Intelligent necklace for shepherds based on multi-mode fusion positioning

Abstract

The utility model discloses an intelligent necklace for a shepherd based on multi-mode fusion positioning. The intelligent necklace for the shepherd based on the multi-mode fusion positioning comprises a necklace body of a strip-shaped structure. A multi-mode hybrid positioning unit, a dual-mode communication unit and a power supply unit are arranged on the necklace body; the multimode hybrid positioning unit is composed of a speed sensing module, a satellite positioning module, an inertial navigation compensation module and a UWB auxiliary positioning module, and is used for generating a positioning signal. The dual-mode communication unit is electrically connected with the multi-mode hybrid positioning unit, and signal interaction between the multi-mode hybrid positioning unit and the mobile terminal is realized through 4G / Cat-M1 and LoRa protocols; the power supply unit supplies power to the multi-mode hybrid positioning unit and the dual-mode communication unit.

Description

A smart collar for sheep herding based on multi-modal fusion positioning Technical Field

[0001] This utility model relates to the field of intelligent management technology in animal husbandry, and in particular to an intelligent collar for sheep based on multi-mode fusion positioning, specifically including a multi-mode hybrid positioning system and an adaptive anti-fall-off structure. Background Technology

[0002] Existing sheep-keeping collars have the following technical defects:

[0003] 1. Insufficient positioning accuracy: Relying on a single satellite signal, the error exceeds 20 meters in obstructed environments such as mountainous areas and dense forests, and the dynamic tracking delay is significant.

[0004] 2. Poor equipment reliability: The collars are prone to falling off or being damaged due to collisions or biting by sheep, and the waterproof and dustproof ratings are insufficient (generally lower than IP65).

[0005] 3. Poor battery life: The high power consumption positioning module leads to short battery life (usually ≤7 days), and performance deteriorates under extreme temperatures.

[0006] 4. Low communication security: Data transmission is not encrypted, posing a risk of location information leakage. Summary of the Invention

[0007] The present invention aims to overcome the shortcomings of the prior art and provide a smart collar for sheep herding based on multi-mode fusion positioning.

[0008] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0009] The smart collar for sheep herding based on multi-mode fusion positioning includes a collar body (1) in the form of a strip structure; the collar body (1) is provided with a multi-mode hybrid positioning unit (2), a dual-mode communication unit (3) and a power supply unit (4); the multi-mode hybrid positioning unit (2) is composed of a speed sensing module (21), a satellite positioning module (22), an inertial navigation compensation module (23) and a UWB auxiliary positioning module (24), and is used to generate positioning signals; the dual-mode communication unit (3) is electrically connected to the multi-mode hybrid positioning unit (2), and the signal interaction between the multi-mode hybrid positioning unit (2) and the mobile terminal is realized through 4G / Cat-M1 and LoRa protocols; the power supply unit (4) supplies power to the multi-mode hybrid positioning unit (2) and the dual-mode communication unit (3).

[0010] Preferably, the satellite positioning module (22) integrates a three-mode dual-frequency chip supporting GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric error through frequency band differential technology; the inertial navigation compensation module (23) has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when satellite signals are lost; the UWB assisted positioning module (24) has a built-in UWB receiver, and achieves centimeter-level positioning within the fence through UWB deployed at fixed points in the pasture.

[0011] More preferably, the collar body (1) is further provided with a dynamic energy management unit (5); the dynamic energy management unit (5) is electrically connected to the speed sensing module (21), the satellite positioning module (22), the inertial navigation module (23), and the UWB assisted positioning module (24), respectively; the dynamic energy management unit (5) realizes the switching activation of the satellite positioning module (22), the inertial navigation module (23), and the UWB assisted positioning module (24) in the multi-mode hybrid positioning unit (2) through the signal feedback of the speed sensing module (21), and realizes the switching of 4G / Cat-M1 and LoRa protocols in the dual-mode communication unit (3) through the signal feedback of the multi-mode hybrid positioning unit (2); the dynamic energy management unit (5) is powered by a power supply unit (4). The power supply unit (4) can be a rechargeable battery or a solar cell.

[0012] More preferably, the collar body (1) has a built-in Flash memory for storing data when the network is disconnected.

