CN116740168B - Livestock and poultry feed intake detection and feeding method, device, robot and medium - Google Patents
Livestock and poultry feed intake detection and feeding method, device, robot and medium Download PDFInfo
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- 244000144972 livestock Species 0.000 title claims abstract description 291
- 244000144977 poultry Species 0.000 title claims abstract description 173
- 235000021050 feed intake Nutrition 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 238000007599 discharging Methods 0.000 claims description 36
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K39/00—Feeding or drinking appliances for poultry or other birds
- A01K39/01—Feeding devices, e.g. chainfeeders
- A01K39/012—Feeding devices, e.g. chainfeeders filling automatically, e.g. by gravity from a reserve
- A01K39/0125—Panfeeding systems; Feeding pans therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G06T2207/30188—Vegetation; Agriculture
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Abstract
The invention relates to the technical field of livestock and poultry breeding, and provides a livestock and poultry feed intake detection and feeding method, a device, a robot and a medium, wherein the method comprises the following steps: acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of a target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry; calculating a feed margin of a target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data; and determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance. The feed allowance in the livestock feeding channel can be accurately quantified through the point cloud data of the feed pile, so that the feed intake of the livestock is determined, scientific and healthy cultivation in a pasture is realized, and the cultivation quality of the livestock is improved.
Description
Technical Field
The invention relates to the technical field of livestock and poultry breeding, in particular to a livestock and poultry feed intake detection and feeding method, a device, a robot and a medium.
Background
In modern animal husbandry, individual feed intake of livestock and poultry is one of the important factors of cultivation management. Taking cattle and sheep as an example, each cattle and sheep is accurately positioned and the feed intake of each cattle and sheep is known, so that the feeding management is optimized, and the health level of the cattle and sheep can be judged through the feed intake. Therefore, the monitoring of the residual amount of the feed in the feed channel is realized to realize intelligent decision-making and feed scattering amount, and the method has strong practical significance for livestock breeding.
In the cattle and sheep raising process, the daily feeding condition of the cattle and sheep is accurately known to be a key part of raising work, and the feeding amount of the cattle and sheep is indirectly judged by manually observing the feed remaining amount on one side of a feeding channel in the existing mode. However, the manual observation of feed intake is limited by human cost, and only whether residual feed exists in a feeding channel can be roughly judged, so that the residual feed cannot be quantified, and accurate data support is lacking. Along with the continuous penetration of the accurate animal husbandry concept in the cattle and sheep industry, the mode of manually observing the residual feed quantity prevents the follow-up work such as feed intake analysis and cultivation condition judgment of individual livestock and poultry from being smoothly carried out.
Disclosure of Invention
The invention provides a method, a device, a robot and a medium for detecting and feeding livestock and poultry feed intake, which are used for solving the defect that the livestock and poultry feed intake is not accurately estimated by adopting a manual observation mode in the prior art.
The invention provides a livestock feed intake detection method, which comprises the following steps:
acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
and determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance.
According to the livestock feed intake detection method provided by the invention, the calculating of the feed allowance of the target feed pile based on the point cloud data comprises the following steps:
dividing the surface area of the point cloud data into a plurality of target small areas;
Carrying out voxel division on a space region where the target small region is located, and calculating the sum of volumes of the divided voxels to obtain a region volume corresponding to the target small region;
calculating the sum of the volumes of the areas corresponding to the target small areas to obtain the feed allowance of the target feed pile;
the feed allowance of the target feed pileThe method comprises the following steps:
；
wherein,
，/>；
representing the volume of the divided voxels, +.>Representing the side length of the voxel, +.>For the number of target small areas, +.>Is->The volume of each of said target small areas, +.>Indicate->And the space region where each target small region is located.
According to the method for detecting the feed intake of the livestock and poultry provided by the invention, the method for acquiring the point cloud data of the target feed pile in the feeding channel of the livestock and poultry comprises the following steps:
collecting a feed pile image of a livestock feeding channel at each target column, and acquiring column information of the target column; the feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the livestock feeding channel;
performing point cloud conversion on the feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock and poultry feeding channel at the target column;
Performing point cloud splicing on the point cloud data corresponding to each target column according to the column information to obtain the point cloud data of the target feed pile in the livestock feeding channel;
the preset conversion algorithm is as follows:
；
；
；
wherein,depth values for pixel points in the depth image; />Scaling multiple of the depth value; />For pixel coordinates, +.>Coordinate values of pixel points in the point cloud data; />For the focal length of a depth camera for acquiring said depth image, < >>Is the optical center of the depth camera.
