Livestock and poultry individual feed intake monitoring method, device, equipment, storage medium and product

Abstract

The invention provides a livestock and poultry individual feed intake monitoring method, device and equipment, a storage medium and a product, and relates to the technical field of animal husbandry, the method comprises the following steps: when a UWB positioning tag of a first livestock and poultry monitors that the first livestock and poultry enter a first feeding area, obtaining a first depth image collected by an RGB-D camera at the first feeding area; under the condition that it is monitored that the first livestock and poultry have the abnormal ingestion behavior, an object tracking algorithm is applied to track a feed moving track corresponding to the abnormal ingestion behavior, and a second depth image corresponding to the abnormal ingestion behavior is collected; when it is monitored that the first livestock leaves the first feeding area based on the UWB positioning tag of the first livestock, a second depth image collected by an RGB-D camera at the first feeding area is obtained; and based on the first depth image, the second depth image and the third depth image, obtaining the feed intake of the first livestock and poultry. According to the invention, through combination of the RGB-D camera and the UWB positioning tag, accurate monitoring of the eating behavior of the individual livestock and poultry in the livestock and poultry farm is realized.

Description

Technical Field

[0001] The present invention relates to the field of animal husbandry technology, and in particular to a method, device, equipment, storage medium and product for monitoring the feed intake of individual livestock and poultry. Background Art

[0002] Accurate feed intake monitoring of individual livestock and poultry is a key link in ranch operation and management. Existing feed intake monitoring systems often rely on a series of independently configured feed troughs, high-precision electronic scales, and radio frequency identification devices. However, the need to deploy a large amount of professional hardware leads to high system construction costs. In addition, in order to be compatible with these feed intake monitoring systems, ranches often need to adjust their existing infrastructure, which not only increases the difficulty of implementation, but may also affect the daily operation of the ranch. Summary of the invention

[0003] The present invention provides a method, device, equipment, storage medium and product for monitoring the individual feed intake of livestock and poultry, so as to solve the defects of the individual feed intake monitoring system of livestock and poultry in the prior art, which has certain technical challenges in terms of cost, adaptability, maintenance and operation.

[0004] The present invention provides a method for monitoring the individual feed intake of livestock and poultry, which is applied to an individual feed intake monitoring system for livestock and poultry. The individual feed intake monitoring system for livestock and poultry includes at least one RGB-D camera and at least one UWB positioning tag, wherein a livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag. The method includes: When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; An object tracking algorithm is applied to monitor the eating behavior of the first livestock and poultry. When abnormal eating behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal eating behavior is collected, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a third depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The feed intake of the first livestock and poultry is acquired based on the first depth image, the second depth image, and the third depth image.

[0005] According to a method for monitoring the feed intake of individual livestock and poultry provided by the present invention, the feed intake of the first livestock and poultry is obtained based on the first depth image, the second depth image and the third depth image, including: Based on the first depth image, obtaining a first feed volume when the first livestock and poultry enters the first feeding area; Based on the second depth image, a second volume of feed that is not eaten by the first livestock and poultry in the first feeding area and is eaten by the first livestock and poultry and moved out of the first feeding area is acquired; Based on the third depth image, obtaining a third feed volume when the first livestock and poultry leaves the first feeding area; Acquire environmental parameters in the livestock and poultry farm, wherein the environmental parameters include at least one of ambient temperature, ambient humidity, ambient air pressure, and air flow speed; Based on the environmental parameters and the initial feed moisture content, a feed moisture content model is applied to determine the target feed moisture content corresponding to the environmental parameters, wherein the initial feed moisture content is the moisture content of the feed when it is put in; Based on the target feed moisture content, the standard feed volume-feed density curve is corrected to obtain a target feed volume-feed density curve; Obtaining a feed intake of the first livestock and poultry based on the first feed volume, the second feed volume, the third feed volume and a feed volume-feed density curve; Among them, it also includes: For each of the first depth image and the second depth image, obtaining a feed three-dimensional point cloud corresponding to the depth image; Divide the three-dimensional point cloud of feed into a plurality of rectangular blocks whose bottom surfaces are on the same horizontal plane as the plane where the lowest point of the three-dimensional point cloud of feed is located and whose bottom areas are equal; The volume of the feed corresponding to the depth image is determined based on the Z-axis coordinate value of the lowest point of the three-dimensional point cloud of the feed, the Z-axis coordinate value of the highest point in each of the rectangular blocks and the bottom area of ​​the rectangular blocks.