[0013] More preferably, the collar body (1) is lined with a silicone pad (6), and the collar body (1) also has an adaptive anti-fall-off structure; the adaptive anti-fall-off structure includes a buckle (71), a buckle locking micro motor (72) and a six-axis force sensor embedded in the silicone pad (6), the six-axis force sensor interacts with the locking micro motor (72) via signals, and the buckle (71) and the buckle locking micro motor (72) are electrically connected.

[0014] The control method for the intelligent collar used for sheep herding based on the above-mentioned multi-mode fusion positioning includes adaptive adjustment control of positioning frequency, dynamic energy consumption control and adaptive anti-fall-off control.

[0015] ① Adaptive adjustment control of positioning frequency: When the sheep is stationary, the positioning interval is controlled at 60s, and the single-frequency satellite positioning module and the inertial navigation compensation module are activated; when the sheep's speed is ≥5m / s, the positioning interval is controlled to be shortened to ≤5s, and the dual-frequency satellite positioning module and the UWB assisted positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB assisted positioning module and the inertial navigation compensation module are activated.

[0016] ② Dynamic energy consumption control: When the communication distance between the sheep and the mobile terminal is <10km, 4G / Cat-M1 communication is used; when the communication distance between the sheep and the mobile terminal is ≥10km, LoRa protocol communication is used; communication data is encrypted.

[0017] ③ Adaptive anti-drop control: When the force detected by the six-axis force sensor is lower than the threshold (≥5N), the signal is transmitted to the buckle locking micro motor, which starts and tightens the buckle.

[0018] The present invention will be further described below:

[0019] The intelligent collar for sheep herding described in this utility model is designed with:

[0020] 1. Multi-mode hybrid positioning unit

[0021] ① Satellite positioning module: It integrates a tri-mode dual-frequency chip that supports GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric error through frequency band differential technology.

[0022] ② Inertial navigation compensation module: Built-in MEMS gyroscope (range ±2000° / s) and three-axis accelerometer (range ±16g), continuously outputs position data through dead reckoning when satellite signal is lost.

[0023] ③ Auxiliary positioning module: UWB (Ultra-Wideband) beacons are deployed at fixed points in the ranch, and the collar has a built-in UWB receiver to achieve centimeter-level positioning within the fence (accuracy ≤30cm).

[0024] The tri-mode satellite chip, such as model ATGM336H-5N, the UWB module DW3000, and the STM32L4 main control chip are integrated on a PCB board, packaged in a TPU shell, and then installed on the collar.

[0025] 2. Adaptive anti-fall-off structure

[0026] ① Buckle: It can be a stainless steel spring locking tongue structure.

[0027] ② Dynamic stress distribution design: The collar lining is made of 3mm thick medical-grade silicone. The silicone pad inside the collar lining has a six-axis force sensor embedded in it to monitor the circumferential pressure on the sheep's neck in real time. If the local pressure is lower than the threshold (≥5N), the buckle locks the micro motor to tighten the collar. If it exceeds the safety threshold (≤0.3MPa), the buckle locks the micro motor to loosen the collar.

[0028] Conduct anti-shedding test: Wear collars in a group of 50 sheep and count the number of times they fall off over 30 days.

[0029] The results showed that the traditional collar had a detachment rate of 12% (6 times / 50 pieces). The collar of this invention had a detachment rate of 0.4%.

[0030] 3. Dual-mode communication unit

[0031] ① Dual-mode communication link (primary link + backup link):

[0032] Main link: 4G Cat-M1 modem, supporting PSM (Power Saving Mode) and eDRX extended paging cycle.

[0033] Backup link: LoRa self-organizing network module, communication distance ≥10km (line-of-sight environment), supports relay mode.

[0034] Data encryption: AES-256 is used to encrypt location data, and the device identification code is bidirectionally authenticated using the national cryptographic SM4 algorithm.