According to the livestock feed intake detection method provided by the invention, the feed pile image comprises a first feed pile image acquired before livestock feed and a second feed pile image acquired after livestock feed; the color images include a first color image in the first feed pile image and a second color image in the second feed pile image; the depth image comprises a first depth image in the first feed pile image and a second depth image in the second feed pile image;
the method for collecting the feed pile image of the livestock feeding channel at each target column comprises the following steps:
monitoring the feeding state of a detected livestock and poultry object corresponding to the livestock and poultry feeding channel;
According to the feeding state, before the detected livestock and poultry object feeds, collecting a first feed pile image of the livestock and poultry feeding channel at each target column;
and acquiring a second feed pile image of the livestock and poultry feeding channel at each target column after the detected livestock and poultry object eats according to the eating state.
According to the livestock feed intake detection method provided by the invention, after calculating the feed allowance of the target feed pile based on the point cloud data, the method further comprises the following steps:
generating a feed allowance distribution map of the livestock feeding channel according to the feed allowance; the feed allowance distribution map is used for representing distribution conditions of residual feed in the livestock feeding channel at a plurality of columns corresponding to the livestock feeding channel.
According to the method for detecting the feed intake of the livestock and poultry provided by the invention, after the feed allowance distribution map of the livestock and poultry feeding channel is generated according to the feed allowance, the method further comprises the following steps:
and determining a habit feeding area of the detected livestock and poultry object in the livestock and poultry feeding channel according to the feed allowance distribution map so as to indicate the feeding position of the feeding equipment in the livestock and poultry feeding channel.
The invention also provides a livestock feeding method, which comprises the following steps:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method.
The invention also provides a livestock feed intake detection device, which comprises:
the data acquisition module is used for acquiring point cloud data of a target feed pile in the livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
the allowance monitoring module is used for calculating the feed allowance of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
And the feed intake detection module is used for determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the livestock feed intake detection method according to any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements any one of the methods for detecting feed intake of livestock as described above, or any one of the methods for feeding livestock as described above.
The invention also provides a computer program product, which comprises a computer program, wherein the computer program realizes the livestock feed intake detection method according to any one of the above or the livestock feeding method according to any one of the above when being executed by a processor.
The invention also provides a patrol robot, which comprises a memory, a processor, a computer program stored on the memory and capable of running on the processor, and monitoring equipment, wherein the monitoring equipment comprises a depth camera; and the processor realizes any one of the livestock feed intake detection methods or any one of the livestock feeding methods when executing the program.
According to the livestock feed intake detection and feeding method, device, robot and medium, point cloud data of a target feed pile in a livestock feeding channel are acquired, and the feed allowance of the target feed pile before and after feeding of livestock is calculated based on the acquired point cloud data; and determining the feed intake of the detected livestock and poultry objects corresponding to the livestock and poultry feeding channels according to the difference value of the feed allowance before and after feeding of the livestock and poultry. The feed allowance in the feeding channel can be accurately quantified through the point cloud data of the feed pile, so that the feed intake of livestock and poultry is determined, the monitoring of the feed allowance in the feeding channel and the accurate detection of the feed intake of livestock and poultry are realized, the labor cost of a pasture is reduced, and compared with the manual observation of the feed allowance for feed intake estimation, the accuracy of estimating the feed intake of livestock and poultry is improved, the scientific and healthy cultivation of the pasture is facilitated, and the cultivation quality of livestock and poultry is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a livestock and poultry feed intake detection method provided by the embodiment of the invention;
FIG. 2 is a schematic view of an image acquisition scene provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a process for acquiring images of a feed pile before and after feeding a dairy cow according to an embodiment of the present invention;
FIG. 4 is a schematic view of a feed pile provided by an embodiment of the present invention;
FIG. 5 is a schematic representation of feed heap voxelization provided by an embodiment of the present invention;
FIG. 6 is a graph showing the feed margin profile provided by the example of the present invention;
fig. 7 is a schematic structural diagram of a livestock and poultry feed intake detecting device provided by the embodiment of the invention;
fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to accurately quantify the feed remaining amount of the feeding channel and save labor cost, the embodiment of the invention provides the livestock feed intake detection method, and the livestock feed intake is determined by monitoring the feed remaining amount in the feeding channel, so that the scientific feeding of the feed amount can be realized, and the livestock feeding quality and yield are improved.
Specifically, referring to fig. 1, fig. 1 is a flow chart of a method for detecting livestock and poultry feed intake according to an embodiment of the present invention, based on fig. 1, the method for detecting livestock and poultry feed intake according to the embodiment of the present invention includes:
step 100, acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
the livestock feed intake detection method is applied to the inspection robot in the farm, and the inspection robot is used for detecting the feed intake of each livestock in the farm and monitoring the feed remaining amount in the feeding channel.
Firstly, point cloud data of a feed pile in a livestock feeding channel is acquired, wherein the point cloud data comprises first point cloud data of the feed pile before feeding of the livestock and second point cloud data of the feed pile after feeding of the livestock. The point cloud data of the feed pile in the feeding channel is obtained by image acquisition of the feed pile by the inspection robot, and referring to fig. 2, fig. 2 is a schematic view of a scene of image acquisition of the inspection robot in the dairy farm background provided in this embodiment, in fig. 2, 1 is the dairy feeding channel, 2 is the inspection robot, and 3 is a schematic view of shooting angle when the inspection robot acquires images. Before and after feeding of livestock and poultry, the inspection robot respectively performs image acquisition on the feed piles in the feeding channel to obtain point cloud data of the feed piles in the feeding channel.