[0006] According to a method for monitoring the feed intake of individual livestock and poultry provided by the present invention, the method further comprises: Inputting the feed three-dimensional point cloud into a 3D instance segmentation model to obtain a 3D instance segmentation result output by the 3D instance segmentation model; Background information in the feed three-dimensional point cloud is removed based on the 3D instance segmentation result.

[0007] According to a method for monitoring the feed intake of individual livestock and poultry provided by the present invention, the 3D instance segmentation model is obtained by: Constructing a three-dimensional point cloud data set, wherein each three-dimensional point cloud sample in the three-dimensional point cloud data set is composed of a plurality of sample points, each sample point has a corresponding category label, and the category label includes a feed pile label and a non-feed pile label; The PointNet model is trained based on the three-dimensional point cloud dataset to obtain a trained 3D instance segmentation model.

[0008] A method for monitoring the feed intake of individual livestock and poultry provided by the present invention also includes: Obtaining the arrival time difference of the UWB signal emitted by the UWB positioning tag of the first livestock and poultry to at least three UWB positioning base stations; Based on the arrival time difference and the positions of the at least three UWB positioning base stations, determining the position of the first livestock and poultry by a TDOA algorithm; Based on the position of the first livestock, the center point position of each feeding area, and the radius of the feeding area, the position relationship of the first livestock relative to each feeding area is determined.

[0009] A method for monitoring the feed intake of individual livestock and poultry provided by the present invention also includes: When it is monitored at a first time point that the distance between the position of the first livestock and poultry and the center point position of the first feeding area is less than or equal to the radius of the feeding area and lasts for a preset time, it is determined that the first livestock and poultry enters the first feeding area, and a first depth image captured by the RGB-D camera at the first feeding area at the first time point is obtained; When it is monitored at the second time point that the distance between the position of the first livestock and poultry and the center point of the first feeding area is greater than the radius of the feeding area and lasts for a preset period of time, it is determined that the first livestock and poultry has left the first feeding area, and a third depth image captured by the RGB-D camera at the first feeding area at the second time point is obtained.

[0010] The present invention also provides a livestock and poultry individual feed intake monitoring device, which is applied to the livestock and poultry individual feed intake monitoring system. The livestock and poultry individual feed intake monitoring system includes at least one RGB-D camera and at least one UWB positioning tag, wherein the livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag. The device includes: A first livestock and poultry individual feed intake monitoring module, for acquiring a first depth image acquired by the RGB-D camera at the first feeding area when the first livestock and poultry enters the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; The second feed intake monitoring module for monitoring the individual feed intake of livestock and poultry is used to monitor the feeding behavior of the first livestock and poultry by applying an object tracking algorithm, and when abnormal feeding behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal feeding behavior is collected, and the second depth image is a depth image of the feed in the first feeding area that is eaten by the first livestock and poultry and moved out of the first feeding area; A third livestock and poultry individual feed intake monitoring module is used to obtain a third depth image captured by the RGB-D camera at the first feeding area when the first livestock and poultry leaves the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The fourth livestock and poultry individual feed intake monitoring module is used to obtain the feed intake of the first livestock and poultry based on the first depth image, the second depth image and the third depth image.

[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for monitoring the feed intake of individual livestock and poultry as described above is implemented.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for monitoring the feed intake of individual livestock and poultry as described in any one of the above is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for monitoring the feed intake of individual livestock and poultry.