[0035] ② Dynamic Energy Management Unit: Control Logic: When the sheep is stationary, the control positioning interval is 60s, activating the single-frequency (L1) satellite positioning module and the inertial navigation compensation module; when the sheep's speed is ≥5m / s, the control positioning interval is shortened to ≤5s, activating the dual-frequency (L1 / L5) satellite positioning module and the UWB assisted positioning module; when the satellite signal strength is ≤-130dBm, the UWB assisted positioning module and the inertial navigation compensation module are activated; Network Disconnection Data Cache: Supported by a built-in 8MB Flash memory, it supports 72 hours of offline trajectory storage and resumes transmission after network recovery.

[0036] This invention achieves a positioning accuracy of ≤3 meters in complex terrain using a multi-mode hybrid positioning system (satellite + UWB + inertial navigation). It employs a magnetic-mechanical dual-locking structure and a dynamic stress adjustment mechanism to reduce the risk of detachment, and extends battery life to 14 days based on an adaptive energy management strategy. This solution addresses the pain points of traditional collars, such as positioning drift, susceptibility to damage, and short battery life, making it suitable for mountain ranches and refined livestock management scenarios.

[0037] In summary, this utility model is a high-precision, long-lasting, and anti-fall-off smart collar suitable for complex terrains. Through multi-mode positioning fusion, dynamic energy consumption optimization, and biocompatibility design, it solves the problems of positioning drift, device vulnerability, and data security risks in the prior art. Attached Figure Description

[0038] Figure 1: Schematic diagram of the structure of this utility model.

[0039] In the diagram: 1. Collar body; 2. Multi-mode hybrid positioning unit; 21. Speed ​​sensing module; 22. Satellite positioning module; 23. Inertial navigation compensation module; 24. UWB assisted positioning module; 3. Dual-mode communication unit; 4. Power supply unit; 5. Dynamic energy consumption management unit; 6. Silicone gasket; 71. Buckle; 72. Buckle locking micro motor. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments. Embodiment 1

[0041] Referring to Figure 1, the smart collar for sheep herding based on multi-mode fusion positioning includes a collar body 1 with a strip-like structure; the collar body 1 is provided with a multi-mode hybrid positioning unit 2, a dual-mode communication unit 3, and a power supply unit 4; the multi-mode hybrid positioning unit 2 is composed of a speed sensing module 21, a satellite positioning module 22, an inertial navigation compensation module 23, and a UWB auxiliary positioning module 24, and is used to generate positioning signals; the dual-mode communication unit 3 is electrically connected to the multi-mode hybrid positioning unit 2, and realizes signal interaction between the multi-mode hybrid positioning unit 2 and the mobile terminal through 4G / Cat-M1 and LoRa protocols; the power supply unit 4 supplies power to the multi-mode hybrid positioning unit 2 and the dual-mode communication unit 3.

[0042] The satellite positioning module 22 integrates a tri-mode dual-frequency chip supporting GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric errors through frequency band differential technology; the inertial navigation compensation module 23 has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when satellite signals are lost; the UWB assisted positioning module 24 has a built-in UWB receiver, and achieves centimeter-level positioning within the fence through UWB deployed at fixed points in the pasture.

[0043] The collar body 1 is also provided with a dynamic power management unit 5; the dynamic power management unit 5 is electrically connected to the speed sensing module 21, the satellite positioning module 22, the inertial navigation module 23 and the UWB auxiliary positioning module 24 respectively; the dynamic power management unit 5 realizes the switching activation of the satellite positioning module 22, the inertial navigation module 23 and the UWB auxiliary positioning module 24 in the multi-mode hybrid positioning unit 2 through the signal feedback of the speed sensing module 21, and realizes the switching of 4G / Cat-M1 and LoRa protocol in the dual-mode communication unit 3 through the signal feedback of the multi-mode hybrid positioning unit 2; the dynamic power management unit 5 is powered by the power supply unit 4.

[0044] The collar body 1 has a built-in Flash memory for storing data when the network is offline.

[0045] The collar body 1 is lined with a silicone pad 6, and the collar body 1 also has an adaptive anti-slip structure; the adaptive anti-slip structure includes a buckle 71, a buckle locking micro motor 72, and a six-axis force sensor embedded in the silicone pad 6. The six-axis force sensor interacts with the locking micro motor 72, and the buckle 71 and the buckle locking micro motor 72 are electrically connected. Example 2

[0046] The control method for the intelligent collar for sheep based on multi-mode fusion positioning as described in Example 1 includes adaptive adjustment control of positioning frequency, dynamic energy consumption control, and adaptive anti-fall-off control.