Step 200, calculating the feed allowance of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
each point in the point cloud data has three-dimensional coordinate information, and can reflect the actual space condition of the feed, so that the volume of the feed pile can be calculated according to the acquired point cloud data, and finally the feed allowance of the feed pile in the feeding channel can be calculated. As can be seen, the obtained point cloud data of the feed pile in the feeding channel comprises first point cloud data before feeding of the livestock and the second point cloud data after feeding of the livestock, and therefore the obtained feed allowance comprises first feed allowance calculated based on the first point cloud data and second feed allowance calculated based on the second point cloud data. The first feed allowance is the volume of the feed pile in the feeding channel before the livestock and poultry eat, and the second feed allowance is the volume of the feed pile in the feeding channel after the livestock and poultry eat.
And 300, determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance.
And determining the feed intake of the detected livestock and poultry object corresponding to the feeding channel according to the calculated difference value of the first feed allowance and the second feed allowance. It can be understood that the detected livestock and poultry objects corresponding to the feeding channels comprise one or more, and when the detected livestock and poultry objects corresponding to the feeding channels are one, the feed intake of the livestock and poultry corresponding to the feeding channels can be determined according to the difference value of the feed allowance in the feeding channels before and after feeding of the livestock and poultry. When a plurality of detected livestock and poultry objects corresponding to the feeding channel are provided, the inner livestock and poultry objects are isolated by arranging a plurality of columns, one or a plurality of livestock and poultry can be arranged in each column, and the total feed intake of the plurality of detected livestock and poultry objects corresponding to the feeding channel can be determined according to the difference value of the feed allowance in the feeding channel before and after feeding of the livestock and poultry; and determining the feed intake of the detected livestock and poultry objects in each field according to the difference value of the feed allowance of the feeding channel at each field before and after feeding of the livestock and poultry. Further, the feed intake of each detected livestock and poultry object can be determined by carrying out individual identification on the detected livestock and poultry object.
It can be known that, by combining the feeding condition of the feeding channel, the feed intake of the detected livestock and poultry object in any time period can be calculated by acquiring the point cloud data of the feed pile in the feeding channel, and the feeding time period for the detected livestock and poultry object to get used to is determined, so that the feeding rule of the detected livestock and poultry object is formed and used for guiding healthy cultivation.
In the embodiment, the point cloud data of the target feed pile in the livestock feeding channel is acquired, and the feed allowance of the target feed pile before and after feeding of the livestock is calculated based on the acquired point cloud data; and determining the feed intake of the detected livestock and poultry objects corresponding to the livestock and poultry feeding channels according to the difference value of the feed allowance before and after feeding of the livestock and poultry. The feed allowance in the feeding channel can be accurately quantified through the point cloud data of the feed pile, so that the feed intake of livestock and poultry is determined, the monitoring of the feed allowance in the feeding channel and the accurate detection of the feed intake of livestock and poultry are realized, the labor cost of a pasture is reduced, and compared with the manual observation of the feed allowance for feed intake estimation, the accuracy of estimating the feed intake of livestock and poultry is improved, the scientific and healthy cultivation of the pasture is facilitated, and the cultivation quality of livestock and poultry is improved.
For convenience of description, the following description will be given by taking cows as the detected livestock and poultry objects. Preferably, the obtained point cloud data of the feed piles in the feeding channel are obtained through image conversion, and the feed pile images in the feeding channel acquired by the inspection robot comprise color images and depth images. Based on this, in step 100, point cloud data of a target feed pile in a livestock feeding channel is obtained, which specifically includes:
Step 101, collecting a feed pile image of a livestock feeding channel at each target column, and acquiring column information of the target column; the feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the livestock feeding channel;
102, performing point cloud conversion on the feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock and poultry feeding channel at the target column;
step 103, performing point cloud splicing on the point cloud data corresponding to each target column according to the column information to obtain the point cloud data of the target feed pile in the livestock feeding channel;
the preset conversion algorithm is as follows:
；
；
；
wherein,depth values for pixel points in the depth image; />Scaling multiple of the depth value; />For pixel coordinates, +.>Coordinate values of pixel points in the point cloud data; />For the focal length of a depth camera for acquiring said depth image, < >>Is the optical center of the depth camera.
And collecting a feed pile image of the livestock and poultry feeding channel at each target column, and obtaining column information of the target column, wherein the collected feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the feeding channel. And performing point cloud conversion on the acquired feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock feeding channel at the target columns, and performing point cloud splicing on the point cloud data of the feed pile of the livestock feeding channel at each target column according to the acquired column information to obtain the point cloud data of the feed pile in the whole feeding channel.
