182 results about "Sheep flock" patented technology

The invention discloses a sheep flock accurate nutrition supply method based on an intelligent feeding algorithm, and the method comprises the following steps: collecting the body type, physiology, movement and environment data of sheep through a multi-modal sensing device, and constructing individual three-dimensional representation based on a neural radiation field model, historical growth data and a real-time health state are analyzed by utilizing an individual nutritional requirement calculation model, an optimal feed distribution strategy is determined by combining an intelligent sheep flock optimization algorithm, a feeding scheme is dynamically adjusted by adopting deep reinforcement learning, and through a cloud-side collaborative calculation architecture, the calculation efficiency is improved and a feeding decision is optimized. A non-intrusive health monitoring technology is combined, a group health evaluation model is constructed, the feed ratio is adjusted in real time, accurate matching of individual and group nutritional requirements is achieved, and through prediction of the individual and group nutritional requirements, self-adaptive adjustment is conducted on feeding parameters, and a dynamic nutrition supply strategy is optimized. The system effectively improves the feeding precision, reduces the feed waste, and optimizes the health management of the sheep flock.

The invention provides an unmanned aerial vehicle multi-target path planning method based on a multi-target sheep flock migration algorithm. The method comprises the following steps: 1, constructing a three-dimensional model of a task environment: 1.1, constructing a grid-based three-dimensional task space model; 1.2, determining collision probability distribution; 2, initializing algorithm parameters and populations; 2.1, initializing multi-target sheep flock migration algorithm parameters; 2.2, randomly generating an initial population in the task area range; 3, performing non-dominated sorting on the population, and selecting head sheep; 3.1, calculating an objective function value of each sheep; 3.2, determining a Pareto optimal solution set by adopting non-dominated sorting; 3.3, selecting the sheep with the largest crowding distance as the head sheep; 4, executing a grazing operator; 5, judging and executing a migration operator or a contraction operator; 5.1, if the optimal solution of the group is updated, executing the migration operator; 5.2, if the optimal solution of the group is not updated, executing a contraction operator; and 5, judging whether the maximum number of iterations is reached or not, if so, outputting an optimal path planning solution, and otherwise, returning to the step 3.

The invention discloses a sheep coccidiosis parasitic ovum accurate detection method based on deep learning, and the method comprises the following steps: automatically collecting a sheep manure sample image, carrying out the noise removal and enhancement of the image, and guaranteeing the image quality; the preprocessed image is input into an automatic sheep coccidiosis parasitic ovum detection model for training, the training process comprises image segmentation, feature extraction and accurate recognition, and a deep learning model is used for automatically recognizing sheep coccidiosis parasitic ovum; performing infection density analysis according to the number of sheep coccidiosis parasitic ova output by the improved deep learning model, and evaluating the infection risk of the sheep flock; the detection result is visually displayed, detailed analysis reports including the number, type distribution and infection density data of sheep coccidiosis parasitic ova are generated, hours or even longer time needed by a traditional method is shortened, and high accuracy of the detection result is ensured.

The invention discloses a large-scale deformation compensation method, device, equipment and medium, and relates to the field of image processing, and the method regards a salient point in an image as a leader in a group, is similar to a leading animal in a migration sheep flock, and plays a key role in guiding the whole registration process. In order to estimate the aggregation manifold, large-scale deformation registration is divided into three parts according to an animal migration mode: route decision based on aggregation quantization, route execution with aggregation maintenance and cascade migration with aggregation inheritance. The three parts are integrated into an aggregation cascade migration (CCM) framework, and large-scale deformation of the image is effectively compensated. According to the method, the registration precision and robustness during large-scale deformation compensation can be greatly improved. The method is a universal method, is not limited to specific feature descriptors or deformation models, and can be easily expanded to other image registration tasks.

