CN107911658B - Fan type automatic frog feed dispenser and video analysis method - Google Patents
Fan type automatic frog feed dispenser and video analysis method Download PDFInfo
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- CN107911658B CN107911658B CN201711160020.5A CN201711160020A CN107911658B CN 107911658 B CN107911658 B CN 107911658B CN 201711160020 A CN201711160020 A CN 201711160020A CN 107911658 B CN107911658 B CN 107911658B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K67/00—Rearing or breeding animals, not otherwise provided for; New breeds of animals
- A01K67/02—Breeding vertebrates
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Abstract
The invention discloses a fan-type automatic frog feed dispenser and a video analysis method, wherein the fan-type automatic frog feed dispenser comprises a video acquisition module, a video analysis module, a feed storage module, at least one feed dispenser module and a computer and control module; the video acquisition module comprises a video acquisition channel and a master-slave rotating camera zooming system, the master-slave rotating camera zooming system comprises a first camera, a second camera and a third camera, the first camera, the second camera and the third camera are used for monitoring a set target area, and the video acquisition channel is used for acquiring videos of target frogs in a working area at a specific distance and angle; the video analysis module is used for detecting the existence state (existence) and the activity state of the frogs in the collected video. The magnetic lever type automatic frog feed dispenser and the video analysis method provided by the invention have the advantages of simple structure and simple operation steps, and can realize large-area feeding of the frog.
Description
Technical Field
The invention belongs to the technical field of frog feeding, and particularly relates to a fan-type automatic frog feed dispenser and a video analysis method.
Background
At present, one of the main problems in artificial feeding of frogs is: in the frog juvenile period, a large amount of manual work is needed to repeatedly put in feed to train the frog to eat the habit according to one or more routes from the frog living pond to the on-shore eating area at different time intervals every day, so that the frog is cultured to eat the habit of the artificial feed, and meanwhile, the frog can be trained to independently find the eating area. Because of the special eye constitution of the frog, only the moving target can be sensed; therefore, the training of the eating habits needs to be within the visual range of the user to feel the movement of the feed. The existing throwing method during the period of training the eating habits of the artificial frog feed is that throwing personnel continuously throw the artificial frog feed repeatedly at different time periods according to a frequency every day along the route from a frog living pond to an onshore eating area. Meanwhile, the existing frog feed feeding mode is mostly manual feeding, and people need to continuously participate in frog feed feeding.
The main problems of the existing technology: the habit of eating the artificial feed by the frogs can be trained only by repeatedly putting the feed in a long time with more labor; during the frog eating habit training period, the feed throwing position needs to go back and forth from the frog living area to the eating area; whether the frogs can find the eating area is related to the method, frequency, route, experience and the like of the throwing personnel, which is also an important factor influencing the survival rate of the frogs, and the survival rate of the frogs fed by the frogs is different according to the different parameters of the throwing personnel, the throwing method, the frequency, the route and the like.
Disclosure of Invention
The invention aims to solve the problems and provides a fan-type automatic frog feed dispenser with simple structure and convenient use and a video analysis method.
In order to solve the technical problems, the technical scheme of the invention is as follows: a fan-type automatic frog feed dispenser comprises a video acquisition module, a video analysis module, a feed storage module, at least one feed dispenser module and a computer and control module; the video acquisition module comprises a video acquisition channel and a master-slave rotating camera zooming system, the master-slave rotating camera zooming system comprises a first camera, a second camera and a third camera, the first camera is used for monitoring a set target area, and the video acquisition channel is used for video acquisition of target frogs in a working area at a specific distance and angle; the video analysis module is used for detecting the existence state and the activity state of the frogs in the collected video; the feed storage module comprises a feed storage, the feed storage is of a bottle-shaped structure, a feed storage cover is arranged at the top of the feed storage, feed enters the feed storage through the opened feed storage cover, a feed outlet is formed in the bottom of the feed storage, the feed enters the feed dispenser module from the feed outlet, and the feed dispenser module dispenses the feed to a specific area.
Preferably, the feed dispenser module comprises a feed pipe, the feed pipe comprises a feed pipe large end and a feed pipe small end, smooth transition is formed between the feed pipe large end and the feed pipe small end, a rotatable fan set is installed at the end part of the feed pipe large end, the fan set is located inside the feed pipe and connected with the computer and the control module, and the computer and the control module can control the size of wind power in the fan set.
Preferably, the middle part of the small end of the feed pipe is communicated with the feed outlet, and feed can enter the small end of the feed pipe through the feed outlet.