Further, the acquired pile image comprises a first pile image acquired before feeding the dairy cow and a second pile image acquired after feeding the dairy cow, the color image comprises a first color image in the first pile image and a second color image in the second pile image, and the depth image comprises a first depth image in the first pile image and a second depth image in the second pile image. In step 101, collecting the image of the feed pile of the livestock feeding channel at each target column, and may further include:
step 1011, monitoring the feeding state of a detected livestock and poultry object corresponding to the livestock and poultry feeding channel;
step 1012, according to the feeding state, before the detected livestock and poultry object feeds, collecting a first feed pile image of the livestock and poultry feeding channel at each target column;
step 1013, collecting a second feed pile image of the livestock feeding channel at each target column after the detected livestock and poultry object eats according to the eating state.
The inspection robot monitors the feeding state of the detected livestock and poultry object corresponding to the feeding channel, and according to the feeding state, color images and depth images of the feeding channel at each target column are collected before the detected livestock and poultry object feeds; after the detected livestock and poultry objects eat food, color images and depth images of the feeding channels at the positions of all target columns are acquired. It should be noted that, when the detected livestock and poultry objects corresponding to the feeding channel are multiple, the feeding time of different detected livestock and poultry objects may be different, the inspection robot monitors the feeding state of each detected livestock and poultry object, respectively collects the color image and the depth image of the feed pile of the feeding channel at each field before and after feeding of the detected livestock and poultry object, records the field information and correlates the field information with the collected image while collecting the image, and in the subsequent processing process, can determine the feed pile image corresponding to the same field according to the field information.
Before the dairy cows eat, the inspection robot is started to photograph the feed piles of the feeding channel and record corresponding column information, wherein the column information comprises the positions of the feed piles, column numbers and the like. After the dairy cows eat, the inspection robot shoots the feed of the feeding channel again and records corresponding column information, so that the collection of the feed pile image is completed. The acquired feed pile image, including a color image and a depth image of the feed pile, may generate point cloud data for calculating the feed margin before and after feeding.
In one embodiment, for the collection of the forage pile image, specifically, referring to the schematic image of the image collection flow before and after feeding the dairy cows shown in fig. 3, based on fig. 3, firstly, after the inspection robot is started normally, acquiring a monitoring image of the dairy cows to monitor the feeding status of the dairy cows, judging whether the dairy cows feed, if the dairy cows feed, continuing to monitor the feeding status of the dairy cows, if the dairy cows do not feed, collecting the forage pile image before feeding the dairy cows, and recording the column information; then continuously acquiring a monitoring image of the dairy cow, monitoring the feeding state of the dairy cow, judging whether the dairy cow finishes feeding, if so, acquiring a feed pile image of the dairy cow after feeding, and recording field information; and circularly executing the steps, and when the dairy cows eat for a plurality of times, calculating the feed intake and the feed intake duration of the dairy cows during each eating according to the collected feed pile images before and after the dairy cows eat.
In one embodiment, as shown in fig. 4, for the point cloud conversion of the feed pile image, specifically, the depth image is acquired with a depth camera, the depth camera measures the depth of each pixel, the 3D camera coordinates of each pixel point are generated, and the point cloud data is generated. The inspection robot acquires color images and depth images of feed piles before and after feeding of cows in the feeding channel, generates point cloud data, performs point cloud splicing through column information, and generates the point cloud data of the feed piles before and after feeding of the cows in the whole feeding channel. Each point in the point cloud data has three-dimensional coordinate information, and can reflect the actual space condition of the feed. Performing point cloud conversion on the color image and the depth image based on a preset conversion algorithm to generate point cloud data, wherein the preset conversion algorithm is specifically shown in the following formulas 1 to 3:
；（1）
；（2）
；（3）
wherein,the depth value of the pixel point is obtained according to the depth image; />Is a scaling multiple of the depth value; />For pixel coordinates in color image, < >>The method comprises the steps of setting 3D point cloud coordinate values corresponding to pixel points in point cloud data; />For the focal length of the depth camera acquiring depth images, +.>The optical center of the depth camera, i.e. the internal reference of the depth camera, for acquiring the depth image.
Preferably, in one embodiment, the voxel method is used to calculate the feed margin in the livestock feeding pathway from the point cloud data based on the acquired point cloud data. Specifically, in step 200, calculating the feed margin of the feed pile in the feeding pathway based on the acquired point cloud data may further include:
step 201, dividing the surface area of the point cloud data into a plurality of target small areas;
step 202, carrying out voxel division on a space region where the target small region is located, and calculating the sum of volumes of the divided voxels to obtain a region volume corresponding to the target small region;
step 203, calculating the sum of the area volumes corresponding to the target small areas to obtain the feed allowance of the target feed pile;
the feed allowance of the target feed pileThe method comprises the following steps:
；
wherein,
，/>；
representing the volume of the divided voxels, +.>Representing the side length of the voxel, +.>For the number of target small areas, +.>Is->The volume of each of said target small areas, +.>Indicate->And the space region where each target small region is located.
