Automatic inspection system and method for aquaculture

Abstract

The invention relates to the technical field of aquaculture, in particular to an automatic inspection system and method for aquaculture. Comprising a control center, a material lifting device used for lifting and putting back a feeding basket, and a camera recognition device used for conducting visual recognition on the feeding basket lifted by the material lifting device. According to the automatic inspection system for aquaculture, a manual mode can be replaced to lift and put back the feeding basket in water, a manual naked eye mode can be replaced to observe, automatic inspection can be achieved, and the automatic inspection system can be better suitable for aquaculture.

Description

Technical field:

[0001] The present invention relates to the technical field of aquaculture, and in particular to an automated inspection system and method for aquaculture. Background technology:

[0002] With the growth of population and the improvement of living standards, people's demand for seafood such as fish and shrimp is also increasing. In order to meet people's demand for fish and shrimp while reducing the burden of marine resource development and better protecting the water ecological environment, more and more people are starting to engage in aquaculture of fish and shrimp.

[0003] Since the feeding habits of fish and shrimp will change accordingly due to factors such as different growth stages and seasonal changes, and if fish and shrimp are fed too much or not enough, it will have an adverse effect on their health and growth. Therefore, most of the current practices are to lift the feeding basket and observe the remaining feed in the feeding basket, so as to make corresponding adjustments to the amount of feed for the next time, so as to better achieve feeding and prevent fish and shrimp from overfeeding or underfeeding. At present, most of them still lift the feeding basket in the water manually and observe it with the naked eye. Not only is the operation more troublesome and requires more manpower, but some feeding baskets are located in the middle of the breeding pond or in a deep water position, which is not convenient for lifting and observing. Summary of the invention:

[0004] The purpose of the present invention is to provide an automated inspection system for aquaculture in view of the deficiencies in the prior art, which can replace the manual method to lift and put back the feeding basket in the water, can replace the manual method of naked eye observation, can realize automated inspection, and can be better applied to aquaculture;

[0005] The present invention also provides an automated inspection method for aquaculture, which can realize automated and intelligent aquaculture.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automated inspection system for aquaculture, including a control center, a lifting device for lifting and putting back a feeding basket, and a camera recognition device for visually identifying the feeding basket lifted by the lifting device.

[0007] A further improvement to the above solution is that the aquaculture automated inspection system of the present invention also includes a feeding device for adding feed and / or trace elements and / or medicines to the feeding basket.

[0008] A further improvement to the above scheme is that the lifting device includes a guide rail, a machine base sliding along the guide rail, a travel power mechanism for driving the machine base to slide, a lifting platform slidably connected to the bottom of the machine base in a vertical direction, a lifting power mechanism for driving the lifting platform to slide, and a lifting claw arranged on the lifting platform.

[0009] A further improvement to the above scheme is that the lifting claw includes a connecting portion for connecting to the lifting platform, the front and rear ends of the connecting portion respectively extend downward to form a bending portion, and the bottoms of the two bending portions respectively extend horizontally in a direction close to the middle position of the connecting portion to form a lifting portion;

[0010] The lifting power mechanism includes a lifting rope for connecting with the lifting platform and a rope power mechanism for winding or unwinding the lifting rope, and the rope power mechanism is arranged on the machine base;

[0011] Telescopic hinge components are respectively provided between the lifting platform and the front end and / or the rear end and / or the two sides of the machine base.

[0012] A further improvement to the above scheme is that the guide rail is a rod-shaped structure, and the travel power mechanism includes a number of travel power modules, each of which includes two tapered rollers symmetrically arranged at the front and rear ends of the guide rail, and a roller power mechanism for driving the two tapered rollers to rotate, the two tapered rollers roll on the front and rear ends of the guide rail, and the output end of the roller power mechanism drives and connects the two tapered rollers.

[0013] A further improvement to the above scheme is that the roller power mechanism includes two power output gears that rotate coaxially with the two tapered rollers, two power input gears, and a gear power mechanism for driving the two power input gears to rotate, a transmission chain is wound around the power output gear and the power input gear located on the same side, the power output gear is connected to the power input gear located on the same side through the corresponding transmission chain, the gear power mechanism is arranged on the machine base, and the output end of the gear power mechanism is drivingly connected to the two power input gears.

[0014] A further improvement to the above scheme is that the machine base moves back and forth in a straight line, a circle or a waist shape along the guide rail.

