Remote domestic pig selling system and method

Abstract

The invention relates to the technical field of domestic pig selling systems, and provides a remote domestic pig selling system and method.The remote domestic pig selling system comprises the steps that a target pig house is divided into a plurality of breeding areas and at least one functional area, and based on interaction information input actions of buyers, the pig output action that pigs of a target batch are driven to the functional areas from the breeding areas is executed; the image acquisition device arranged in the functional area is used for acquiring pig images, and pig information is synchronized to remote buyers in a video synchronization mode by using various computer vision algorithms, so that the buyers can know detailed conditions of each batch of pigs more clearly, the transparency of remote purchase is improved, and the communication efficiency is improved. Meanwhile, the robust correction problem of using the fisheye camera in different hog houses is considered, a self-supervision mode is innovatively used for correcting the camera image, and the interaction accuracy of hog selling information between the buyer and the seller is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of domestic pig selling systems, and in particular to a remote domestic pig selling system and method. Background Art

[0002] The traditional way of selling domestic pigs is usually for buyers to go to the pig house in person to select the domestic pigs, or for sellers to send the pigs to the market by means of transportation for buyers to select. Both the former and the latter are extremely time-consuming from the perspective of labor costs and time costs. In addition, the sales scope of the traditional sales method is limited, sellers are prone to malicious price suppression, and buyers have less choice in quality. With the popularization of the Internet, e-commerce platforms have risen rapidly, which has innovated the sales methods of agricultural products. Sellers can directly sell pigs or pork to distant consumers or companies through online platforms, thereby expanding the sales market and increasing income. At the same time, remote sales also meet consumers' demand for safe and traceable food. Consumers can learn about the pigs' breeding environment, health status and other information through the platform.

[0003] The existing remote sales methods are mainly conducted through online stores or live broadcasts. For online stores, buyers can only control the quality of the pigs sold through some pictures or videos taken by the seller, and cannot have a detailed understanding of the health status, body shape and weight of the purchased pigs, which may result in the goods not being as described. Although live broadcasts can achieve instant communication between sellers and buyers, they are limited to one-to-one communication, and the communication efficiency is low, resulting in a live broadcast that does not bring higher sales. Therefore, the current challenge facing remote sales is how to improve sales efficiency and allow buyers to fully understand the quality of each pig. Summary of the invention

[0004] The present invention provides a remote pig selling system and method, aiming to solve the above-mentioned problems in the prior art.

[0005] A first aspect of the present invention provides a remote pig selling system, comprising: The main control module is configured to divide the target pig house into several breeding areas and at least one functional area according to the setting information input action of the seller user; Each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig-discharging control device for driving domestic pigs to move between the breeding area and the functional area; An image processing module is configured to process the images of the pigs sold in the functional area collected by the image collection device and transmit them back to the main control module; An information extraction module is configured to extract the pig information of the target batch of sold pigs according to the pig delivery image, obtain the target batch of pig information set, and transmit the pig information set back to the main control module; The remote interaction module is configured to transmit a pig-out signal to the main control module according to the first interaction information input action of the buyer user, drive the target batch of selling pigs to move from the breeding area to the functional area, and receive the target batch of pig-out images and pig information sets transmitted by the main control module; and transmit purchase intention information to the main control module according to the second interaction information input action of the buyer user.

[0006] Optionally, the main control module specifically includes: A setting information input unit is configured to obtain setting information of a seller user; wherein the setting information includes a plurality of breeding areas where each batch of sold pigs are located, at least one functional area, and a pig delivery path from each breeding area to the functional area; The pig-out control strategy generating unit is configured to generate a pig-out control strategy according to the pig-out path from the breeding area to the functional area of ​​each batch of pigs for sale; wherein the pig-out control strategy includes a channel access control strategy and a pig-out driving strategy.

[0007] Optionally, the pig discharge control device specifically includes: The access control components and automatic pig driving components in the target pig house; The access control strategy is configured to drive the access control component of the channel between the breeding area and the pig delivery path of the functional area of ​​each batch of sold pigs to execute the first pig delivery control instruction set of the access control opening action; Among them, the pig-driving strategy is configured to drive the automatic pig-driving components in the pig-driving path from the breeding area to the functional area of ​​each batch of sold pigs to execute the second pig-driving control instruction set of pig-driving actions in sequence according to the path direction.