[0014] The method, device, equipment, storage medium and product for monitoring the individual feed intake of livestock and poultry provided by the present invention are applied to the individual feed intake monitoring system of livestock and poultry. The individual feed intake monitoring system of livestock and poultry includes at least one RGB-D camera and at least one UWB positioning tag, wherein the livestock and poultry farm is divided into multiple feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag. By combining the RGB-D camera and the UWB positioning tag, non-contact monitoring of the feeding behavior of individual livestock and poultry in the livestock and poultry farm is achieved, without the need for large-scale transformation of the ranch infrastructure, reducing the cost and maintenance complexity, and by accurately capturing the changes in the depth of the feed pile when the livestock and poultry enter and exit the feeding area, their feed intake is effectively calculated and monitored, providing efficient and accurate data support for ranch management. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the flow of the method for monitoring the feed intake of individual livestock and poultry provided by the present invention; Figure 2 It is a structural schematic diagram of the device for monitoring the feed intake of individual livestock and poultry provided by the present invention; Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0019] The embodiment of the present invention provides a method for monitoring the feed intake of individual livestock and poultry, which is applied to a system for monitoring the feed intake of individual livestock and poultry. The system for monitoring the feed intake of individual livestock and poultry includes at least one RGB-D camera and at least one UWB (Ultra WideBand) positioning tag. In the embodiment of the present invention, the livestock and poultry farm is divided into multiple feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag.

[0020] It should be understood that the livestock and poultry individual feed intake monitoring system of the embodiment of the present invention uses RGB-D cameras and UWB positioning tag technology to monitor the feeding behavior and individual feed intake of livestock and poultry. The livestock and poultry farm is divided into multiple feeding areas, each of which is a specific place for livestock and poultry to eat. A feed pile is placed in each feeding area. In each feeding area, at least one RGB-D camera is installed, and the RGB-D camera can capture color images and depth information at the same time. The color image provides the visual details of the scene, while the depth information records the distance from each point in the scene to the camera. In this embodiment, the depth information captured by the RGB-D camera is mainly used to monitor the depth information of the feed pile before and after eating. In addition, each livestock and poultry in the livestock and poultry farm is equipped with a unique UWB positioning tag, such as a UWB ear tag configured on the ear of each livestock and poultry, and the UWB signal emitted by the UWB ear tag corresponds to the individual livestock and poultry number of each livestock and poultry. In this way, the livestock and poultry individual feed intake monitoring system can identify and track the position of each livestock and poultry through the UWB signal emitted by the UWB positioning tag.

[0021] Figure 1 FIG. 1 is a flow chart of a method for monitoring the feed intake of individual livestock and poultry provided in an embodiment of the present invention. Figure 1 As shown, the method includes: Step 110, when the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; When the first livestock (such as a cow) enters the first feeding area through the UWB positioning tag worn by the first livestock, the livestock individual feed intake monitoring system will trigger a signal, which is used to instruct the livestock individual feed intake monitoring system to obtain the first depth image captured by the RGB-D camera located in the first feeding area. The first depth image is the three-dimensional information of the feed pile recorded by the RGB-D camera at the moment when the first livestock enters the feeding area.

[0022] Step 120, using an object tracking algorithm to monitor the eating behavior of the first livestock and poultry, and in the case of abnormal eating behavior of the first livestock and poultry being monitored, collecting a second depth image corresponding to the abnormal eating behavior, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; Here, abnormal feeding behavior refers to the abnormal feeding behavior of the first livestock and poultry during the feeding process, such as throwing feed out of the first feeding area, using the nose to push out the feed in the first feeding area, etc.