[0015] An automated inspection method for aquaculture is applicable to an automated inspection system for aquaculture having a control center, a feeding device for lifting and returning a feeding basket, a camera recognition device for visually identifying the feeding basket lifted by the feeding device, and a feeding device for adding feed and / or trace elements and / or medicines to the feeding basket, and comprises the following steps:

[0016] A. The lifting device lifts the feeding basket in the water upwards;

[0017] B. The camera recognition device visually recognizes the remaining feed in the feeding basket lifted by the feeding device and / or the growth status of the fish and shrimp in the feeding basket;

[0018] C. The lifting device puts the feeding basket back down after the visual recognition is completed;

[0019] D. The feeding device feeds the corresponding feed according to the recognition result of the camera recognition device, including accurately feeding the feed according to the remaining feed situation, and feeding the trace elements and / or medicines according to the growth status of the fish and shrimp.

[0020] A further improvement to the above scheme is that, in step D, accurately delivering feed according to the remaining feed situation comprises the following specific steps:

[0021] D1. Calculate the remaining area of ​​feed according to the divided feed area;

[0022] D2, comparing the remaining feed area with a preset remaining feed area threshold;

[0023] D3. Adjust the next feed amount according to the difference between the remaining feed area and the preset remaining feed area threshold, the preset feed amount is N, the next feed amount is N1, the remaining feed area is S, the preset remaining feed area threshold is S1, and the preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following condition: N1=N(1-(S-S1) / S1).

[0024] A further improvement to the above scheme is that the step D1, calculating the remaining area of ​​feed according to the divided feed area, specifically comprises the following steps:

[0025] D11, acquiring image information and preprocessing the image information to extract image features;

[0026] D12. constructing a feed and excrement discrimination model based on the image features;

[0027] D13, using the discrimination model to identify the target area in the image, using an image segmentation algorithm to segment the target area in the image to obtain segmented feed areas and excrement areas, and calculating the remaining feed area based on the segmented feed areas;

[0028] The preprocessing of the image information in step D11 specifically includes:

[0029] Perform denoising on the image to obtain a denoised image;

[0030] Extracting color features, shape features and texture features from the denoised image;

[0031] The step D12 of constructing a feed and excrement discrimination model specifically includes:

[0032] According to the extracted image features, a feed sample feature set and an excrement sample feature set are constructed;

[0033] A discrimination model is generated based on the feed sample feature set and the excrement sample feature set by using a machine learning algorithm, wherein the machine learning algorithm includes at least one of a support vector machine, a random forest and a convolutional neural network.

[0034] The beneficial effects of the present invention are as follows: the present invention provides an automated inspection system for aquaculture, comprising a control center, a lifting device for lifting and returning a feeding basket, and a camera recognition device for visually recognizing the feeding basket lifted by the lifting device;

[0035] The control center controls the lifting device to lift the feeding basket in the water, and the camera recognition device visually recognizes the remaining feed in the feeding basket lifted by the lifting device and / or the growth status of fish and shrimp in the feeding basket. The lifting device puts the feeding basket back after the visual recognition. An automated inspection system for aquaculture of the present invention can replace the manual method of lifting and putting back the feeding basket in the water, can replace the manual method of observation with the naked eye, can realize automated inspection, and can be better suitable for aquaculture. Description of the drawings:

[0036] Figure 1 The present invention is a schematic diagram of the structure of an automated inspection system for aquaculture.

[0037] Figure 2 It is a structural schematic diagram of the material lifting device of the present invention.

[0038] Explanation of the accompanying drawings: lifting device 1, guide rail 11, machine base 12, travel power mechanism 13, lifting platform 14, lifting power mechanism 15, lifting rope 151, rope power mechanism 152, telescopic hinge assembly 153, lifting claw 16, connecting part 161, bending part 162, lifting part 163, travel power module 17, tapered roller 171, roller power mechanism 172, power output gear 1721, power input gear 1722, gear power mechanism 1723, transmission chain 1724, camera recognition device 2, control center 3, feeding device 4. Specific implementation method:

[0039] The present invention will be further described below in conjunction with the accompanying drawings. Figure 1-2As shown, an automated inspection system for aquaculture of the present invention comprises a control center 3, a lifting device 1 for lifting and putting back a feeding basket, and a camera recognition device 2 for visually identifying the feeding basket lifted by the lifting device 1; the control center 3 controls the lifting device 1 to lift up the feeding basket in the water, the camera recognition device 2 visually identifies the remaining feed in the feeding basket lifted by the lifting device 1 and / or the growth status of fish and shrimp in the feeding basket, and the lifting device 1 puts the feeding basket back downward after visual identification; an automated inspection system for aquaculture of the present invention can replace the manual method of lifting and putting back the feeding basket in the water, can replace the manual method of observation with the naked eye, can realize automated inspection, and can be better suitable for aquaculture.