[0008] Optionally, the pig discharge control device specifically includes: An information interaction terminal for managers installed in the target pig house; Wherein, the pig delivery control strategy is configured to record text information of the breeding area location of each batch of sold pigs; Among them, the information interaction terminal is configured to determine the breeding area location of the target batch of pigs for sale in the text information according to the target batch of pigs for sale in the received pig delivery signal, so as to drive the management personnel to execute the gate opening and driving action of the target batch of pigs for sale from the breeding area to the functional area.

[0009] Optionally, the image acquisition device adopts a monocular fisheye camera; the image processing module specifically includes: The distortion parameter solving unit is configured to obtain two frames of images, one before and one after, collected by the image collection device during initialization, use an existing image distortion correction algorithm to correct the previous frame of image to obtain a corrected image, use the corrected image as a template image, and determine the distortion parameter of the next frame of image relative to the template image; The distortion correction unit is configured to obtain a fisheye distorted image acquired by the image acquisition device when the pig is discharged, correct the fisheye distorted image using the distortion parameters, obtain an undistorted image of the fisheye distorted image, and use the undistorted image as a template image to perform image correction on the next fisheye distorted image.

[0010] Optionally, in the distortion parameter solving unit, the rectified image is used as a template image to determine the distortion parameter of a subsequent frame image relative to the template image, specifically including: Align the next frame image with the template image, and the alignment expression is: ; ; ; in, is the distortion parameter, is the affine transformation parameter, including , and denote the undistorted and distorted transformation mappings respectively, Represents the coordinates of the image , is an affine transformation mapping, is the template image, is the next frame image; The alignment expression is minimized using the Gauss-Newton gradient descent nonlinear optimization algorithm to determine the distortion parameter of the next frame image relative to the template image. The expression is: ; ; ; ; in, Indicates the gradient of the next frame image, △p, △k represent the differential small change, express Find the partial derivative with respect to parameter k.

[0011] Optionally, the pig information set includes the number and weight of pigs in the target batch of sold pigs; the information extraction module specifically includes: A number counting unit is configured to identify the number of pigs for sale in the functional area using a target detection algorithm based on the undistorted image output by the image processing module; The weight and length estimation unit is configured to identify the key points of the head, tail, and both sides of the shoulder blade of the commercial pig based on the undistorted image output by the image processing module to construct a key point set, and calculate the body length parameters and body width parameters of the pig according to the key point set, and input the body length parameters and body width parameters into the weight ratio model to obtain the weight of each commercial pig in the functional area and the weight of the total number of pigs.

[0012] Optionally, the information extraction module further includes: The pig reflux detection unit is configured to detect a first movement from a target side to a non-target side of the reflux detection line and a second movement from the non-target side to the target side of the reflux detection line in the process of moving the selling pigs from the breeding area to the functional area based on the fisheye distorted image acquired by the image acquisition device and taking the reflux detection line located at the edge of the functional area as a judgment reference; An information correction unit, configured to correct the number of pigs sold and the weight of the total number of pigs sold based on the first action and the second action; Wherein, the target side and the non-target side of the backflow detection line are respectively configured as a side of the backflow detection line close to the breeding area and a side far away from the breeding area.

[0013] Optionally, the remote interaction module specifically includes: A live streaming push unit is configured to convert the pig delivery image of the selling pig in the functional area acquired by the image acquisition device into live streaming data, and transmit the live streaming data to a buyer terminal held by a buyer user; The interactive information processing unit is configured to receive a first interactive information input action and a second interactive information input action transmitted by a buyer terminal held by a buyer user, convert the first interactive information input action into an output signal and transmit it to the main control module, and convert the second interactive information input action into purchase intention information.