[0023] In this embodiment, an object tracking algorithm is used to monitor the eating behavior of the first livestock and poultry in real time through an RGB-D camera installed in the first feeding area. Specifically, the movement of the feed located at the key parts such as the head of the first livestock and poultry in the first feeding area is continuously tracked and detected, and the eating behavior of the first livestock and poultry in the first feeding area is obtained in real time. When the object tracking algorithm identifies that the behavior of the first livestock and poultry is inconsistent with the normal eating behavior, it is determined to be an abnormal eating behavior, and at the same time, the depth image of the feed that is moved out of the first feeding area by the first livestock and poultry with abnormal eating behavior is captured and recorded, that is, the second depth image.

[0024] Step 130, when the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a second depth image acquired by the RGB-D camera at the first feeding area is acquired, wherein the second depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; Similarly, when the UWB positioning tag worn by the first livestock (such as a cow) detects that the first livestock leaves the first feeding area, the livestock individual feed intake monitoring system will trigger a signal, which is used to instruct the livestock individual feed intake monitoring system to obtain the third depth image captured by the RGB-D camera located in the first feeding area. The third depth image is the three-dimensional information of the feed pile recorded by the RGB-D camera at the moment when the first livestock leaves the feeding area.

[0025] Step 140: Obtain the feed intake of the first livestock and poultry based on the first depth image, the second depth image, and the third depth image.

[0026] After obtaining the first depth image and the third depth image before and after the first livestock and poultry eat and the second depth image of the feed eaten by the first livestock and poultry and moved out of the first eating area during the eating process, the three depth images are processed to identify and distinguish the shape and volume changes of the feed pile.

[0027] Specifically, the first depth image and the second depth image can be firstly registered to ensure that the two depth images are spatially aligned for comparison. The area of ​​the feed pile is segmented from the first depth image and the second depth image, and other non-feed objects or backgrounds are excluded. Then, the three-dimensional model of the feed pile in the first depth image and the third depth image is reconstructed using the depth information to accurately calculate the volume. By comparing the volume of the feed pile in the first depth image and the second depth image, the reduction in the volume of the feed pile can be calculated, and the reduction in the volume of the feed pile is the amount of feed consumed by the first livestock and poultry during the feeding period. At the same time, the three-dimensional model of the feed pile in the third depth image is reconstructed using the depth information to calculate the amount of feed in the first feeding area that is not eaten by the first livestock and poultry and is eaten by the first livestock and poultry and moved out of the first feeding area. Finally, the reduction in the volume of the feed pile and the amount of feed eaten by the first livestock and poultry and moved out of the first feeding area are converted into the actual amount of feed consumed.

[0028] In this embodiment, whenever a livestock enters a corresponding feeding area, the livestock individual feed intake monitoring system will record the area number of the feeding area entered by the livestock, the time when the livestock enters the feeding area, the time when the livestock leaves the feeding area, and the amount of feed consumed by the livestock under the current feeding behavior, and associate these feeding information with the livestock individual number of the livestock. Finally, based on the feeding information of each livestock recorded in the monitoring period, the feed intake monitoring of each livestock in each monitoring period is completed.

[0029] The method for monitoring the individual feed intake of livestock and poultry proposed in this embodiment realizes non-contact monitoring of the feeding behavior of individual livestock and poultry in livestock and poultry farms by combining RGB-D cameras and UWB positioning tags. It does not require large-scale transformation of ranch infrastructure, reduces costs and maintenance complexity, and effectively calculates and monitors their feed intake by accurately capturing the changes in feed pile depth when livestock and poultry enter and exit the feeding area, providing efficient and accurate data support for ranch management.

[0030] It should be noted that each implementation method of the present application can be freely combined, the order can be changed, or it can be executed separately, and does not need to rely on or depend on a fixed execution order.