The invention belongs to the field of artificial intelligence and financial science and technology, and relates to a sheep flock counting method based on small target detection, which comprises the steps of preprocessing a collected original sample data set, obtaining a training set and a test set, training a pre-constructed initial target detection model by using the training set and the test set, and obtaining a final target detection model. The target detection model comprises a backbone network, a neck network and a detection head network, predicting the to-be-counted sheep flock pictures through the trained target detection model, and recognizing the number of the sheep flock in the pictures. The invention further provides a sheep flock counting device and equipment based on small target detection and a storage medium. In addition, the invention also relates to a block chain technology, and the target detection model can be stored in a block chain. The counting efficiency and accuracy can be improved, and manpower and material resources are saved.

The utility model provides an automatic-cleaning constant-temperature water trough for sheep, which comprises a trough body arranged at a use place as required; the water inlet is formed in one end of the tank body and connected with a water inlet pipeline; the water control device is arranged in the tank body and is connected with the water inlet; the heating group is used for heating drinking water in the tank body and is arranged at the bottom of the tank body, and one end of the heating group is connected with a wire penetrating through the tank body; the cleaning group is used for cleaning the interior of the tank body, is arranged at the bottom of the tank body and is adjacent to the heating group; the water outlet is formed in the bottom of the tank body and is far away from the water inlet, and a water drainage pipe is connected to the water outlet; according to the constant-temperature water trough for automatically cleaning the sheep, the interior of the trough body can be automatically cleaned under the condition that the temperature of drinking water in the trough body is ensured, the difficulty of cleaning the trough body is reduced under the condition that the temperature of drinking water in a flock of sheep is ensured, and the cleaning cost is further reduced.

The invention belongs to the technical field of molecular markers, and particularly relates to an SNP (Single Nucleotide Polymorphism) molecular marker related to sheep weight traits and application thereof. The invention provides an SNP (Single Nucleotide Polymorphism) molecular marker related to sheep body weight traits, which corresponds to 35074122bp of the 11th chromosome of a sheep genome and has a basic group of C / T. The SNP molecular marker has remarkable correlation with the sheep weight, 6.11% of weight variance variation can be explained, and T is favorable allelic variation of sheep weight traits. The SNP molecular marker provided by the invention can be used for identifying sheep weight traits, distinguishing high-weight sheep from low-weight sheep, selecting a TT genotype for breed conservation during breeding, taking the TT genotype as a breeding sheep during breeding, excluding sheep with C allele during hybridization with other sheep, and performing artificial fertilization by adopting sperm of a TT genotype breeding ram. The breeding efficiency can be greatly improved, and sheep flock with weight advantages can be obtained.

The invention relates to the technical field of cattle and sheep anti-lost, and discloses a free-ranging cattle and sheep anti-lost early warning system based on Internet of Things, which comprises a cattle and sheep positioning collar, a cattle and sheep positioning data receiving unit, a cattle and sheep electronic fence setting unit, a cattle and sheep position analysis unit and a lost early warning unit. According to the free-range cattle and sheep anti-lost early warning system based on the Internet of Things, real-time coordinates of a large cattle and sheep group serve as a center point of an electronic fence, the range of the electronic fence is manually set, the electronic fence is continuously moved along with feeding of the cattle and sheep group, and the electronic fence can be driven to move along with feeding of the cattle and sheep group; the individual does not move along with the cattle and sheep flock, and when the individual exceeds or approaches the boundary of the electronic fence, early warning is given out in time, so that the situation that the individual is in the static electronic fence but does not move along with the large flock when the cattle and sheep flock enters or moves due to the static electronic fence, and the situation cannot be effectively early warned is avoided, and when the cattle and sheep flock enters or moves, the individual does not move along with the large flock. And missing individuals need to be retrieved manually.