[0040] An automated inspection system for aquaculture of the present invention also includes a feeding device 4 for adding feed and / or trace elements and / or medicines to a feeding basket; corresponding automatic feeding is performed according to the result of visual recognition by a camera recognition device 2, which can further enhance the overall automation and intelligence of aquaculture, thereby further reducing the workload of staff.

[0041] The lifting device 1 includes a guide rail 11, a base 12 that slides along the guide rail 11, a travel power mechanism 13 for driving the base 12 to slide, a lifting platform 14 that slides along the vertical direction and is connected to the bottom of the base 12, a lifting power mechanism 15 for driving the lifting platform 14 to slide, and a lifting claw 16 arranged on the lifting platform 14; the lifting claw 16 is first driven downward by the lifting power mechanism 15 to make the height of the lifting claw 16 lower than the top height position of the feeding basket, and then the travel power mechanism 13 drives the base 12 to slide and moves the lifting claw 16 to a position below the top of the feeding basket, and finally the lifting claw 16 is driven upward by the lifting power mechanism 15 to make the lifting claw 16 lift the top of the feeding basket upward The feeding basket is pulled upward and out of the water. After observing the remaining feed in the feeding basket and / or the growth status of the fish and shrimp in the feeding basket, the lifting claw 16 is driven downward by the lifting power mechanism 15 to put the feeding basket back to its original position. The lifting claw 16 is continued to be driven downward by the lifting power mechanism 15 and the height of the lifting claw 16 is lower than the top height position of the feeding basket. Then, the traveling power mechanism 13 drives the machine base 12 to slide and the lifting claw 16 is away from the feeding basket, thereby completing the whole process of automatically lifting and putting back the feeding basket. The lifting device 1 of the present invention can replace the manual method to automatically lift and put back the feeding basket, thereby reducing the workload of the operator.

[0042] The lifting claw 16 includes a connecting portion 161 for connecting to the lifting platform 14, and the front and rear ends of the connecting portion 161 are respectively extended downward to form a bending portion 162, and the bottoms of the two bending portions 162 are respectively extended horizontally along the direction close to the middle position of the connecting portion 161 to form a lifting portion 163; the spacing between the two lifting portions 163 of the present invention is smaller than the width of the top of the feeding basket, and the spacing between the two bending portions 162 is larger than the width of the top of the feeding basket, so as to realize the upward pulling and downward lowering of the top of the feeding basket.

[0043] The lifting power mechanism 15 includes a lifting rope 151 for connecting to the lifting platform 14 and a rope power mechanism 152 for winding or unwinding the lifting rope 151, and the rope power mechanism 152 is arranged on the machine base 12; the lifting rope 151 is unwound by the rope power mechanism 152, and the lifting platform 14 moves downward accordingly; the lifting rope 151 is wound up by the rope power mechanism 152, and the lifting platform 14 moves upward accordingly; by controlling the rope power mechanism 152 to unwind or wind up the lifting rope 151, the lifting and lowering of the lifting platform 14 can be controlled accordingly, thereby controlling the lifting and lowering of the lifting claw 16; compared with the lifting and lowering of the lifting platform 14 driven by a cylinder, a motor and a screw rod and other structures, the present invention drives the lifting platform 14 to lift and lower by cooperating with the lifting rope 151 and the rope power mechanism 152, and the overall structure is simpler, lighter and more reasonable.