[0031] In some embodiments, obtaining the feed intake of the first livestock and poultry based on the first depth image, the second depth image, and the third depth image includes: Based on the first depth image, obtaining a first feed volume when the first livestock and poultry enters the first feeding area; Based on the second depth image, a second volume of feed that is not eaten by the first livestock and poultry in the first feeding area and is eaten by the first livestock and poultry and moved out of the first feeding area is acquired; Based on the third depth image, obtaining a third feed volume when the first livestock and poultry leaves the first feeding area; Acquire environmental parameters in the livestock and poultry farm, wherein the environmental parameters include at least one of ambient temperature, ambient humidity, ambient air pressure, and air flow speed; Based on the environmental parameters and the initial feed moisture content, a feed moisture content model is applied to determine the target feed moisture content corresponding to the environmental parameters, wherein the initial feed moisture content is the moisture content of the feed when it is put in; Based on the target feed moisture content, the standard feed volume-feed density curve is corrected to obtain a target feed volume-feed density curve; Obtaining a feed intake of the first livestock and poultry based on the first feed volume, the second feed volume, the third feed volume and a target feed volume-feed density curve; Among them, it also includes: For each of the first depth image, the second depth image and the third depth image, obtaining a feed three-dimensional point cloud corresponding to the depth image; Divide the three-dimensional point cloud of feed into a plurality of rectangular blocks whose bottom surfaces are on the same horizontal plane as the plane where the lowest point of the three-dimensional point cloud of feed is located and whose bottom areas are equal; The volume of the feed corresponding to the depth image is determined based on the Z-axis coordinate value of the lowest point of the three-dimensional point cloud of the feed, the Z-axis coordinate value of the highest point in each of the rectangular blocks and the bottom area of ​​the rectangular blocks.

[0032] When the first livestock and poultry enters the first feeding area, the RGB-D camera is used to capture the first depth image of the feed in the feed pile in the first feeding area. Based on the depth information of each pixel in the first depth image, each pixel in the first depth image can be converted into a point in three-dimensional space, that is, the first feed three-dimensional point cloud. Specifically, the conversion formula is as follows: ; in,( X, Y, Z ) is the three-dimensional coordinate of the transformed point, ( ) is the pixel coordinate, is a pixel ( ), is the horizontal focal length of the RGB-D camera, is the vertical focal length of the RGB-D camera, is the horizontal coordinate value of the optical center of the RGB-D camera in the image coordinate system, It is the coordinate value of the optical center of the RGB-D camera in the vertical direction in the image coordinate system.

[0033] Here, the first feed three-dimensional point cloud is a collection of a series of points on the surface of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area, and each point has three coordinates: X, Y, and Z. The livestock and poultry individual feed intake monitoring system will traverse the coordinate values ​​of all points in the first feed three-dimensional point cloud and find the point with the smallest Z coordinate value. This point is the lowest point of the first feed three-dimensional point cloud. Usually, the lowest point of the first feed three-dimensional point cloud is the point above the ground that the feed pile directly contacts. This point represents the deepest point where the bottom of the feed pile contacts the ground. It is not only the lowest reference point of the first feed three-dimensional point cloud in the vertical direction, but also the key reference point for subsequently determining the horizontal plane of the bottom surface of all rectangular blocks.

[0034] Once the lowest point of the first feed 3D point cloud is determined, the livestock and poultry individual feed intake monitoring system will determine a horizontal plane based on this lowest point. This horizontal plane is usually the ground, which is used as a reference for the bottom surface of the rectangular block. The bottom surfaces of all rectangular blocks will be located on this horizontal plane, ensuring that each rectangular block is calculated from the same reference height.

[0035] Next, the livestock and poultry individual feed intake monitoring system will divide the first feed three-dimensional point cloud into multiple rectangular blocks. The size and shape of these rectangular blocks may vary, but their bottom areas are equal. When dividing, the number and boundaries of the rectangular blocks can be determined according to the distribution and density of the first feed three-dimensional point cloud. In order to ensure that the bottom areas are equal, the grid division method can also be used, that is, a regular grid is drawn on the horizontal plane, and each grid unit has the same size, such as 1cm×1cm, and each grid unit corresponds to the bottom surface of a rectangular block.