Preferably, a feed electromagnetic valve is further installed between the feed pipe large end and a position, communicated with the feed outlet, on the feed pipe small end, and the feed electromagnetic valve is used for controlling opening and closing of the air flow generated in the movement process of the fan set, entering the feed pipe small end.
Preferably, the cross-sectional area of the large end of the feed pipe is twenty times that of the small end of the feed pipe.
Preferably, the feed reservoir is located above the feed tube, and feed in the feed reservoir can enter the feed tube under the action of gravity.
The invention also discloses a fan type automatic frog feed dispenser video analysis method, which comprises the following steps:
s1, obtaining frog sample images with different angles and orientations;
s2, preprocessing the sample image, firstly, selecting a plurality of reference point groups from the frog image as the sample, and storing the color and texture information of the reference point groups; then, manually assisting to select a more accurate contour line for the frog pattern in the sample graph; screening and eliminating a plurality of smaller texture and color characteristics of the back of the frog; reserving the color and texture of the larger area as the main color and texture parameters for identifying the frog; further processing the sample image, and mainly keeping parameter information such as rough outline and color, texture and the like of the area of the most main area;
s3, capturing the motion characteristics among multiple frames according to the different time and the change of the motion area, and obtaining the frog jumping track among different frames;
s4, selecting a region which is basically completely independent and is not overlapped with other samples according to the shape and color of each motion characteristic region meeting the jumping condition, obtaining the approximate size of an independent frog body region, and calculating the scaling parameter of the used sample image by combining a plurality of physical parameters calibrated by a camera after obtaining the physical size parameter, wherein the scaling parameter is used as the global scaling scale of the image of the frame obtained by the camera; according to the size of the sample image, carrying out processing such as scaling, rotation and the like to convert the sample image into a sample image with the same size, carrying out template matching with different preprocessed sample images, and judging whether the sample image is a moving frog or not;
s5, for a large-area motion area which cannot be completely matched with the template, if a plurality of frogs are moving, after global scaling processing, dividing the area of the area by the area of the sample graph, and multiplying the area by an empirical coefficient to estimate the number of the frogs in the area;
s6, for a plurality of motion features with jumping in the step S5, the area of the motion features is smaller than that of the template, the template is reduced, the reduced template is matched with the template, and if the area and color combination error is smaller than a threshold value, the motion feature is judged to be a frog in motion;
combining the associated frames of different time sequences, and assisting a plurality of different motion target areas which are randomly selected by background programs, have a plurality of (the number can be 3, 5, 7, 9, 11 and the like) jumping motion characteristics to pre-estimate the motion direction of the frog, and providing auxiliary information of the motion direction of the frog for a computer control module by taking most of the motion directions of the frog as result directions;
s7, if the calculation amount is large, namely a method of matching a master-slave rotating camera is adopted, the master camera calculates whether the motion characteristics exist, the slave camera fixedly detects a small area with known distance, angle and area, and in the small area, the algorithm is adopted to accurately match the motion characteristics of the frogs so as to reduce the calculation amount;
and S8, if the motion of the frog is detected, estimating the quantity and the motion direction of the frog, and opening a control device correspondingly meeting the conditions.
The invention has the beneficial effects that: the fan type automatic frog feed dispenser and the video analysis method provided by the invention replace manpower by a machine, so that a large amount of manpower required during training of habits of eating artificial feed by the frog is saved; programmable control is realized, the feed feeding position is ensured, and multiple routes and modes are adopted for continuous reciprocation from the frog living area to the feeding area according to the requirements of the programmable control; the number and the amount of the feed can be automatically thrown in a programming control mode according to the mode and the route set by a program and according to the number and the motion state of the frogs; the method can be developed for the second time, and optimizes various parameters of feed delivery by combining a statistical and optimization method, thereby improving economic benefits.
Drawings
FIG. 1 is a schematic diagram of the structure principle of a fan-type automatic frog feed dispenser and a video analysis method according to the present invention;
FIG. 2 is a schematic view of a fan assembly according to the present invention;
FIG. 3 is a schematic view of a fan assembly according to the present invention.