The invention discloses a free-range sheep flock dynamic counting method and system based on multi-view vision, and the method employs multi-view image collection deployment, and devices are installed in different directions, heights and angles of a sheep flock activity area, thereby achieving the complete coverage of the activity range. In the image preprocessing stage, graying, Gaussian filtering, histogram equalization and other operations are applied to improve the image quality. The sheep flock target is accurately detected by means of an improved deep learning model such as YOLOv5 containing a CBAM module. And multi-target tracking association is combined with Kalman filtering and a Hungary algorithm to realize stable tracking of sheep flock targets. The biological feature identification extracts sheep face features and compares the features with a database to identify individuals. And an environmental factor compensation model is constructed to cope with illumination and weather changes. And a parallel computing architecture and an optimized data storage and transmission mode are adopted, so that the processing efficiency is improved, and the dynamic counting of the free-range sheep flock is accurately realized in real time.

The invention discloses a sheep house disinfecting and cleaning device for sheep flock breeding, and particularly relates to the technical field of sheep house disinfecting and cleaning, the sheep house disinfecting and cleaning device comprises a sheep house disinfecting and cleaning device main body, when a sheep flock is bred in the sheep house disinfecting and cleaning device main body and a sheep enters a shower assembly, a shower pipe is used for disinfecting and spraying the entering sheep flock; the shower pipe can slide on the adjusting rail to adjust the shower position, liquid sprayed in the shower pipe can be replaced by a user (by default, 2% sodium hydroxide or 0.5 peracetic acid is used) for disinfection, the drying boxes on the two sides keep the environment of the channel dry through drying air outlets, meanwhile, the wetted positions of the sheep flock are treated, and the drying efficiency is improved. When a flock of sheep enters the sheep house to live, the flock of sheep moves above the sundry filter screen, and excrement generated by the flock of sheep falls into the sundry storage cavity from the treatment groove.

The utility model discloses a sheep farm feeding trough cleaning device which comprises a feeding trough, connecting assemblies are arranged on the two walls of the inner side of the feeding trough, two rotating discs are arranged in the feeding trough, the two rotating discs are connected with the feeding trough through the connecting assemblies respectively, and the rotating discs are connected with the feeding trough through the connecting assemblies respectively. A driving assembly for driving the connecting assembly to rotate is arranged on the upper end face of the feeding trough, the output end of the driving assembly is connected with the connecting assembly, a cleaning assembly is arranged between the two rotating discs, and a slag discharging assembly is arranged on the outer side of the feeding trough. Through the arrangement of the driving assembly, under the action of the connecting assembly and the rotating disc, the cleaning assembly can rotate, the inner side of the feeding trough can be cleaned through the cleaning assembly, and the situations that stains in the feeding trough are accumulated for a long time, deteriorate and breed bacteria, and sheep flock is prone to pathopoiesis after follow-up ingestion are avoided; and meanwhile, the workload of feeding personnel is also reduced.

The invention discloses a sheep infectious disease number zero individual tracing method and system based on a group interaction network, particularly relates to the technical field of agricultural informatization, and is used for solving the problem of number zero individual misjudgment caused by neglecting group dynamic behaviors in an existing static network model. The method comprises the following steps: dividing a continuous time window to construct a time sequence interaction network by acquiring dynamic contact data and high-risk medium use data of a sheep flock; virtual edges are added to individuals with the use interval smaller than the pathogen survival time of the same high-risk medium; calculating a node behavior mode mutation degree based on a medium using interval variance, and analyzing propagation fluctuation in combination with an input / output propagation flow ratio standard deviation; identifying nodes of which behavior mutation exceeds a threshold value, propagation fluctuation continuously exceeds the threshold value and output propagation flow suddenly drops as an abnormal propagation source; and extracting a first window associated sub-network, and judging the node which has the highest behavior mutation degree and uses a high-risk medium in the sub-network as a zero individual, thereby realizing accurate tracing of the sheep infectious disease source and providing a basis for accurate prevention and control of a farm.