[0047] ① Adaptive adjustment control of positioning frequency: When the sheep is stationary, the positioning interval is controlled at 60s, and the single-frequency satellite positioning module and the inertial navigation compensation module are activated; when the sheep's speed is ≥5m / s, the positioning interval is controlled to be shortened to ≤5s, and the dual-frequency satellite positioning module and the UWB assisted positioning module are activated; when the satellite signal strength is ≤-130dBm, the UWB assisted positioning module and the inertial navigation compensation module are activated.

[0048] ② Dynamic energy consumption control: When the communication distance between the sheep and the mobile terminal is <10km, 4G / Cat-M1 communication is used; when the communication distance between the sheep and the mobile terminal is ≥10km, LoRa protocol communication is used; communication data is encrypted.

[0049] ③ Adaptive anti-drop control: When the force detected by the six-axis force sensor is lower than the threshold (≥5N), the signal is transmitted to the buckle locking micro motor, which starts and tightens the buckle.

Claims

1. A smart collar for sheep herding based on multi-modal fusion positioning, characterized in that, The smart collar for sheep herding includes a collar body (1) with a strip-shaped structure; the collar body (1) is provided with a multi-mode hybrid positioning unit (2), a dual-mode communication unit (3) and a power supply unit (4); the multi-mode hybrid positioning unit (2) is composed of a speed sensing module (21), a satellite positioning module (22), an inertial navigation compensation module (23) and a UWB auxiliary positioning module (24), and is used to generate positioning signals; the dual-mode communication unit (3) is electrically connected to the multi-mode hybrid positioning unit (2), and the signal interaction between the multi-mode hybrid positioning unit (2) and the mobile terminal is realized through 4G / Cat-M1 and LoRa protocols; the power supply unit (4) supplies power to the multi-mode hybrid positioning unit (2) and the dual-mode communication unit (3).

2. The intelligent collar for sheep herding based on multi-mode fusion positioning as described in claim 1, characterized in that, The satellite positioning module (22) integrates a three-mode dual-frequency chip that supports GPS L1 / L5, Beidou B1 / B2, and Galileo E1 / E5, and reduces ionospheric error through frequency band differential technology; the inertial navigation compensation module (23) has a built-in MEMS gyroscope and a three-axis accelerometer, and continuously outputs position data through dead reckoning when satellite signals are lost; the UWB assisted positioning module (24) has a built-in UWB receiver, and achieves centimeter-level positioning within the fence through UWB deployed at fixed points in the ranch.

3. The intelligent collar for sheep herding based on multi-mode fusion positioning as described in claim 2, characterized in that, The collar body (1) is also provided with a dynamic energy management unit (5); the dynamic energy management unit (5) is electrically connected to the speed sensing module (21), the satellite positioning module (22), the inertial navigation compensation module (23) and the UWB auxiliary positioning module (24) respectively; the dynamic energy management unit (5) realizes the switching activation of the satellite positioning module (22), the inertial navigation compensation module (23) and the UWB auxiliary positioning module (24) in the multi-mode hybrid positioning unit (2) through the signal feedback of the speed sensing module (21), and realizes the switching of 4G / Cat-M1 and LoRa protocol in the dual-mode communication unit (3) through the signal feedback of the multi-mode hybrid positioning unit (2); the dynamic energy management unit (5) is powered by the power supply unit (4).

4. The intelligent collar for sheep herding based on multi-mode fusion positioning as described in claim 3, characterized in that, The collar body (1) has a built-in Flash memory for storing data when the network is disconnected.

5. The intelligent collar for sheep herding based on multi-modal fusion positioning as described in claim 4, characterized in that, The collar body (1) is lined with a silicone pad (6), and the collar body (1) also has an adaptive anti-fall-off structure; the adaptive anti-fall-off structure includes a buckle (71), a buckle locking micro motor (72) and a six-axis force sensor embedded in the silicone pad (6), the six-axis force sensor interacts with the locking micro motor (72) and the buckle (71) and the buckle locking micro motor (72) are electrically connected.

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