Dividing the surface area of the point cloud data into a plurality of target small areas, carrying out voxel division on the space where each target small area is located, calculating the sum of volumes of the divided voxels to obtain the area volume corresponding to the target small area, calculating the sum of the area volumes corresponding to each target small area to obtain the volume of a feed pile in a feeding channel, and thus obtaining the feed allowance.
As shown in the three-dimensional voxelized model schematic of the feed pile of fig. 5, the surface area of the point cloud data of the feed pile is divided into a plurality of target small areas, and for each target small area, the voxelized volume can be calculated. The voxel method is to divide the space into a plurality of small cubes, calculate the sum of the volumes covered by the curved surface model in the small cubes, and finally obtain the volume of the whole feed pile area.
The volume calculation formula of the feed allowance in the whole feeding channel is as follows:
；（4）
wherein,represents the volume of the feed allowance in the whole feeding channel,/->Indicating the number of feed areas in the feed channel, i.e. the number of target small areas,/i>Indicate->Volume of individual feed areas. For each feed zone volume, the calculation formula is as follows:
；（5）
in the formula 5 of the present invention,indicate->Spatial area covered by individual feed areas, < > A->Representing a tiny volume in space. For volumes calculated using voxel method, the volume of the cube can be expressed as +.>，/>Representing the side length of the cube. In calculating->In this case, for ease of calculation, the side length of the cube may be set to the same value as the voxel size to obtain a more accurate volume value, at which time the volume of the cube +. >I.e. the volume of the voxel. And accumulating the area volumes corresponding to all the target small areas according to the point cloud data of the feed stacks in the whole feeding channel to obtain the volumes of the feed allowance of the feeding channel before and after feeding the dairy cows, and obtaining the feed intake of the dairy cows according to the volume difference of the feed allowance before and after feeding the dairy cows. The formula for calculating the feed intake of the dairy cow is as follows:
；（6）
for the feed intake of cow feed, the formula of the feed is->And->The residual feed volumes before and after feeding are shown in the cows respectively.
Preferably, when the feeding channel corresponds to a plurality of columns, one or more feed stacks can be arranged at each column, and when the feed allowance in the feeding channel is calculated, the feed allowance corresponding to each feed stack of the feeding channel at each column can be calculated respectively according to the mode based on the point cloud data corresponding to the acquired feed stack image, and then the feed allowance at each column is summed to obtain the total feed allowance in the feeding channel.
In this embodiment, the inspection robot is used to collect the color map and depth map of the residual feed before and after feeding through the feeding channel, and after the color map and depth map are converted into point cloud maps, the point cloud is spliced according to corresponding columns, the point cloud is divided into a plurality of small areas, the volumes of the small areas are obtained by multiplying the surface area of the small areas by the relative height from the ground, the volumes of all the small areas are accumulated, and finally the volumes before and after feeding through the residual feed are obtained. And (3) taking the difference between the two volumes to obtain the feed intake, and completing the monitoring of the residual feed amount and the quantification of the residual feed amount.
Further, the monitoring of the feed surplus of the feeding channel is realized by using the inspection robot, the automatic monitoring and calculation of the feed surplus of the feeding channel are realized, a large amount of manpower and material resource cost is saved, and the production efficiency and economic benefit are improved.
Preferably, the dynamic monitoring of the feed allowance in the feeding channel can be realized by calculating the feed intake of the dairy cows, so that intelligent feeding is realized. Specifically, in step 200, after calculating the feed allowance in the feeding tunnels before and after feeding the livestock and poultry, the method may further include:
step 210, generating a feed allowance distribution map of the livestock feeding channel according to the feed allowance; the feed allowance distribution map is used for representing distribution conditions of residual feed in the livestock feeding channel at a plurality of columns corresponding to the livestock feeding channel.
According to the calculated feed residues in the feeding channels before and after feeding, a feed residue distribution map in the feeding channels is used for representing the distribution condition of residual feed in the feeding channels at a plurality of columns of the feeding channels, and each column is displayedThe feed allowance and the distribution condition thereof. Preferably, the generated feed balance distribution diagram is shown in fig. 6, L1 is the feed balance in the feed channel before feeding livestock and poultry, and L2 is the feed balance in the feed channel after feeding livestock and poultry. FIG. 6 is a diagram of a feed margin distribution generated by taking a plurality of columns corresponding to a feeding channel as an example, wherein the columns are respectively X 1 To X 11 The horizontal coordinate of the feed residue distribution diagram is taken as a column, the position of the feed pile in the feeding channel can be displayed, and the vertical coordinate is taken as the feed residue, so that the feed residue at each column can be displayed.