The invention discloses a pasture sheep flock detection and tracking method based on an unmanned aerial vehicle and a safety early warning system, and belongs to the technical field of animal husbandry automatic management, and the method comprises the following steps: S1, data collection and preprocessing; s2, constructing and training a detection model; and S3, sheep flock tracking. Through the aerial work capacity of the unmanned aerial vehicle platform, the field of view of monitoring is greatly expanded, the labor cost is reduced, the timeliness and accuracy of monitoring are improved, and animal husbandry managers are helped to master the dynamic state of a sheep flock in time and make scientific decisions; through a proposed target detection model and a multi-target tracking algorithm, high recognition rate and tracking stability can still be kept in a complex environment, the problems of target shielding and the like are effectively solved, and accurate detection and tracking of sheep flock targets are realized; through the safety early warning system, missing livestock conditions can be found and reported in time, and powerful emergency response support is provided for animal husbandry managers.

This utility model discloses an intelligent adjustable sheepfold fence device, comprising two first horizontal plates, with second horizontal plates on both sides of each first horizontal plate. Several circular tubes are fixedly connected to the bottom of both the first and second horizontal plates, and circular rods are slidably connected to the inner walls of the circular tubes. A first base plate is fixedly connected to the bottom of the circular rods at the bottom of the first horizontal plates, and a second base plate is fixedly connected to the bottom of the circular rods at the bottom of the second horizontal plates. First fixing plates are fixedly connected to the same side of both the first and second horizontal plates on the same side. A signal transmitter is fixedly connected to one side of the first fixing plate, and second fixing plates are fixedly connected to the same side of both the first and second horizontal plates away from the signal transmitter. This utility model effectively prevents sheep from crossing the fence, ensuring the safety of the flock and the continuity of management. It can respond promptly to changes in sheep behavior, improve the farm's responsiveness, and enhance management flexibility and adaptability.

The invention discloses an intelligent sheep house environment control method and system, and the method comprises the steps: collecting the environment parameters in a sheep house in real time based on a five-dimensional environment sensing array, including temperature, humidity, ammonia concentration, illumination intensity and noise level; performing real-time quantification on the behavior characteristics of the sheep flock by adopting a sheep flock behavior recognition method based on deep learning; constructing a dynamic weight control model based on an LSTM neural network and a reinforcement learning mechanism, and inputting the collected environmental parameters and the quantized behavior characteristics into the dynamic weight control model to realize dynamic coupling of the environmental parameters and the behavior characteristics; and according to an output result of the dynamic weight control model, generating an optimal environment regulation and control instruction, and sending the optimal environment regulation and control instruction to execution equipment to realize intelligent and accurate regulation and control of the sheep house environment. According to the method, the environment regulation response speed can be increased, the lamb survival rate is increased, and the sheep flock health level and production efficiency are remarkably improved.

The invention relates to the field of livestock and poultry breeding environment control, and particularly discloses a sheep house environment intelligent regulation and control system and method based on multiple sensors. The core of the method is that sheep house environment parameters are collected in real time through a sensor array, and meanwhile sheep flock behavior posture proportion characteristics are continuously extracted through a video analysis module; performing space-time fusion on the environment data and the behavior characteristics, inputting the environment data and the behavior characteristics into a pre-trained behavior-environment coupling model, and calculating a sheep flock discomfort index reflecting a real stress state of the sheep flock; based on the numerical value, the change direction and the rate of the index, a control strategy generator dynamically generates a staged and multi-device cooperative time sequence control instruction sequence to drive ventilation, cooling, heating and other devices to execute combined actions; the system performs effect evaluation according to behavior feedback after regulation and control, and optimizes a subsequent strategy accordingly. The system synchronously realizes accurate decision based on biological feedback, anti-collision control of multi-device cooperation and dynamic regulation and control with early warning capability.