[0044] Telescopic hinge assemblies 153 are respectively provided between the front end and / or rear end and / or both sides of the lifting platform 14 and the machine base 12; the telescopic hinge assembly 153 can automatically and synchronously extend and retract while the lifting platform 14 is being lifted or lowered. The arrangement of the telescopic hinge assembly 153 can improve the structural stability between the lifting platform 14 and the machine base 12, thereby better ensuring that the lifting platform 14 is lifted or lowered smoothly, that is, better ensuring that the lifting claw 16 can accurately lift and put back the top of the feeding basket; the lifting platform 14 and the front end and both sides of the machine base 12 in this embodiment are respectively provided with telescopic hinge assemblies 153, and the telescopic hinge assembly 153 is not provided at the rear end, which can improve the structural stability between the lifting platform 14 and the machine base 12 while facilitating the operation of the camera module and the like arranged on the lifting platform 14.

[0045] The guide rail 11 is a rod-shaped structure, and the travel power mechanism 13 includes a plurality of travel power modules 17, each of which includes two tapered rollers 171 symmetrically arranged at the front and rear ends of the guide rail 11, and a roller power mechanism 172 for driving the two tapered rollers 171 to rotate. The two tapered rollers 171 are respectively rolled on the front and rear ends of the guide rail 11, and the output end of the roller power mechanism 172 drives and connects the two tapered rollers 171; compared with driving the machine base 12 to slide through a cylinder, a motor and a screw rod and other structures, the slide can only perform linear reciprocating motion. The travel power mechanism 13 of the present invention realizes the sliding of the machine base 12 through the tapered roller 171, which not only has a smooth overall transmission, but also can be suitable for reciprocating movements in shapes such as a circle or a waist, so that it can be better suitable for lifting and putting back feeding baskets in multiple aquaculture.

[0046] The roller power mechanism 172 includes two power output gears 1721 that rotate coaxially with the two tapered rollers 171, two power input gears 1722, and a gear power mechanism 1723 for driving the two power input gears 1722 to rotate. A transmission chain 1724 is wound around the power output gears 1721 and the power input gears 1722 on the same side. The power output gear 1721 is transmission-connected to the power input gear 1722 on the same side through the corresponding transmission chain 1724. The gear power mechanism 1723 is arranged on the base 12, and the output end of the gear power mechanism 1723 is drivingly connected to the two power input gears 1722; the two power input gears 1722 are driven to rotate through the gear power mechanism 1723, and the two power input gears 1722 respectively drive the two power output gears 1721 to rotate through the corresponding transmission chain 1724, thereby driving the two tapered rollers 171 to rotate and allowing the base 12 to move along the guide rail 11.

[0047] In this embodiment, the number of teeth of the power input gear 1722 is greater than the number of teeth of the power output gear 1721 , which can increase the rotation speed of the tapered roller 171 , thereby increasing the moving speed of the machine base 12 .

[0048] The machine base 12 makes a straight line, circular or waist-shaped reciprocating motion along the guide rail 11. The machine base 12 in this embodiment makes a waist-shaped reciprocating motion along the guide rail 11, which can better lift and put back multiple feeding baskets in aquaculture, and is more practical.

[0049] Compared with setting up the camera recognition device 2 in multiple places, the camera recognition device 2 in this embodiment is set on the lifting platform 14, and can move in real time with the lifting device 1, so as to better realize the visual recognition of the feeding basket at different positions; the camera recognition device 2 can take pictures and visually recognize the remaining feed in the feeding basket and / or the growth status of fish and shrimp in the feeding basket, thereby replacing manual observation with the naked eye, and further improving the overall automation, and using the visual recognition results of the camera recognition device 2 to remind or automatically realize the feeding of feed, the addition of trace elements or medicines, etc.

[0050] An automated inspection method for aquaculture is applicable to an automated inspection system for aquaculture having a control center 3, a lifting device 1 for lifting and putting back a feeding basket, a camera recognition device 2 for visually identifying the feeding basket lifted by the lifting device 1, and a feeding device 4 for adding feed and / or trace elements and / or medicines to the feeding basket, comprising the following steps:

[0051] A. The lifting device 1 lifts the feeding basket in the water upwards;

[0052] B. The camera recognition device 2 visually recognizes the remaining feed in the feeding basket lifted by the lifting device 1 and / or the growth status of the fish and shrimp in the feeding basket;

[0053] C. The lifting device 1 puts the feeding basket back downward after completing the visual recognition;

[0054] D. The feeding device 4 performs corresponding feeding according to the recognition result of the camera recognition device 2, including accurately feeding feed according to the remaining feed situation, and feeding trace elements and / or medicines according to the growth status of fish and shrimp.