[0014] A second aspect of the present invention provides a remote pig selling method, comprising: According to the setting information input action of the seller user, the target pig house is divided into several breeding areas and at least one functional area; Each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig-discharging control device for driving domestic pigs to move between the breeding area and the functional area; Processing the images of the pigs sold in the functional area collected by the image acquisition device and transmitting them back to the main control module; Extracting the pig information of the target batch of selling pigs according to the pig delivery image, obtaining the target batch of pig information set, and transmitting the pig information set back to the main control module; According to the first interactive information input action of the buyer user, a pig-out signal is transmitted to the main control module, the target batch of selling pigs are driven to move from the breeding area to the functional area, and the target batch of pig-out images and pig information sets transmitted by the main control module are received; According to the second interactive information input action of the buyer user, the purchase intention information is transmitted to the main control module.

[0015] The beneficial effects of the present invention are as follows: a remote domestic pig selling system and method is proposed, by dividing the target pig house into several breeding areas and at least one functional area, based on the first interactive information input action of the buyer user, executing the pig delivery action of the target batch of pigs from the breeding area to the functional area, using the image acquisition device set in the functional area to collect the pig delivery image, using the form of video synchronization and using a variety of computer vision algorithms to synchronize the pig information to the remote buyer user, so that the buyer can understand the details of each batch of pigs more clearly, based on the second interactive information input action of the buyer user, the purchase intention information is transmitted to the seller user, compared with the existing method, the transparency of remote purchase is improved and the communication efficiency is improved. At the same time, the robust correction problem of using fisheye cameras in different pig houses is considered, and the camera image is corrected in an innovative way using self-supervision, which improves the accuracy of the interaction between buyers and sellers on the information of domestic pigs sold. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of the remote pig selling system of this embodiment.

[0017] Figure 2 Schematic diagram of the process of the remote pig selling method of this embodiment.

[0018] Reference numerals: 10-main control module; 20-image processing module; 30-information extraction module; 40-remote interaction module. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1: like Figure 1 As shown, a remote domestic pig selling system includes: a main control module 10, which is configured to divide the target pig house into a plurality of breeding areas and at least one functional area according to the setting information input action of the seller user; wherein each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig discharge control device for driving the domestic pigs to move between the breeding area and the functional area; an image processing module 20, which is configured to process the pig discharge image of the domestic pigs for sale in the functional area acquired by the image acquisition device, and transmit it back to the main control module The information extraction module 30 is configured to extract the pig information of the target batch of selling pigs according to the pig delivery image, obtain the target batch of pig information set, and transmit the pig information set back to the main control module; the remote interaction module 40 is configured to transmit a pig delivery signal to the main control module according to the first interactive information input action of the buyer user, drive the target batch of selling pigs to move from the breeding area to the functional area, and receive the target batch of pig delivery images and pig information set transmitted by the main control module; and transmit purchase intention information to the main control module according to the second interactive information input action of the buyer user.

[0021] It should be noted that the existing remote sales methods are mainly conducted through online stores or live broadcasts. For online store sales, buyers can only control the quality of the pigs sold through some pictures or videos taken by the seller, and cannot have a detailed understanding of the health status and body shape and weight of the purchased pigs, which may result in the goods not being as described. Although live broadcast sales can achieve instant communication between sellers and buyers, they are limited to one-on-one communication, and the communication efficiency is low, resulting in a live broadcast that does not bring higher sales. Therefore, the current challenge facing remote sales is how to improve sales efficiency and allow buyers to fully understand the quality of each pig.

[0022] In order to solve the above problems, this embodiment divides the target pig house into several breeding areas and at least one functional area, executes the pig-out action of driving the target batch of pigs from the breeding area to the functional area based on the first interactive information input action of the buyer user, collects the pig-out image using the image acquisition device set in the functional area, and synchronizes the pig information to the remote buyer user using a variety of computer vision algorithms in the form of video synchronization, so that the buyer can understand the details of each batch of pigs more clearly, and transmits the purchase intention information to the seller user based on the second interactive information input action of the buyer user. Compared with the existing method, the transparency of remote purchase is improved and the communication efficiency is improved. At the same time, the robust correction problem of using fisheye cameras in different pig houses is considered, and the camera image is corrected in an innovative way using self-supervision, which improves the accuracy of the interaction between buyers and sellers on the information of selling pigs.