Disclosed are a swab flocking device and a flock blowing and flocking process for a swab. A conveying drag chain transversely penetrates through a flocking box, several swab hangers are arranged on the conveying drag chain at intervals, and the conveying drag chain is connected to a first motor. Several blowers are arranged on an outer side of the conveying drag chain in the flocking box. During flocking, a swab stick is hung on the swab hanger and then is conveyed forwards by the conveying drag chain, and several blowers are configured to blow flocks onto an end head of the swab stick.

The application provides a sheep fattening complete granular feed and a preparation method and a feeding method thereof, relates to the technical field of feed, and the sheep fattening complete granular feed comprises the following components: ginseng stem and leaf, red yeast extract and sheep group basic feeding daily ration. The application solves the technical problems of high total ginsenoside extraction cost, low single stomach animal utilization rate, slow growth during the sheep fattening period and frequent outbreaks of diseases, achieves the technical effects of improving ginsenoside utilization efficiency, synergistically improving sheep immunity and improving the average daily weight gain of sheep during the whole period, and meanwhile, the process is simple, and the cost is low.

The invention relates to the technical field of operation and maintenance inspection, and discloses a factory intelligent operation and maintenance inspection method and a system thereof.The factory intelligent operation and maintenance inspection method comprises the following steps that an inspection area and photovoltaic panel coordinates are set, a first route path is generated, and an unmanned aerial vehicle inspects a photovoltaic panel and a convergence cable according to the first route path; and shooting an inspection area by adopting a site camera, judging that hidden danger behaviors exist in the recorded video, assisting in positioning the coordinates of the hidden danger behaviors through the coordinates of the photovoltaic panel, and planning and generating a second route path according to the inspection area, the coordinates of the photovoltaic panel and the coordinates of the hidden danger behaviors. According to the method, the coordinate position of the sheep flock when the sheep flock eats grass or stays at the bus wire is presumed through the coordinate of the photovoltaic panel, the first route path is modified according to the presumed grass eating or staying coordinate of the sheep flock to generate the second route path, and the grass eating or staying coordinate of the sheep flock is polled through the second route path, so that the cruising efficiency is improved.

The present invention relates to the field of path optimization technology, and in particular to a GIS-based grassland multi-region rotational grazing management optimization method and system. The method first takes into account the positional relationship between non-grazing grassland areas and obstacle areas, and makes a minimum obstacle encirclement for non-grazing grassland areas. The initial grazing preference of each non-grazing grassland area is quantified, and the grazing preference can be obtained by further combining it with the amount of grass for path planning of a single flock of sheep. The grazing paths of different flocks of sheep are combined, and the optimal path combination method can be screened by analyzing the degree of overlap in each path combination method and the grazing suitability of the non-grazing grassland area at the end point. The present invention determines the optimal path combination method through position analysis, path planning, and path combination analysis, which can ensure that the grazing paths of multiple flocks of sheep have a small degree of overlap, and the non-grazing grassland area at the end point of the path can ensure normal grazing of the sheep flock, thereby improving grazing efficiency.

The utility model discloses a feeding device for sheep breeding capable of automatically mixing feed, which belongs to the technical field of sheep breeding and comprises a bottom plate, a protective component is connected above the bottom plate, a worker stands outside a breeding farm to pour feed into a feed cylinder, a valve on a discharge pipe is opened, a transverse moving component is started to drive the feed cylinder to transversely move, and the feed cylinder can be automatically mixed. According to the feeding device for sheep breeding, a worker does not need to enter a breeding farm to add feed, time and labor are saved, the risk that sheep flock is infected with diseases is reduced, a protection plate is arranged, the situation that rainwater enters the device can be reduced, the feed quality is prevented from being affected, and the situation that the health of sheep is seriously threatened after the sheep eat the feed is avoided; and by adjusting the connecting assembly, the connecting plate and the protective plate can be detached from the device, so that the connecting plate and the feed cylinder are convenient to maintain or replace, and the practicability is improved.