Further, based on the generated feed allowance distribution map, not only the feed intake of the livestock and poultry at each column can be determined, but also the feeding area for habit of the livestock and poultry can be determined. In step 210, after the generation of the feed allowance distribution map, the method may further include:
step 220, determining a habit feeding area of the detected livestock and poultry object in the livestock and poultry feeding channel according to the feed allowance distribution map so as to indicate the feeding position of the feeding equipment in the livestock and poultry feeding channel.
It is known that most livestock and poultry, such as cattle and sheep, have territory consciousness, and this behavior has an important influence on the feeding of the feed, because cattle and sheep are more prone to feeding in the territory range, and by combining the territory consciousness of cattle and sheep, the intelligent decision-making and material scattering amount is realized, so that pasture management decision is greatly improved, and the overall productivity of pasture is improved. Therefore, in the feeding process, besides judging the whole feeding condition according to the residual feed, the feeding method also needs to combine the land awareness of the cattle and sheep, and feeds are fed into the feeding area habitually used by the cattle and sheep so as to ensure that the cattle and sheep fully ingest needed nutrition and realize intelligent feeding. According to the feed allowance distribution map, the area with the greatest feed intake at each column in the feeding channel can be determined, so that the feeding area for livestock habit is determined, and the feeding area is used for indicating the selectable feeding position of the feeding equipment in the livestock feeding channel to guide the feeding of the feeding equipment.
In the embodiment, the feed intake of the livestock and poultry can be accurately estimated by performing point cloud conversion on the color image and the depth image and estimating the feed allowance before and after feeding of the livestock and poultry based on the converted point cloud data by adopting a voxel method.
Further, by generating a feed allowance distribution map, the dynamic monitoring result of the feed allowance in the feeding channel is visualized, the feed allowance of each column is displayed in an intuitive mode, and a decision basis can be provided for pasture management staff.
The embodiment of the application also provides a livestock and poultry feeding method, which comprises the following steps:
s1, acquiring a discharging parameter of a feeding device of the feeding channel; the discharging parameters comprise the discharging amount in unit time;
s2, determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method provided by the embodiments.
And acquiring a discharge parameter of a feeding device of the feeding channel, wherein the discharge parameter comprises a discharge amount in unit time, and determining the feeding parameter of the discharge device according to the discharge parameter, the feed intake of the livestock and the feed allowance in the feeding channel, wherein the feeding parameter comprises a discharge time and a moving speed during feeding.
Specifically, if the discharge rate of the feeding equipment such as a scattering vehicle is set to be a, the unit is cubic meters per second) For each column +.>According to the feed intake of the corresponding dairy cows +.>(in cubic meters, i.e.)>) And feeding cows at the fieldThe residual amount of the feed->(in cubic meters, i.e.)>) Can calculate +.>The discharge time t of the column (in seconds, i.es）：
；（7）
Then according to the discharging timeAnd the discharge rate of the spreading vehicle->To determine the speed of travel +.>：
；（8）
From equations 7 and 8:
；（9）
when the feed is scattered next time, the moving speed of the scattering vehicle can be determined according to the feed surplus of each column and the feed intake of the dairy cows, and the discharging time of each column is reduced for columns with small feed surplus and accelerated for columns with large feed surplus, and the feed is thrown into the habit feeding area according to the determined habit feeding area of the dairy cows, so that accurate feed throwing is realized. The feed intake of dairy cows in each column is used as a feeding reference of the sprinkling truck and a decision basis of the travelling speed of the sprinkling truck, so that each column can be ensured to obtain a proper amount of feed in time.
In this embodiment, based on the fodder feed intake of beasts and birds carries out intelligent decision-making, through analysis beasts and birds feed intake, combines the fodder surplus in the feeding passageway, controls the discharge time and the moving speed of throwing material equipment, realizes throwing material equipment's intelligent control, and then has realized the automation of feeding, has improved and has thrown material efficiency, has reduced the extravagant and the pollution to the environment of fodder simultaneously, has further improved beasts and birds' raising quality.
The livestock and poultry feed intake detection device provided by the invention is described below, and the livestock and poultry feed intake detection device described below and the livestock and poultry feed intake detection method described above can be correspondingly referred to each other.
Referring to fig. 7, the livestock and poultry feed intake detecting device provided by the embodiment of the invention includes:
the data acquisition module 10 is used for acquiring point cloud data of a target feed pile in the livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
a margin monitoring module 20 for calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
and the feed intake detection module 30 is configured to determine a feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference between the first feed allowance and the second feed allowance.
In one embodiment, the margin monitoring module 20 is further configured to:
dividing the surface area of the point cloud data into a plurality of target small areas;
Carrying out voxel division on a space region where the target small region is located, and calculating the sum of volumes of the divided voxels to obtain a region volume corresponding to the target small region;
calculating the sum of the volumes of the areas corresponding to the target small areas to obtain the feed allowance of the target feed pile;
the feed allowance of the target feed pileThe method comprises the following steps:
；
wherein,
，/>；
representing the volume of the divided voxels, +.>Representing the side length of the voxel, +.>For the number of target small areas, +.>Is->The volume of each of said target small areas, +.>Indicate->And the space region where each target small region is located.
