to move. Simultaneously, the limiting pin 7, fixed to the side wall of the working chamber 1, slides along the cam groove 10 within the cam guide plate 9 supported by the fixed rod 8. The limiting pin 7 transmits the displacement trajectory to the telescopic rod 13 via the connecting rod 6 and the embedded rotating ball 12, driving the outer tube 1504 to rise and fall outside the inner tube 1501. Synchronous self-rotation is generated by the guiding cooperation of the sliding pin 1506 and the spiral groove 1502, causing the secondary... The primary physical grating disk 1505 rotates relative to the primary physical grating disk 1503 to change the phase overlap area, thereby achieving physical frequency modulation of the output signals of the laser module 1507 and the sound-emitting module 1508. At the same time, the electric push rod 1601 drives the collar 1602 to move according to the command, and drives the movable frame 1605 to radially open and close along the movable groove 1606 through the mounting base 1603 and the push frame 1604, so that the flexible lens 1607 will undergo physical curvature deformation, thereby achieving real-time adjustment of the physical envelope range and reflection angle of the acoustic and optical signals.

Claims

1. A laser-based intelligent pig herding device, characterized in that, The system includes a crane (2) mounted on a guide rail (3), a swing arm (5) movably connected below the crane (2) via a damping shaft (4), and a working chamber (1) fixedly connected to the bottom of the swing arm (5); a cam guide plate (9) is mounted on the side of the guide rail (3), and a cam groove (10) is provided inside the cam guide plate (9); a connecting rod (6) and a limiting pin (7) are fixedly connected to the side wall of the working chamber (1), and the limiting pin (7) is inserted into the cam groove (10); a sleeve mechanism (15) is provided at the bottom of the working chamber (1) to convert linear displacement into spin. The movement is used to achieve adaptive physical modulation of the frequency of the sound and light signal. The sleeve mechanism (15) includes an inner tube (1501) fixedly connected to the bottom of the working chamber (1) and an outer tube (1504) slidably nested outside the inner tube (1501). The outer tube (1504) and the limiting pin (7) are connected by a telescopic rod (13) and a connecting block (14). The bottom of the working chamber (1) is also equipped with a sound and light adjustment mechanism (16), which is used to force the external lens to produce physical curvature deformation by opening and closing, thereby realizing dynamic adjustment of the envelope range and reflection angle of the driving signal.

2. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, A rotating bead (12) is embedded at the connection position between the connecting rod (6) and the limiting pin (7), and one end of the telescopic rod (13) is fixedly connected to the rotating bead (12).

3. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, The outer wall of the inner tube (1501) is provided with a spiral groove (1502), and a sliding pin (1506) is fixedly connected to the inner wall of one side of the outer tube (1504). The sliding pin (1506) is inserted into the spiral groove (1502) to realize the self-rotation of the outer tube (1504) during the lifting and lowering process.

4. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, The inner tube (1501) has a primary physical grating disk (1503) fixed at its bottom end, and the outer tube (1504) has a secondary physical grating disk (1505) fixed at its bottom end. The primary physical grating disk (1503) and the secondary physical grating disk (1505) are arranged opposite to each other. The secondary physical grating disk (1505) changes the phase overlap area with the primary physical grating disk (1503) as the outer tube (1504) rotates.

5. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, A laser module (1507) is installed at the bottom center of the working chamber (1), and a sound-emitting module (1508) is installed around the inner wall of the inner tube (1501) in an array around the laser module (1507).

6. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, The sound and light adjustment mechanism (16) includes an electric push rod (1601) installed at the bottom of the working chamber (1). The output end of the electric push rod (1601) is fixedly connected to a collar (1602), which moves within the sleeve mechanism (15).

7. The intelligent pig herding device based on laser positioning according to claim 6, characterized in that, The outer wall of the collar (1602) is hinged to a plurality of push frames (1604) via a mounting base (1603). The end of the push frame (1604) is hinged to a movable skeleton (1605). The movable skeleton (1605) is distributed around the sleeve mechanism (15) in a silhouette-like folded structure.

8. The intelligent pig herding device based on laser positioning according to claim 7, characterized in that, The movable frame (1605) has a movable groove (1606), and flexible lenses (1607) are installed between adjacent movable frames (1605). The flexible lenses (1607) generate physical curvature deformation synchronously with the opening angle of the movable frame (1605).

9. The intelligent pig herding device based on laser positioning according to claim 1, characterized in that, The side wall of the working chamber (1) is fixedly connected to a fixing rod (8), and the other end of the fixing rod (8) is fixedly connected to the cam guide plate (9) to provide mechanical support for the displacement of the limiting pin (7) inside the cam groove (10).

10. The intelligent pig herding device based on laser positioning according to claim 7, characterized in that, One end of the movable frame (1605) is connected to the outer edge of the bottom of the outer tube (1504), and the other end of the movable frame (1605) expands outward with the thrust of the push frame (1604).

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