The present invention relates to the field of image recognition technology, and more particularly to a multi-target recognition method and system based on visual technology, comprising: obtaining the proximity of sheep within a connected domain based on the shape of a connected domain and the distribution value of suspected sheep; obtaining the false detection degree value of each target frame within the connected domain based on the edge distribution of the connected domain between the target frame and other target frames, as well as the sheep segmentation inaccuracy and target probability; obtaining the comprehensive sheep recognition accuracy of the connected domain based on the proximity of the sheep within the connected domain and the false detection degree value of the target frame; obtaining the optimal step size parameter of a convolutional neural network for multi-target recognition of sheep in a pasture based on the comprehensive sheep recognition accuracy; and performing multi-target sheep recognition on a remote sensing image of a sheep flock in a pasture using the convolutional neural network based on the optimal step size. The present invention improves the accuracy of recognizing multi-target sheep in a remote sensing image of a sheep flock.

The invention discloses a speed control optimization method for a sweeping robot, which belongs to the field of PID control technology. The method comprises the following steps: S1, constructing a sweeping robot speed control system; S2, improving a border collie optimization algorithm, which comprises two improvements: D1, using a dynamic acceleration adjustment strategy to improve the position movement acceleration of a sheepdog and a flock of sheep during the optimization process of a standard border collie optimization algorithm; D2, using a mobile strategy integrating a winning pool to improve a mathematical model for updating the position of a flock of sheep; S3, using an improved border collie optimization algorithm to optimize three parameters of a PID controller Kp, Ki and Kd of the sweeping robot speed control system; and S4, applying the searched optimal PID parameters Kp, Ki and Kd to the sweeping robot speed control system to optimize the control effect of the system.

The invention discloses an SNP (Single Nucleotide Polymorphism) molecular marker related to Hu sheep epididymis weight major quantitative trait sites and application thereof, and belongs to the fields of genetic breeding and molecular biology. The SNP molecular marker is located at the 33127527th basic group of Hu sheep chromosome 9, and polymorphism of two alleles C and T appears at the site. Different genotypes of the SNP site are significantly related to the epididymis weight of Hu sheep, wherein the epididymis weight of a CC genotype individual is significantly lower than that of TC and TT genotypes (Plt; 0.01) of the substrate. The SNP molecular marker is applied to early breeding of high-fecundity stud rams, and has important significance in improving the production capacity of sheep flock and increasing the breeding benefits.

The present application relates to the technical field of sound recognition, and particularly relates to a sound recognition system for sheep feeding behavior. The technical scheme comprises a sound collection module, a voice enhancement module, a voiceprint feature extraction module, a multi-modal classification module, a data fusion unit, the sound collection module is arranged on a wearable device on the neck of a sheep, is provided with an anti-wind-noise directional microphone array, and is used for collecting environmental sound signals in real time; the voice enhancement module is connected with the sound collection module. The present application realizes accurate recognition and analysis of sheep feeding behavior, effectively solves the problems of sound signal processing in a complex environment, individual and group monitoring, privacy protection and energy supply, not only improves the intelligent level and efficiency of pasture management, reduces labor costs, but also can timely find health problems of sheep, protect the health of the sheep, protect the privacy of sheep data, and improve the energy utilization efficiency of equipment.

The present invention discloses an automatic weighing and sheep flock separating device and its usage method, which relates to the technical field of new-type automatic sheep flock separating devices. The present invention includes a flock separating and carrying outer frame, at the top of which is fixedly connected a PLC control cabinet, and at one end of the flock separating and carrying outer frame is fixedly connected an automatic unfolding inlet door. Through the design of the synchronous logarithm automatic marking and recognition structure, the device is convenient for automatically pasting labels again on the bodies of the sheep to be classified and photographing and inputting the data into the cloud, further improving the recognizability after classification and providing convenient support for quantity modularization. And through the design of the adaptive guiding and adjusting plate structure, the device is convenient for completing the driving adjustment of the adaptive slope and angle, so as to adapt to the leg heights of different species and form a better force-bearing support, making the device convenient for better guiding different livestock to use the device.