[0036] For each rectangular block, the livestock and poultry individual feed intake monitoring system will calculate its height. In this embodiment, the height of each rectangular block is determined by finding the highest Z coordinate value of all points in the rectangular block and subtracting the Z-axis coordinate value of the lowest point of the bottom horizontal plane. Then, combined with the bottom area, the volume of each rectangular block can be calculated. By adding the volumes of all rectangular blocks, the feed volume corresponding to the first depth image can be obtained.

[0037] When the first livestock and poultry has abnormal feeding behavior, the RGB-D camera is used to capture the second depth image corresponding to the abnormal feeding behavior again. Similarly, the above steps are repeated to obtain the feed volume corresponding to the second depth image.

[0038] When the first livestock leaves the first feeding area, the RGB-D camera is used to capture the third depth image of the feed in the feed pile in the first feeding area again. Similarly, the above steps are repeated to obtain the feed volume corresponding to the third depth image.

[0039] It should be noted that due to the weight of the feed pile, the upper layer of feed will exert pressure on the lower layer of feed, causing the bottom layer of feed to be compacted, thereby increasing its density. Therefore, in this embodiment, a standard feed volume-feed density curve is fitted and generated in advance through experimental analysis. The feed volume-feed density curve reflects the change of feed density under different volume pressures under standard feed moisture content.

[0040] Furthermore, when the environmental parameters such as ambient temperature, ambient humidity, ambient air pressure and air flow rate change, the feed moisture content changes, which in turn affects the feed density. Therefore, in this embodiment, the environmental parameters in the livestock and poultry farm, such as ambient temperature, ambient humidity, ambient air pressure and air flow rate, are collected. The environmental parameters, the initial feed moisture content and the feed moisture content model are used to predict the target feed moisture content when the first livestock and poultry is currently eating.

[0041] Then, the correction coefficient is calculated based on the predicted target feed moisture content, the standard feed moisture content and the pre-established relationship between feed density and moisture content. The correction coefficient indicates the ratio of the change in feed density relative to the density at the standard moisture content due to the change in moisture content. Then, for each data point on the standard feed volume-feed density curve, the correction coefficient is used to correct its density to obtain the corrected density, and the target feed volume-feed density curve is generated using the corrected data points.

[0042] In this embodiment, for the first feed volume, the second feed volume, and the third feed volume, the target feed volume-feed density curve is searched respectively to find the corresponding density value. The density value corresponding to the first feed volume and the density value corresponding to the third feed volume are used, and the density value corresponding to the first feed volume and the density value corresponding to the third feed volume are used to calculate the feed mass under the two feed volumes respectively. In addition, the density value corresponding to the second feed volume is used to calculate the feed mass in the first feeding area that is not eaten by the first livestock and poultry and is eaten by the first livestock and poultry and moved out of the first feeding area. Finally, the feed intake of the first livestock and poultry is obtained based on the feed mass under the two feed volumes and the feed mass eaten by the first livestock and poultry and moved out of the first feeding area.

[0043] Furthermore, since the feed volume-feed density curve is a nonlinear curve, in this embodiment, in order to improve accuracy, the feed intake of the first livestock and poultry can be obtained through a numerical integration method (such as Simpson's rule, trapezoidal rule, etc.) based on the first feed volume, the second feed volume and the third feed volume, combined with the target feed volume-feed density function of the target feed volume-feed density curve.

[0044] The method for monitoring the individual feed intake of livestock and poultry proposed in this embodiment converts the depth image into a three-dimensional point cloud of feed through the above process and then divides it into multiple easy-to-process rectangular blocks, so that the total volume of feed can be calculated more accurately, and then the feed intake of livestock and poultry can be inferred.

[0045] In some embodiments, the method further comprises: Inputting the feed three-dimensional point cloud into a 3D instance segmentation model to obtain a 3D instance segmentation result output by the 3D instance segmentation model; Background information in the feed three-dimensional point cloud is removed based on the 3D instance segmentation result.