Description of reference numerals: 1. a video acquisition module; 2. a video analysis module; 3. a feed reservoir module; 4. a feed dispenser module; 5. a computer and a control module; 11. a video acquisition channel; 12. a master-slave rotary camera zoom system; 13. a first camera; 14. a second camera; 15. a third camera; 31. a feed reservoir; 32. a feed reservoir lid; 33. a feed outlet; 34. an electromagnetic valve; 41. a feed pipe; 42. a large end of a feed pipe; 43. a small end of the feed pipe; 44. a fan set; 45. a feed electromagnetic valve; 46. a feed plate.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
as shown in fig. 1 to 3, the fan-type automatic frog feed dispenser provided by the invention comprises a video acquisition module 1, a video analysis module 2, a feed storage module 3, at least one feed dispenser module 4 and a computer and control module 5; the computer and control module 5 and the video analysis module 2 are controlled by a computer, the video acquisition module 1 comprises a video acquisition channel 11 and a master-slave rotary camera zoom system 12, the master-slave rotary camera zoom system 12 comprises a first camera 13, a second camera 14 and a third camera 15, the first camera 13, the second camera 14 and the third camera 15 are used for monitoring a set target area, in this embodiment, the first camera 13 monitors a region marked as a at the bottom of the feed dispenser, the second camera 14 monitors a region marked as C at the bottom of the feed dispenser, the third camera 15 monitors a region marked as B at the bottom of the feed dispenser, the area of the region a is larger than that of the region B, the area of the region B is larger than that of the region C, the region a is measured in advance and is divided into a plurality of regions C, and each region C can be monitored by the second camera 14 at a fixed point. During monitoring, the third camera 15 is a main monitoring device, and the first camera 13 (with a large-range wide-angle camera of a cloud platform) and the second camera 14 (with a zoom high-definition camera of the cloud platform) are auxiliary higher-definition video monitoring and detecting devices. When a frog in a region needs to be positioned more accurately, the first camera 13 and the second camera 14 are started, the first camera 13 is utilized to search a large-range region, a plurality of candidate different C regions C1, C2, … and Ck are arranged in the region, after a working region Ci (1 ═ i ═ k) of the second camera 14 is selected, the second camera 14 rotates the holder again, focuses and aligns, and then video acquisition in the target working region Ci is carried out. The video acquisition channel 11 is used for acquiring videos of target frogs in a working area at a specific distance and angle; the video analysis module 2 is used for detecting the frog existing state and the activity state in the collected video. The feed storage module 3 comprises a feed storage 31, the feed storage 31 is of a bottle-shaped structure, a feed storage cover 32 is arranged at the top of the feed storage 31, feed enters the feed storage 31 through the opened feed storage cover 32, a feed outlet 33 is formed in the bottom of the feed storage 31, the feed enters the feed dispenser module 4 from the feed outlet 33, the feed dispenser module 4 dispenses the feed into a specific area, an infrared pair tube group for detecting the content of the feed is further installed in the feed storage 31, and the infrared pair tube group is connected with the computer and the control module 5.
The feed dispenser module 4 comprises a feed pipe 41, the feed pipe 41 comprises a feed pipe large end 42 and a feed pipe small end 43, smooth transition is formed between the feed pipe large end 42 and the feed pipe small end 43, a rotatable fan set 44 is installed at the end part of the feed pipe large end 42, the fan set 44 is located inside the feed pipe 41, the fan set 44 is connected with the computer and control module 5, and the computer and control module 5 can control the size of wind power in the fan set 44.
In the present embodiment, the number of fans in the fan set 44 is four, and the number of fans can be changed according to the specific position of the frog. The rotary speed of the fan is changed to change the wind power, so that the feed is projected into a specific set area.
The middle part of the small end 43 of the feed pipe is communicated with the feed outlet 33 through a pipeline, an electromagnetic valve 34 is arranged between the small end 43 of the feed pipe and the feed outlet 33, the electromagnetic valve 34 is connected with the computer control module 5, and the electromagnetic valve 34 is used for controlling the feed to enter the small end 43 of the feed pipe smoothly and to be separated. Feed can enter the feed tube small end 43 through the feed outlet 33. A feed electromagnetic valve 45 is further installed between the feed pipe small end 43 and the feed pipe large end 42, the feed electromagnetic valve 45 is used for controlling the opening and closing of airflow entering the feed pipe small end 43 generated in the movement process of the fan set 44, the feed electromagnetic valve 45 is connected with the computer and the control module 5, the computer and the control module 5 control the work and stop of the feed electromagnetic valve 45, and the cross section area of the feed pipe large end 42 is twenty times of that of the feed pipe small end 43.
The feed reservoir 31 is located above the feed tube 41, and feed in the feed reservoir 31 can enter the feed tube 41 under the influence of gravity.