[0023] In a preferred embodiment, the main control module specifically includes: a setting information input unit, configured to obtain setting information of the seller user; wherein the setting information includes several breeding areas where each batch of sold pigs are located, at least one functional area and the pig discharge path from each breeding area to the functional area; a pig discharge control strategy generation unit, configured to generate a pig discharge control strategy according to the pig discharge path from the breeding area to the functional area of ​​each batch of sold pigs; wherein the pig discharge control strategy includes a channel access control strategy and a pig discharge expulsion strategy.

[0024] In this embodiment, the main control module obtains the setting information input by the buyer user, and the setting information is used to distinguish the breeding area, functional area and the pig discharge path from each breeding area to the functional area of ​​the target pig house. After that, the channel access control strategy and the pig discharge expulsion strategy are generated according to the pig discharge path. Among them, the access control strategy is a strategy for controlling the channel access control on the pig discharge path during the pig discharge process from the selling pigs in the breeding area to the functional area, and the pig discharge expulsion strategy is a strategy for driving the selling pigs in the breeding area to the functional area. It should be noted that pig discharge refers to allowing a batch of pigs to pass through the functional area and use it as a planned sales batch, recording the parameters of the pigs extracted by the detection, and synchronizing information with the remote buyer through the remote interaction module. After the channel access control strategy and the pig-discharging and driving-out strategy are generated, they are stored in the main control module, and are used to transmit the pig-discharging signal of the corresponding batch (i.e., the corresponding breeding area) of the selling pigs to the main control module when receiving the first interactive information input action transmitted by the buyer user, drive the selling pigs of the target batch from the breeding area to the functional area, and present the collected pig-discharging images and pig information sets to the buyers, so that the buyers can understand the details of each batch of pigs more clearly, thereby improving the transparency of remote purchases and improving communication efficiency.

[0025] In one embodiment, the pig discharge control device specifically includes: a channel access control component and an automatic pig discharge driving component in the target pig house; wherein the access control strategy is configured to drive the channel access control component between the breeding area of ​​each batch of sold pigs to the pig discharge path of the functional area to execute a first pig discharge control instruction set for the access opening action; wherein the pig discharge driving strategy is configured to drive the automatic pig discharge driving component in the pig discharge path from the breeding area of ​​each batch of sold pigs to the functional area to execute a second pig discharge control instruction set for the pig discharge driving action in sequence according to the path direction.

[0026] In this embodiment, the pig delivery control device is configured as a channel access control component and an automatic pig delivery driving component in the target pig house, that is, this embodiment adopts an automated method to control the channel access control component (such as a channel gate) and the automatic pig delivery driving component (such as a sound and light driving component) between the breeding area and the functional area of ​​different batches of pigs for sale, so as to realize the automated execution of the pig delivery image and pig information viewing request of different batches of pigs for sale by the buyer user, thereby improving the efficiency of remote home sales.

[0027] In one embodiment, the pig discharge control device specifically includes: an information interaction terminal for management personnel configured in the target pig house; wherein the pig discharge control strategy is configured to record text information of the location of the breeding area of ​​each batch of sold pigs; wherein the information interaction terminal is configured to determine the location of the breeding area of ​​the target batch of sold pigs in the text information according to the target batch of sold pigs in the received pig discharge signal, so as to drive the management personnel to execute the door opening and driving action of the target batch of sold pigs from the breeding area to the functional area.

[0028] In this embodiment, the pig discharge control device adopts an information interaction terminal of the management personnel configured in the target pig house, that is, this embodiment adopts a manually driven method to send text information of the breeding area location of each batch of sold pigs, and uses manual experience to execute the action of driving the sold pigs in the corresponding breeding area to the functional area. In actual application, a more flexible and lower-cost pig discharge control method is provided for pig houses or parts of pig houses that are not suitable for setting channel access control components and automatic pig discharge driving components.

[0029] In a preferred embodiment, the image acquisition device adopts a monocular fisheye camera; the image processing module specifically includes: a distortion parameter solving unit, configured to obtain the front and rear two frames of images acquired by the image acquisition device during initialization, correct the front frame of the image using an existing image distortion correction algorithm to obtain a corrected image, use the corrected image as a template image, and determine the distortion parameters of the rear frame of the image relative to the template image; a distortion correction unit, configured to obtain a fisheye distortion image acquired by the image acquisition device when the pig is discharged, correct the fisheye distortion image using the distortion parameters to obtain an undistorted image of the fisheye distortion image, and use the undistorted image as a template image to perform image correction of the next fisheye distortion image.