[0046] It should be understood that the three-dimensional point cloud of feed is obtained by an RGB-D camera, which includes all points of the feed pile and the background (such as feed troughs, ground, livestock and poultry, etc.).

[0047] In this embodiment, the feed three-dimensional point cloud is provided as input to the 3D instance segmentation model. After the 3D instance segmentation model processes the input feed three-dimensional point cloud, it outputs a 3D instance segmentation result. The 3D instance segmentation result is a labeled point cloud, in which each point has a label indicating which instance it belongs to, such as feed or background.

[0048] In some embodiments, the 3D instance segmentation model is obtained by the following method; Constructing a three-dimensional point cloud data set, wherein each three-dimensional point cloud sample in the three-dimensional point cloud data set is composed of a plurality of sample points, each sample point has a corresponding category label, and the category label includes a feed pile label and a non-feed pile label; The PointNet model is trained based on the three-dimensional point cloud dataset to obtain a trained 3D instance segmentation model.

[0049] In this embodiment, each 3D point cloud sample in the 3D point cloud data set is composed of multiple sample points, each of which has ( X, Y, Z ) coordinate information to describe its position in space. In addition to the coordinate information, each sample point is also associated with a category label. Specifically, there are two types of category labels: pile labels and non-pile labels. Pile labels are used to identify sample points that belong to the pile, while non-pile labels are used to identify sample points that do not belong to the pile, such as other objects or backgrounds in the environment.

[0050] Specifically, the constructed 3D point cloud dataset is provided as input to the PointNet model, which is a neural network that operates directly on point cloud data and can learn global features from unordered point sets. The PointNet model first performs feature learning on each input 3D point cloud sample. It extracts local features of each sample point in the 3D point cloud sample, such as local geometric information and shape information, through the neural network layer. These local features are then aggregated into a global feature through a symmetric function (such as maximum pooling) to capture the structural information of the entire point cloud. Finally, the global features are used to perform classification tasks, that is, to distinguish between feed pile points and non-feed pile points. During the training process, the classification accuracy of the PointNet model is evaluated by calculating the loss function (such as cross entropy loss), and the weights of the model are updated using optimization algorithms such as gradient descent. The above process is repeated until the PointNet model achieves satisfactory performance, and finally a trained 3D instance segmentation model is obtained.

[0051] The method for monitoring the individual feed intake of livestock and poultry proposed in this embodiment can remove the background noise in the three-dimensional point cloud of feed through the above process, and obtain a purer three-dimensional point cloud of feed, thereby improving the accuracy of feed volume measurement.

[0052] In some embodiments, it also includes: Obtaining the arrival time difference of the UWB signal emitted by the UWB positioning tag of the first livestock and poultry to at least three UWB positioning base stations; Based on the arrival time difference and the positions of the at least three UWB positioning base stations, determining the position of the first livestock and poultry by a TDOA algorithm; Based on the position of the first livestock, the center point position of each feeding area, and the radius of the feeding area, the position relationship of the first livestock relative to each feeding area is determined.

[0053] Here, the number of UWB positioning base stations deployed in the livestock and poultry individual feed intake monitoring system is no less than three, for example, a UWB positioning base station is deployed in each of the four corners of the livestock and poultry farm.

[0054] In this embodiment, ultra-wideband technology is used for positioning. Specifically, the first livestock and poultry carries a UWB positioning tag, and the UWB positioning tag will emit a UWB signal carrying the individual livestock number of the first livestock and poultry. When the UWB signal carrying the individual livestock number of the first livestock and poultry is sent from the UWB positioning tag of the livestock and poultry, it will be received by at least three UWB positioning base stations, and each UWB positioning base station records the arrival time of the UWB signal of each livestock and poultry individual number. By comparing the time when the UWB signal of the first livestock and poultry arrives at different UWB positioning base stations, the arrival time difference of the UWB signal of the first livestock and poultry can be calculated.