In one embodiment, the data acquisition module 10 is further configured to:
collecting a feed pile image of a livestock feeding channel at each target column, and acquiring column information of the target column; the feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the livestock feeding channel;
performing point cloud conversion on the feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock and poultry feeding channel at the target column;
performing point cloud splicing on the point cloud data corresponding to each target column according to the column information to obtain the point cloud data of the target feed pile in the livestock feeding channel;
The preset conversion algorithm is as follows:
；
；
；
wherein,depth values for pixel points in the depth image; />Scaling multiple of the depth value; />For pixel coordinates, +.>Coordinate values of pixel points in the point cloud data; />For the focal length of a depth camera for acquiring said depth image, < >>Is the optical center of the depth camera.
In one embodiment, the feed pile image comprises a first feed pile image acquired before feeding of the beasts and birds and a second feed pile image acquired after feeding of the beasts and birds; the color images include a first color image in the first feed pile image and a second color image in the second feed pile image; the depth image comprises a first depth image in the first feed pile image and a second depth image in the second feed pile image;
the data acquisition module 10 is further configured to:
monitoring the feeding state of a detected livestock and poultry object corresponding to the livestock and poultry feeding channel;
according to the feeding state, before the detected livestock and poultry object feeds, collecting a first feed pile image of the livestock and poultry feeding channel at each target column;
and acquiring a second feed pile image of the livestock and poultry feeding channel at each target column after the detected livestock and poultry object eats according to the eating state.
In one embodiment, the livestock feed intake detection device further comprises a visualization module for:
generating a feed allowance distribution map of the livestock feeding channel according to the feed allowance; the feed allowance distribution map is used for representing distribution conditions of residual feed in the livestock feeding channel at a plurality of columns corresponding to the livestock feeding channel.
In one embodiment, the livestock feed intake detection device further comprises a visual analysis module for:
and determining a habit feeding area of the detected livestock and poultry object in the livestock and poultry feeding channel according to the feed allowance distribution map so as to indicate the feeding position of the feeding equipment in the livestock and poultry feeding channel.
Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a livestock feed intake detection method or a livestock feeding method, including, for example:
Acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
or:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method according to any one of the aspects.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program may be stored on a non-transitory computer readable storage medium, where the computer program, when executed by a processor, can perform a method for detecting feed intake of livestock or a method for feeding livestock provided by the above methods, for example, including:
Acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
or:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method according to any one of the aspects.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for detecting feed intake of livestock or the method for feeding livestock provided by the above methods, for example, comprising:
acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
or:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method according to any one of the aspects.
In another aspect, the present invention also provides a patrol robot, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and further including a monitoring device including a depth camera; when executing the computer program, the processor realizes the livestock feed intake detection method or the livestock feeding method provided by the methods, for example, the method comprises the following steps:
acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
or:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
Determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharging time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method according to any one of the aspects.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The livestock and poultry feed intake detection method is characterized by comprising the following steps:
acquiring point cloud data of a target feed pile in a livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
calculating a feed margin of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
The calculating the feed margin of the target feed pile based on the point cloud data includes:
dividing the surface area of the point cloud data into a plurality of target small areas;
carrying out voxel division on a space region where the target small region is located, and calculating the sum of volumes of the divided voxels to obtain a region volume corresponding to the target small region;
calculating the sum of the volumes of the areas corresponding to the target small areas to obtain the feed allowance of the target feed pile;
the feed allowance of the target feed pileThe method comprises the following steps:
；
wherein,
，/>；
representing the volume of the divided voxels, +.>Representing the side length of the voxel, +.>For the number of target small areas, +.>Is->The volume of each of said target small areas, +.>Indicate->The space region where the target small region is located;
the method for acquiring the point cloud data of the target feed pile in the livestock feeding channel comprises the following steps:
collecting a feed pile image of a livestock feeding channel at each target column, and acquiring column information of the target column; the feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the livestock feeding channel;
Performing point cloud conversion on the feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock and poultry feeding channel at the target column;
performing point cloud splicing on the point cloud data corresponding to each target column according to the column information to obtain the point cloud data of the target feed pile in the livestock feeding channel;
the preset conversion algorithm is as follows:
；
；
；
wherein,depth values for pixel points in the depth image; />Scaling multiple of the depth value;for pixel coordinates, +.>Coordinate values of pixel points in the point cloud data; />For the focal length of a depth camera for acquiring said depth image, < >>Is the optical center of the depth camera.