[0030] The distortion parameter solving unit uses the corrected image as a template image to determine the distortion parameter of a subsequent frame image relative to the template image, specifically including: Align the next frame image with the template image, and the alignment expression is: ; ; ; in, is the distortion parameter, is the affine transformation parameter, including , and denote the undistorted and distorted transformation mappings respectively, Represents the coordinates of the image , is an affine transformation mapping, is the template image, is the next frame image; The alignment expression is minimized using the Gauss-Newton gradient descent nonlinear optimization algorithm to determine the distortion parameter of the next frame image relative to the template image. The expression is: ; ; ; ; in, Indicates the gradient of the next frame image, △p, △k represent the differential small change, express Find the partial derivative with respect to parameter k.

[0031] In this embodiment, the image acquisition device adopts a monocular fisheye camera. On the one hand, the use of the monocular fisheye camera can obtain a larger viewing angle in a small indoor space such as a pig house and a narrow passage, and can capture as much scene information as possible at one time. On the other hand, because the monocular fisheye camera can create a very strong perspective effect when shooting close to the subject, emphasizing the contrast between the near and far objects, it is more convenient to observe the pig reflux situation in the pig house passage (pig reflux means that the pig is counted once after passing through the pig house passage, and then counted again when it returns), that is, the monocular fisheye camera can magnify the image of the pig in the nearby functional area, providing a clearer image basis for the determination of the pig reflux situation.

[0032] However, when using a monocular fisheye camera to take pig images, it is necessary not only to count the pigs, but also to estimate their size and weight. Therefore, it is necessary to perform distortion correction on the pig images taken by the monocular fisheye camera. Since the image features of different pig houses are quite different, the distortion correction module adopts a correction method based on self-supervision, specifically: Step 1: Before the image processing module works, it is first initialized to obtain multiple images collected by the image acquisition device. Use some classic calibration methods to correct the images, and select any corrected image as the template image. ; Step 2: Get a new frame of image, that is, the next frame of image , align the above two images: Step 3: Use the Gauss-Newton gradient descent nonlinear optimization algorithm to minimize the above alignment results, and output the distortion parameters after the optimization is completed Therefore, the image processing module will output the distortion parameters of each image relative to the template image. , using the distortion parameter Distortion correction is performed to obtain an undistorted image. In addition, each time a new undistorted image is obtained, it is used as a new template image.

[0033] The purpose of this approach is to improve the robustness of the correction process to scene changes, such as changes in lighting over time, the presence of domestic pigs, etc., which will interfere with the image features. Finally, the output of the data acquisition module is the corrected distortion-free image. and the unprocessed fisheye distorted image collected by the image acquisition device The robust correction problem of fisheye cameras in different pig houses was considered, and a self-supervised approach was innovatively used to correct the camera images, which improved the accuracy of the interaction between buyers and sellers on the information of the pigs sold.

[0034] In a preferred embodiment, the pig information set includes the number and weight of the target batch of selling pigs; the information extraction module specifically includes: a quantity counting unit, configured to identify the number of selling pigs in the functional area based on the undistorted image output by the image processing module and using a target detection algorithm; a weight and height estimation unit, configured to identify the key points of the head, tail, and both sides of the shoulder blade of the selling pig based on the undistorted image output by the image processing module to construct a key point set, and calculate the body length parameters and body width parameters of the pigs based on the key point set, input the body length parameters and body width parameters into the weight ratio model, and obtain the weight of each selling pig in the functional area and the weight of the total number of pigs.