The utility model relates to the technical field of mutton sheep breeding, in particular to a sheep pen fence with a door for mutton sheep breeding, which comprises supporting frames distributed at four corners, moving assemblies are arranged in the supporting frames, a connecting bottom plate is fixedly connected between adjacent supporting blocks, a connecting top plate is arranged above the connecting bottom plate, and the connecting top plate is connected with the door. The connecting bottom plate is fixedly connected with a door frame, the top of the connecting bottom plate and the top of the door frame are arranged at equal intervals and are fixedly connected with a plurality of fixed railings, the stability and the mobility of the door frame can be achieved at the same time, and therefore the door frame and the door frame are easy and convenient to transfer when the position of the door frame needs to be transferred; the sheep flock enclosing device is simple in structure, convenient to use, ideal in structural stability in use, not prone to toppling due to top rushing of the sheep flock, not prone to inconvenience in actual use, flexible in structure, adjustable in height and capable of guaranteeing the enclosing effect when facing different varieties or growth cycles of the sheep flock.

This invention discloses a method for breeding a new dual-purpose (meat and milk) sheep breed. The method involves crossbreeding East Friesian sheep as the sire and Lowland sheep as the dam to obtain the East F1 generation; crossbreeding the East F1 generation with Lowland sheep as the dam to obtain the East F2 generation; crossbreeding the East F1 generation with East Friesian sheep as the dam to obtain the East F2 generation flock; and crossbreeding the East F2 generation with East F1 generation as the dam and Lowland sheep as the dam to obtain the East F3 generation flock. Superior rams and ewes from the East F3 generation flock are selected for self-pollination to establish a zero-generation dual-purpose sheep flock. Through crossbreeding fixation, generational selection, and breeding expansion, a new dual-purpose sheep breed is developed. The new breed developed by this invention has advantages such as good meat performance, excellent milk production performance, high fertility, good maternal instincts, and strong adaptability.

The invention relates to the technical field of path optimization, in particular to a grassland multi-region rotation grazing management optimization method and system based on a GIS (Geographic Information System). According to the method, firstly, the position relation between an unpainted grassland area and an obstacle area is considered, and a minimum obstacle encirclement circle of the unpainted grassland area is made; and the initial grazing optimization degree of each non-grazing grassland area is quantified, and the grazing optimization degree can be obtained by further combining the grazing amount so as to be used for path planning of a single sheep flock. The grazing road strength of different sheep flocks is combined, and the optimal path combination mode can be screened out by analyzing the coincidence degree in each path combination mode and the appropriate grazing degree of the end point non-grazing grassland area. According to the method, the optimal path combination mode is determined through position analysis, path planning and path combination analysis, it can be guaranteed that the coincidence degree of the grazing paths of multiple sheep flocks is small, normal grazing of the sheep flocks can be guaranteed in the non-grazing grassland area of the path end point, and the grazing efficiency is improved.

This invention discloses an integrated fermentation pen for sheep farming. It relates to the field of livestock farming technology and includes: a sheep pen comprising pillars and a roof; the base of the pillars is fixed to the ground, and the roof is mounted on the pillars at an angle to the ground, with ventilation louvers on the roof; a slatted floor is located below the roof, and a manure storage space is located below the slatted floor; a support platform is movably positioned between the manure storage space and the slatted floor via a walking mechanism; the bottom of the support platform has a spray pipe, a feeding pipe, and a storage bin; the end of the spray pipe away from the storage bin has an atomizing nozzle, and an auger conveyor is located inside the storage bin corresponding to the feeding pipe; a manure cleaning device includes a scraper and a high-pressure pneumatic cleaning assembly, with the scraper rotatably connected to the bottom of the support platform. This integrated fermentation pen for sheep farming solves the problems of manure residue during cleaning, delayed ammonia control, and air pollution in underground spaces in existing technologies.