In a particular practical use, the number of feed dispenser modules 4 and feed reservoirs 31 may be suitably adjusted to suit a particular work environment.
The feed dispenser module 4 is also provided with a feed plate 46 at the bottom, the feed plate 46 being located within the projected area of the feed tube small end 43, feed projecting from the feed tube small end 43 falling onto the feed plate 46. The feed plate 46 has certain elasticity, and after the frog sees the fodder to fall, the frog will come on the feed plate 46, and the frog can bounce the fodder on the feed plate 46 at the in-process that beats, because the object in the frog visual identification motion, so the fodder on the feed plate 46 also can be discerned by the frog to great saving material cost, avoided the waste of fodder.
The invention also provides a fan type automatic frog feed dispenser video analysis method, which comprises the following steps:
s1, obtaining frog sample images with different angles and orientations;
s2, preprocessing the sample image, firstly, selecting a plurality of reference point groups from the frog image as the sample, and storing the color and texture information of the reference point groups; then, manually assisting to select a more accurate contour line for the frog pattern in the sample graph; screening and eliminating a plurality of smaller texture and color characteristics of the back of the frog; reserving the color and texture of the larger area as the main color and texture parameters for identifying the frog; further processing the sample image, and mainly keeping parameter information such as rough outline and color, texture and the like of the area of the most main area;
s3, capturing the motion characteristics among multiple frames according to the different time and the change of the motion area, and obtaining the frog jumping track among different frames;
s4, selecting a region which is basically completely independent and is not overlapped with other samples according to the shape and color of each motion characteristic region meeting the jumping condition, obtaining the approximate size of an independent frog body region, and calculating the scaling parameter of the used sample image by combining a plurality of physical parameters calibrated by a camera after obtaining the physical size parameter, wherein the scaling parameter is used as the global scaling scale of the image of the frame obtained by the camera; according to the size of the sample image, carrying out processing such as scaling, rotation and the like to convert the sample image into a sample image with the same size, carrying out template matching with different preprocessed sample images, and judging whether the sample image is a moving frog or not;
s5, for a large-area motion area which cannot be completely matched with the template, if a plurality of frogs are moving, after global scaling processing, dividing the area of the area by the area of the sample graph, and multiplying the area by an empirical coefficient to estimate the number of the frogs in the area;
s6, for a plurality of motion features with jumping in the step S5, the area of the motion features is smaller than that of the template, the template is reduced, the reduced template is matched with the template, and if the area and color combination error is smaller than a threshold value, the motion feature is judged to be a frog in motion;
combining the associated frames of different time sequences, and assisting a plurality of different motion target areas which are randomly selected by background programs, have a plurality of (the number can be 3, 5, 7, 9, 11 and the like) jumping motion characteristics to pre-estimate the motion direction of the frog, and providing auxiliary information of the motion direction of the frog for a computer control module by taking most of the motion directions of the frog as result directions;
s7, if the calculation amount is large, namely a method of matching a master-slave rotating camera is adopted, the master camera calculates whether the motion characteristics exist, the slave camera fixedly detects a small area with known distance, angle and area, and in the small area, the algorithm is adopted to accurately match the motion characteristics of the frogs so as to reduce the calculation amount;
and S8, if the motion of the frog is detected, estimating the quantity and the motion direction of the frog, and opening a control device correspondingly meeting the conditions.
In step S1, the obtained frog sample image is obtained by the master-slave rotary camera zoom system 12, the obtained frog sample image includes a front view, a rear view, a left view, a right view, a jumping state diagram and a falling state diagram of the frog, the size of the diagram includes 32X32, 48X48 and 64X64, and the obtained frog sample image is analyzed by the video analysis module 2. In step S2, for the part inside the contour line, a corrosion expansion method is used to screen and eliminate a plurality of smaller texture and color features on the back of the frog; comparing the original reference point group, and taking the reserved color and texture of the larger area as the main color and texture parameters for identifying the frog; the frog sample image is further processed, and parameter information such as rough outline, color and texture of the area of the most main area is mainly reserved. In step S3, a motion area is extracted by an optical flow algorithm, and motion characteristics between frames are captured according to the time difference and the change of the motion area, the motion mode of the frog is jumping, the time interval between different frames is proper, the frog motion is in one direction, and the change from low to high is presented, which is a main motion characteristic for identifying the frog, and the frog jumping trajectory between different frames can be obtained according to the frog jumping motion.