[0035] In this embodiment, for the statistics of the number of pigs, based on the target detection method, the detection frame of domestic pigs is generated and the number of detection frames is counted to achieve the statistics of the number of pigs. Since the research on target detection algorithm is relatively mature, any advanced detection algorithm can be used. In this embodiment of the present invention, yolov10 is used. The input of this process is a distortion-free image. . The statistics of pig weight are implemented based on a simple skeleton detection model. The model uses a 5-layer convolutional VGG network as the backbone. The features of each layer of convolution are output, and each row of the output feature map is regarded as a feature vector. The feature vectors between different layers are then connected (concat). The connection process is based on the output of the first layer. The connected feature vector is used as a feature map and sent to multiple full connections and outputs the key points of the pig's head, tail, and shoulder blades. The pig's skeleton information can be obtained by connecting the above four key points. The length of the line segment connecting the head key points and the tail key points is taken as the pig's body length, and the length of the line connecting the key points on both sides of the shoulder blade is taken as the pig's body width. Under normal circumstances, the weight and body length of properly raised pigs are Body width is directly proportional, so this embodiment converts body length and body width into weight through a proportional model: , the input image of this process is an undistorted image .

[0036] Therefore, this embodiment uses a variety of computer vision algorithms in the form of video synchronization to extract and count the pig information of each batch of pigs, and synchronizes it to remote buyer users so that buyers can understand the details of each batch of pigs more clearly. Compared with existing methods, the transparency of remote purchases is improved and communication efficiency is improved.

[0037] Furthermore, the information extraction module also includes: a pig reflux detection unit, which is configured to detect, based on the fisheye distortion image acquired by the image acquisition device and taking the reflux detection line located at the edge of the functional area as a judgment reference, a first action from the target side to the non-target side of the reflux detection line and a second action from the non-target side to the target side in the process of moving the sold pigs from the breeding area to the functional area; an information correction unit, which is configured to correct the number of sold pigs and the total weight of the pigs sold based on the first action and the second action; wherein the target side and the non-target side of the reflux detection line are respectively configured as a side of the reflux detection line close to the breeding area and a side away from the breeding area.

[0038] Considering that the pigs may run around in the pig house and the passage during the pig delivery process, resulting in repeated pig delivery image acquisition by the image acquisition device and repeated pig parameter statistics by the information extraction module, in this embodiment, a reflux detection line is generated when dividing the functional areas, and the judgment logic is to input the fisheye distorted image (Improve the accuracy of reflux detection), the constraint is that each pig can only cross each reflux detection line once. When the pig crosses the line, the same detection model as the quantity statistics unit is used to monitor the pig that has crossed the reflux detection line. When the pig's detection frame touches the reflux detection line again, it is considered that reflux has occurred. The number, average weight, and total weight will all be subtracted from the reflux pig. In this way, the calculation and statistical accuracy of pig parameters are improved, and it has better adaptability in the current scenario.

[0039] In a preferred embodiment, the remote interaction module specifically includes: a live stream push unit, configured to convert the pig delivery image of the selling pig in the functional area captured by the image acquisition device into live stream data, and transmit the live stream data to the buyer terminal held by the buyer user; an interactive information processing unit, configured to receive a first interactive information input action and a second interactive information input action transmitted by the buyer terminal held by the buyer user, convert the first interactive information input action into a pig delivery signal and transmit it to the main control module, and convert the second interactive information input action into purchase intention information.

[0040] In this embodiment, the remote interaction module has the function of online live broadcast. Buyers can watch the situation of each batch of domestic pigs online through a dedicated APP, and the information summarized by the main control module will be pushed to the remote buyers. When the buyers feel that the batch of pigs meets their needs, they can send their purchase intentions through the APP and negotiate with the seller after the live broadcast, which improves the transparency of remote purchases and improves communication efficiency.

[0041] Embodiment 2: Reference Figure 2 , Figure 2 A schematic flow chart of a remote pig selling method provided in an embodiment of the present invention.

[0042] like Figure 2 As shown, a remote pig selling method is used in the remote pig selling system as described above, comprising: S1: According to the setting information input action of the seller user, the target pig house is divided into several breeding areas and at least one functional area; Each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig-discharging control device for driving domestic pigs to move between the breeding area and the functional area; S2: Processing the images of the pigs sold in the functional area collected by the image acquisition device, and transmitting them back to the main control module; S3: extracting the pig information of the target batch of selling pigs according to the pig delivery image, obtaining the target batch of pig information set, and transmitting the pig information set back to the main control module; S4: according to the first interactive information input action of the buyer user, a pig-out signal is transmitted to the main control module, the selling pigs of the target batch are driven to move from the breeding area to the functional area, and the pig-out image and pig information set of the target batch transmitted by the main control module are received; S5: According to the second interactive information input action of the buyer user, the purchase intention information is transmitted to the main control module.