[0055] The automated inspection method for aquaculture of the present invention can realize automated and intelligent aquaculture.

[0056] Wherein, the step D of accurately delivering feed according to the remaining feed situation comprises the following specific steps:

[0057] D1. Calculate the remaining area of ​​feed according to the divided feed area;

[0058] D2, comparing the remaining feed area with a preset remaining feed area threshold;

[0059] D3. Adjust the next feed amount according to the difference between the remaining feed area and the preset remaining feed area threshold, the preset feed amount is N, the next feed amount is N1, the remaining feed area is S, the preset remaining feed area threshold is S1, and the preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following conditions: N1=N1-(S-S1) / S1; for example, if the remaining feed area S is 80% of the preset remaining feed area threshold S1, then the next feed amount N1 is 1.2N; for example, if the remaining feed area S is 150% of the preset remaining feed area threshold S1, then the next feed amount N1 is 0.5N; compared to simply judging whether the remaining feed area is greater than or less than the preset remaining feed area, and then simply increasing or decreasing the next feed amount, by satisfying the following conditions among the preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1: N1=N1-(S-S1) / S1, more accurate feeding and better feeding and breeding can be achieved.

[0060] The step D1, calculating the remaining feed area according to the divided feed area, specifically comprises the following steps:

[0061] D11, acquiring image information and preprocessing the image information to extract image features;

[0062] D12. constructing a feed and excrement discrimination model based on the image features;

[0063] D13, using the discrimination model to identify the target area in the image, using an image segmentation algorithm to segment the target area in the image to obtain segmented feed areas and excrement areas, and calculating the remaining feed area based on the segmented feed areas;

[0064] The preprocessing of the image information in step D11 specifically includes:

[0065] Perform denoising on the image to obtain a denoised image;

[0066] Extracting color features, shape features and texture features from the denoised image;

[0067] The step D12 of constructing a feed and excrement discrimination model specifically includes:

[0068] According to the extracted image features, a feed sample feature set and an excrement sample feature set are constructed;

[0069] Using a machine learning algorithm to train and generate a discrimination model based on the feed sample feature set and the excrement sample feature set, the machine learning algorithm includes at least one of a support vector machine, a random forest, and a convolutional neural network;

[0070] Since feed and excrement are similar, it is easy for visual recognition through the camera recognition device 2 to be distorted and wrong. The present invention is more accurate in calculating the remaining area of ​​feed, and can better and more accurately identify and calculate the remaining area of ​​feed, thereby ensuring better and more accurate feeding of feed.

[0071] Working principle:

[0072] The control center 3 controls the lifting device 1 to lift the feeding basket located in the water, the camera recognition device 2 visually identifies the remaining feed in the feeding basket lifted by the lifting device 1 and / or the growth status of fish and shrimp in the feeding basket, and the lifting device 1 puts the feeding basket back after the visual identification. An automated inspection system for aquaculture of the present invention can replace the manual method of lifting and putting back the feeding basket located in the water, can replace the manual method of observation with the naked eye, can realize automated inspection, and can be better suitable for aquaculture.

[0073] Of course, the above is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An automated inspection system for aquaculture, characterized by: The invention comprises a control center (3), a material lifting device (1) for lifting and putting back a material feeding basket, and a camera recognition device (2) for visually recognizing the material feeding basket lifted by the material lifting device (1).

2. The aquaculture automated inspection system according to claim 1, characterized in that: It also includes a feeding device (4) for adding feed and / or trace elements and / or medicines to the feeding basket.

3. The aquaculture automated inspection system according to claim 1, characterized in that: The material lifting device (1) comprises a guide rail (11), a machine base (12) sliding along the guide rail (11), a travel power mechanism (13) for driving the machine base (12) to slide, a lifting platform (14) slidably connected to the bottom of the machine base (12) in a vertical direction, a lifting power mechanism (15) for driving the lifting platform (14) to slide, and a lifting claw (16) arranged on the lifting platform (14).

4. The aquaculture automated inspection system according to claim 3, characterized in that: The lifting claw (16) comprises a connecting portion (161) for connecting to the lifting platform (14), the front and rear ends of the connecting portion (161) respectively extend downward to form bending portions (162), and the bottoms of the two bending portions (162) respectively extend horizontally in a direction close to the middle position of the connecting portion (161) to form lifting portions (163); The lifting power mechanism (15) comprises a lifting rope (151) for connecting to the lifting platform (14), and a rope power mechanism (152) for reeling in or unreeling the lifting rope (151); the rope power mechanism (152) is arranged on the machine base (12); Telescopic hinge components (153) are respectively provided between the lifting platform (14) and the front end and / or the rear end and / or both sides of the machine base (12).