2. The method for detecting feed intake of livestock and poultry according to claim 1, wherein the feed pile image comprises a first feed pile image acquired before feeding of livestock and poultry and a second feed pile image acquired after feeding of livestock and poultry; the color images include a first color image in the first feed pile image and a second color image in the second feed pile image; the depth image comprises a first depth image in the first feed pile image and a second depth image in the second feed pile image;
The method for collecting the feed pile image of the livestock feeding channel at each target column comprises the following steps:
monitoring the feeding state of a detected livestock and poultry object corresponding to the livestock and poultry feeding channel;
according to the feeding state, before the detected livestock and poultry object feeds, collecting a first feed pile image of the livestock and poultry feeding channel at each target column;
and acquiring a second feed pile image of the livestock and poultry feeding channel at each target column after the detected livestock and poultry object eats according to the eating state.
3. The method for detecting feed intake of livestock and poultry according to claim 1, wherein after calculating the feed allowance of the target feed pile based on the point cloud data, further comprising:
generating a feed allowance distribution map of the livestock feeding channel according to the feed allowance; the feed allowance distribution map is used for representing distribution conditions of residual feed in the livestock feeding channel at a plurality of columns corresponding to the livestock feeding channel.
4. The method for detecting feed intake of livestock and poultry according to claim 3, further comprising, after the step of generating a feed allowance distribution map of the feed allowance channel according to the feed allowance:
And determining a habit feeding area of the detected livestock and poultry object in the livestock and poultry feeding channel according to the feed allowance distribution map so as to indicate the feeding position of the feeding equipment in the livestock and poultry feeding channel.
5. A method for feeding livestock and poultry, comprising the steps of:
obtaining a discharging parameter of a feeding device of a livestock feeding channel; the discharging parameters comprise the discharging amount in unit time;
determining feeding parameters of the feeding equipment according to the discharging parameters and the feed intake of the livestock and poultry, and indicating the feeding equipment to feed according to the feeding parameters; the feeding parameters comprise discharge time and moving speed of the feeding equipment, and the livestock feed intake is detected based on the livestock feed intake detection method according to any one of claims 1 to 4.
6. Livestock and poultry feed intake detection device, characterized by comprising:
the data acquisition module is used for acquiring point cloud data of a target feed pile in the livestock feeding channel; the point cloud data comprise first point cloud data of the target feed pile before feeding of livestock and poultry and second point cloud data of the target feed pile after feeding of livestock and poultry;
the allowance monitoring module is used for calculating the feed allowance of the target feed pile based on the point cloud data; the feed allowance comprises a first feed allowance corresponding to the first point cloud data and a second feed allowance corresponding to the second point cloud data;
The feed intake detection module is used for determining the feed intake of the detected livestock and poultry object corresponding to the livestock and poultry feeding channel according to the difference value of the first feed allowance and the second feed allowance;
the feed intake detection module is further used for:
dividing the surface area of the point cloud data into a plurality of target small areas;
carrying out voxel division on a space region where the target small region is located, and calculating the sum of volumes of the divided voxels to obtain a region volume corresponding to the target small region;
calculating the sum of the volumes of the areas corresponding to the target small areas to obtain the feed allowance of the target feed pile;
the feed allowance of the target feed pileThe method comprises the following steps:
；
wherein,
，/>；
representing the volume of the divided voxels, +.>Representing the side length of the voxel, +.>For the number of target small areas, +.>Is->The volume of each of said target small areas, +.>Indicate->The space region where the target small region is located;
the data acquisition module is further used for:
collecting a feed pile image of a livestock feeding channel at each target column, and acquiring column information of the target column; the feed pile image comprises a color image and a depth image, and the target column is any one of a plurality of columns corresponding to the livestock feeding channel;
Performing point cloud conversion on the feed pile image based on a preset conversion algorithm to obtain point cloud data of the feed pile of the livestock and poultry feeding channel at the target column;
performing point cloud splicing on the point cloud data corresponding to each target column according to the column information to obtain the point cloud data of the target feed pile in the livestock feeding channel;
the preset conversion algorithm is as follows:
；
；
；
wherein,depth values for pixel points in the depth image; />Scaling multiple of the depth value;for pixel coordinates, +.>Coordinate values of pixel points in the point cloud data; />For the focal length of a depth camera for acquiring said depth image, < >>Is the optical center of the depth camera.
7. The inspection robot comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized by further comprising a monitoring device, wherein the monitoring device comprises a depth camera; the processor executes the program to realize the livestock feed intake detection method according to any one of claims 1 to 4 or the livestock feeding method according to claim 5.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the livestock feed intake detection method according to any one of claims 1 to 4 or the livestock feeding method according to claim 5.
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| CN114022489A (en) * | 2021-09-30 | 2022-02-08 | 北京市农林科学院信息技术研究中心 | Point cloud bidirectional fault area segmentation method and device for livestock |
| CN114898100A (en) * | 2022-04-15 | 2022-08-12 | 北京市农林科学院信息技术研究中心 | Point cloud data extraction method, device, system, equipment and storage medium |
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