[0043] This embodiment provides a remote domestic pig selling method, which divides the target pig house into several breeding areas and at least one functional area, executes the pig delivery action of the target batch of pigs from the breeding area to the functional area based on the first interactive information input action of the buyer user, uses the image acquisition device set in the functional area to collect the pig delivery image, and uses a variety of computer vision algorithms to synchronize the pig information to the remote buyer user in the form of video synchronization, so that the buyer can understand the details of each batch of pigs more clearly, and transmits the purchase intention information to the seller user based on the second interactive information input action of the buyer user. Compared with the existing method, the transparency of remote purchase is improved and the communication efficiency is improved. At the same time, the robust correction problem of using fisheye cameras in different pig houses is considered, and the camera image is corrected in an innovative way using self-supervision, which improves the accuracy of the interaction between buyers and sellers on the information of selling domestic pigs.

[0044] The specific implementation of the remote pig selling method of the present application is basically the same as the above-mentioned remote pig selling system embodiment, and will not be repeated here.

[0045] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inside", "outside", "inner side", "outer side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Among them, "inside" refers to an internal or enclosed area or space. "Periphery" refers to the area surrounding a specific component or a specific area.

[0046] In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "assemble" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0049] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent a range between two values, and the range includes the endpoints. For example: "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0050] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A remote pig selling system, It is characterized in that include: The main control module is configured to divide the target pig house into several breeding areas and at least one functional area according to the setting information input action of the seller user; Each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig-discharging control device for driving domestic pigs to move between the breeding area and the functional area; An image processing module is configured to process the images of the pigs sold in the functional area collected by the image collection device and transmit them back to the main control module; An information extraction module is configured to extract the pig information of the target batch of sold pigs according to the pig delivery image, obtain the target batch of pig information set, and transmit the pig information set back to the main control module; The remote interaction module is configured to transmit a pig-out signal to the main control module according to the first interaction information input action of the buyer user, drive the target batch of selling pigs to move from the breeding area to the functional area, and receive the target batch of pig-out images and pig information sets transmitted by the main control module; and transmit purchase intention information to the main control module according to the second interaction information input action of the buyer user.

2. The remote pig selling system according to claim 1, It is characterized in that The main control module specifically includes: A setting information input unit is configured to obtain setting information of a seller user; wherein the setting information includes a plurality of breeding areas where each batch of sold pigs are located, at least one functional area, and a pig delivery path from each breeding area to the functional area; The pig-out control strategy generating unit is configured to generate a pig-out control strategy according to the pig-out path from the breeding area to the functional area of ​​each batch of pigs for sale; wherein the pig-out control strategy includes a channel access control strategy and a pig-out driving strategy.

3. The remote pig selling system according to claim 2, It is characterized in that The pig discharge control device specifically comprises: The access control components and automatic pig driving components in the target pig house; The access control strategy is configured to drive the channel access control component between the breeding area and the pig delivery path of the functional area of ​​each batch of sold pigs to execute the first pig delivery control instruction set of the access control opening action; Among them, the pig-driving strategy is configured to drive the automatic pig-driving components in the pig-driving path from the breeding area to the functional area of ​​each batch of sold pigs to execute the second pig-driving control instruction set of pig-driving actions in sequence according to the path direction.

4. The remote pig selling system according to claim 2, It is characterized in that The pig discharge control device specifically comprises: An information interaction terminal for managers installed in the target pig house; Wherein, the pig delivery control strategy is configured to record text information of the breeding area location of each batch of sold pigs; Among them, the information interaction terminal is configured to determine the breeding area location of the target batch of pigs for sale in the text information according to the target batch of pigs for sale in the received pig delivery signal, so as to drive the management personnel to execute the gate opening and driving action of the target batch of pigs for sale from the breeding area to the functional area.