In step S4, selecting a substantially completely independent area not overlapping other samples, whether the area is completely independent, by referring to the physical parameters of the camera and the feeding time of the frog, the approximate size of an independent frog body area is obtained, and the physical size parameters of the area can be measured by manual assistance; after the physical size parameters are obtained, the zoom parameters of the used sample image can be calculated by combining a plurality of physical parameters (distance, position, angle, focal length, image size and the like) calibrated by the camera, and the zoom parameters are used as the global zoom scale of the image of the frame obtained by the camera; and (3) scaling and converting the size of the sample image into the same size of the sample image according to the size of the sample image, matching the sample image with different preprocessed sample images by combining the basic body positions of facing left, facing right, jumping and falling, and judging as a frog in motion if the combined error of the area and the color is less than a threshold value.
The template reduction in step S6 may be performed by matching the reduced template using a pyramid method.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (1)
1. A fan type automatic frog feed dispenser is characterized by comprising a video acquisition module (1), a video analysis module (2), a feed storage module (3), at least one feed dispenser module (4) and a computer and control module (5); the video acquisition module (1) comprises a video acquisition channel (11) and a master-slave rotary camera zooming system (12), wherein the master-slave rotary camera zooming system (12) comprises a first camera (13), a second camera (14) and a third camera (15), the first camera (13), the second camera (14) and the third camera (15) are used for monitoring a set target area, and the video acquisition channel (11) is used for video acquisition of target frogs in a working area with a specific distance and an angle; the video analysis module (2) is used for detecting the frog existing state and the activity state in the collected video; the automatic feeding with programmable control of the amount and quantity of the feed can be carried out according to the amount and the motion state of the frogs; the feed storage module (3) comprises a feed storage (31), the feed storage (31) is of a bottle-shaped structure, a feed storage cover (32) is arranged at the top of the feed storage (31), feed enters the feed storage (31) through the opened feed storage cover (32), a feed outlet (33) is formed in the bottom of the feed storage (31), the feed enters the feed dispenser module (4) from the feed outlet (33), and the feed dispenser module (4) dispenses the feed to a specific area;
the feed dispenser module (4) comprises a feed pipe (41), the feed pipe (41) comprises a feed pipe large end (42) and a feed pipe small end (43), smooth transition is formed between the feed pipe large end (42) and the feed pipe small end (43), a rotatable fan set (44) is installed at the end part of the feed pipe large end (42), the fan set (44) is located inside the feed pipe (41), the fan set (44) is connected with the computer and the control module (5), and the computer and the control module (5) can control the wind power in the fan set (44); the number of the fans can be changed according to the specific position of the frog, and the wind power is changed by changing the rotating speed of the fans, so that the feed is projected into a specific set area;
the middle part of the small end (43) of the feed pipe is communicated with the feed outlet (33), an electromagnetic valve (34) is arranged between the small end (43) of the feed pipe and the feed outlet (33), the electromagnetic valve (34) is connected with the computer control module (5), the electromagnetic valve (34) is used for controlling the smoothness and the separation of the feed entering the small end (43) of the feed pipe, and the feed can enter the small end (43) of the feed pipe through the feed outlet (33);
the bottom of the feed dispenser module (4) is also provided with an elastic feed plate (46), the feed plate (46) is positioned in the projection area of the small end (43) of the feed pipe, and the feed falls on the feed plate (46) after being projected from the small end (43) of the feed pipe;
a feed electromagnetic valve (45) is further arranged between the feed pipe large end (42) and a position, communicated with the feed outlet (33), on the feed pipe small end (43), and the feed electromagnetic valve (45) is used for controlling the opening and closing of the feed pipe small end (43) when airflow generated in the movement process of the fan set (44) enters;
the cross section area of the large end (42) of the feed pipe is twenty times that of the small end (43) of the feed pipe;
the feed storage device (31) is positioned above the feed pipe (41), and feed in the feed storage device (31) can enter the feed pipe (41) under the action of gravity.
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| CN103473542B (en) * | 2013-09-16 | 2017-01-11 | 清华大学 | Multi-clue fused target tracking method |
| CN205492145U (en) * | 2016-04-16 | 2016-08-24 | 周颖 | Regularly machine is put in to fodder of accuse volume |
| CN106850831A (en) * | 2017-02-28 | 2017-06-13 | 郑州云海信息技术有限公司 | A kind of automatic intelligent cultivating system |
| CN106912393A (en) * | 2017-03-14 | 2017-07-04 | 滁州隆扬农业科技有限公司 | A kind of black pig feeds control system |
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