5. The aquaculture automated inspection system according to claim 3, characterized in that: The guide rail (11) is a rod-shaped structure. The travel power mechanism (13) comprises a plurality of travel power modules (17). Each travel power module (17) comprises two tapered rollers (171) symmetrically arranged at the front and rear ends of the guide rail (11), and a roller power mechanism (172) for driving the two tapered rollers (171) to rotate. The two tapered rollers (171) are respectively rolled at the front and rear ends of the guide rail (11), and the output end of the roller power mechanism (172) is driven and connected to the two tapered rollers (171).

6. An automated inspection system for aquaculture according to claim 5, characterized in that: The roller power mechanism (172) comprises two power output gears (1721) respectively rotating coaxially with the two tapered rollers (171), two power input gears (1722), and a gear power mechanism (1723) for driving the two power input gears (1722) to rotate; a transmission chain (1724) is wound around the power output gears (1721) and the power input gears (1722) located on the same side; the power output gears (1721) are drivingly connected to the power input gears (1722) located on the same side via the corresponding transmission chain (1724); the gear power mechanism (1723) is arranged on the machine base (12); and the output end of the gear power mechanism (1723) is drivingly connected to the two power input gears (1722).

7. The aquaculture automated inspection system according to claim 3, characterized in that: The machine base (12) moves back and forth along the guide rail (11) in a straight line, a circle or a waist shape.

8. An automated inspection method for aquaculture, characterized in that: An automated inspection system for aquaculture, which is suitable for having a control center (3), a feeding device (1) for lifting and putting back a feeding basket, a camera recognition device (2) for visually identifying the feeding basket lifted by the feeding device (1), and a feeding device (4) for adding feed and / or trace elements and / or medicines to the feeding basket, comprises the following steps: A. The lifting device (1) lifts the feeding basket in the water upwards; B. The camera recognition device (2) visually recognizes the remaining feed in the feeding basket lifted by the feeding device (1) and / or the growth status of the fish and shrimp in the feeding basket; C. The lifting device (1) puts the feeding basket back downward after the visual recognition is completed; D. The feeding device (4) performs corresponding feeding according to the recognition result of the camera recognition device (2), including accurately feeding feed according to the remaining feed situation, and feeding trace elements and / or medicines according to the growth status of fish and shrimp.

9. The automated inspection method for aquaculture according to claim 8, characterized in that: in, The step D of accurately delivering feed according to the remaining feed situation includes the following specific steps: D1. Calculate the remaining area of ​​feed according to the divided feed area; D2, comparing the remaining feed area with a preset remaining feed area threshold; D3. Adjust the next feed amount according to the difference between the remaining feed area and the preset remaining feed area threshold, the preset feed amount is N, the next feed amount is N1, the remaining feed area is S, the preset remaining feed area threshold is S1, and the preset feed amount N, the next feed amount N1, the remaining feed area S, and the preset remaining feed area threshold S1 satisfy the following condition: N1=N(1-(S-S1) / S1).

10. The method for automated inspection of aquaculture according to claim 9, characterized in that: The step D1, calculating the remaining feed area according to the divided feed area, specifically comprises the following steps: D11, acquiring image information and preprocessing the image information to extract image features; D12. constructing a feed and excrement discrimination model based on the image features; D13, using the discrimination model to identify the target area in the image, using an image segmentation algorithm to segment the target area in the image to obtain segmented feed areas and excrement areas, and calculating the remaining feed area based on the segmented feed areas; The preprocessing of the image information in step D11 specifically includes: Perform denoising on the image to obtain a denoised image; Extracting color features, shape features and texture features from the denoised image; The step D12 of constructing a feed and excrement discrimination model specifically includes: According to the extracted image features, a feed sample feature set and an excrement sample feature set are constructed; A discrimination model is generated based on the feed sample feature set and the excrement sample feature set by using a machine learning algorithm, wherein the machine learning algorithm includes at least one of a support vector machine, a random forest, and a convolutional neural network.

Images