5. The remote pig selling system according to claim 1, It is characterized in that The image acquisition device adopts a monocular fisheye camera; the image processing module specifically includes: The distortion parameter solving unit is configured to obtain two frames of images, one before and one after, collected by the image collection device during initialization, use an existing image distortion correction algorithm to correct the previous frame of image to obtain a corrected image, use the corrected image as a template image, and determine the distortion parameter of the next frame of image relative to the template image; The distortion correction unit is configured to obtain a fisheye distorted image acquired by the image acquisition device when the pig is discharged, correct the fisheye distorted image using the distortion parameters, obtain an undistorted image of the fisheye distorted image, and use the undistorted image as a template image to perform image correction on the next fisheye distorted image.

6. The remote pig selling system according to claim 5, It is characterized in that In the distortion parameter solving unit, the rectified image is used as a template image to determine the distortion parameter of a subsequent frame image relative to the template image, specifically including: Align the next frame image with the template image, and the alignment expression is: ； ； ； in, is the distortion parameter, is the affine transformation parameter, including , , , , , , and denote the undistorted and distorted transformation mappings respectively, Represents the coordinates of the image , is an affine transformation mapping, is the template image, is the next frame image; The alignment expression is minimized using the Gauss-Newton gradient descent nonlinear optimization algorithm to determine the distortion parameter of the next frame image relative to the template image. The expression is: ； ； ； ； in, Indicates the gradient of the next frame image, △p, △k represent the differential small change, express Find the partial derivative with respect to parameter k.

7. The remote pig selling system according to claim 5, It is characterized in that The pig information set includes the number and weight of the pigs of the target batch of sold pigs; The information extraction module specifically includes: A number counting unit is configured to identify the number of pigs for sale in the functional area using a target detection algorithm based on the undistorted image output by the image processing module; The weight and length estimation unit is configured to identify the key points of the head, tail, and both sides of the shoulder blade of the commercial pig based on the undistorted image output by the image processing module to construct a key point set, and calculate the body length parameters and body width parameters of the pig according to the key point set, and input the body length parameters and body width parameters into the weight ratio model to obtain the weight of each commercial pig in the functional area and the weight of the total number of pigs.

8. The remote pig selling system according to claim 7, It is characterized in that The information extraction module further includes: The pig reflux detection unit is configured to detect a first movement from a target side to a non-target side of the reflux detection line and a second movement from the non-target side to the target side of the reflux detection line in the process of moving the selling pigs from the breeding area to the functional area based on the fisheye distorted image acquired by the image acquisition device and taking the reflux detection line located at the edge of the functional area as a judgment reference; An information correction unit, configured to correct the number of pigs sold and the weight of the total number of pigs sold based on the first action and the second action; Wherein, the target side and the non-target side of the backflow detection line are respectively configured as a side of the backflow detection line close to the breeding area and a side far away from the breeding area.

9. The remote pig selling system according to claim 1, It is characterized in that The remote interaction module specifically includes: A live streaming push unit is configured to convert the pig delivery image of the selling pig in the functional area acquired by the image acquisition device into live streaming data, and transmit the live streaming data to a buyer terminal held by a buyer user; The interactive information processing unit is configured to receive a first interactive information input action and a second interactive information input action transmitted by a buyer terminal held by a buyer user, convert the first interactive information input action into an output signal and transmit it to the main control module, and convert the second interactive information input action into purchase intention information.

10. A remote pig selling method, It is characterized in that include: According to the setting information input action of the seller user, the target pig house is divided into several breeding areas and at least one functional area; Each of the breeding areas is configured to breed different batches of domestic pigs for sale, the functional area is provided with an image acquisition device, and the target pig house is provided with a pig-discharging control device for driving domestic pigs to move between the breeding area and the functional area; Processing the images of the pigs sold in the functional area collected by the image acquisition device and transmitting them back to the main control module; Extracting the pig information of the target batch of selling pigs according to the pig delivery image, obtaining the target batch of pig information set, and transmitting the pig information set back to the main control module; According to the first interactive information input action of the buyer user, a pig-out signal is transmitted to the main control module, the target batch of selling pigs are driven to move from the breeding area to the functional area, and the target batch of pig-out images and pig information sets transmitted by the main control module are received; According to the second interactive information input action of the buyer user, the purchase intention information is transmitted to the main control module.

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