[0055] Here, the TDOA (Time Difference of Arrival) algorithm is a positioning method based on the signal arrival time difference. Specifically, the TDOA algorithm uses the time difference and signal propagation speed of the UWB signal of the first livestock to calculate the distance difference between the first livestock and each UWB positioning base station, and then determines the position of the first livestock through triangulation and other methods.

[0056] In this embodiment, each feeding area has a defined center point, and the center point is mapped and associated with the area number of the feeding area, and all feeding areas have the same radius length, that is, the straight-line distance extending from the center point of the feeding area to the area boundary of all feeding areas is equal. By calculating the straight-line distance between the position of the first livestock and poultry and the center point position of each feeding area, and comparing the calculated straight-line distance with the radius of the feeding area, it is determined whether the first livestock and poultry has entered the feeding area and which feeding area it has entered.

[0057] In some embodiments, it also includes: When it is monitored at a first time point that the distance between the position of the first livestock and poultry and the center point position of the first feeding area is less than or equal to the radius of the feeding area and lasts for a preset time, it is determined that the first livestock and poultry enters the first feeding area, and a first depth image captured by the RGB-D camera at the first feeding area at the first time point is obtained; When it is monitored at the second time point that the distance between the position of the first livestock and poultry and the center point of the first feeding area is greater than the radius of the feeding area and lasts for a preset period of time, it is determined that the first livestock and poultry has left the first feeding area, and a third depth image captured by the RGB-D camera at the first feeding area at the second time point is obtained.

[0058] In this embodiment, when it is monitored at a certain time point (i.e., the first time point) that the distance between the position of the first livestock and poultry and the center point of the first feeding area is less than or equal to the radius of the feeding area, the livestock and poultry individual feed intake monitoring system triggers the RGB-D camera at the first feeding area to collect a depth image at the first time point. When it is monitored that this position relationship continues for a preset time, it is determined that the first livestock and poultry enters the first feeding area. At this time, the depth image at the first time point is used as the first depth image when the first livestock and poultry enters the first feeding area.

[0059] Similarly, when it is monitored at a certain time point (i.e., the second time point) that the distance between the position of the first livestock and poultry and the center point of the first feeding area is greater than the radius of the feeding area, the livestock and poultry individual feed intake monitoring system triggers the RGB-D camera at the first feeding area to collect a depth image at the second time point. When it is monitored that this position relationship continues for a preset time, it is determined that the first livestock and poultry has left the first feeding area. At this time, the depth image at the second time point is used as the third depth image when the first livestock and poultry leaves the first feeding area.

[0060] The method for monitoring the individual feed intake of livestock and poultry proposed in this embodiment realizes accurate determination of the entry and exit of livestock and poultry into and out of the feeding area and real-time monitoring of feed consumption through livestock and poultry position information and depth images collected by an RGB-D camera.

[0061] Based on any of the above embodiments, the present invention also provides an individual livestock and poultry feed intake monitoring device, which is applied to an individual livestock and poultry feed intake monitoring system, wherein the individual livestock and poultry feed intake monitoring system comprises at least one RGB-D camera and at least one UWB positioning tag, wherein a livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is provided with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag, Figure 2 Schematic diagram of the structure of the device for monitoring the feed intake of individual livestock and poultry provided by the present invention. Figure 2 As shown, the device comprises: The first livestock and poultry individual feed intake monitoring module 210 is used to obtain a first depth image captured by the RGB-D camera at the first feeding area when the first livestock and poultry enters the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; The second livestock and poultry individual feed intake monitoring module 220 is used to monitor the feeding behavior of the first livestock and poultry by using an object tracking algorithm, and when abnormal feeding behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal feeding behavior is collected, where the second depth image is a depth image of the feed in the first feeding area that is eaten by the first livestock and poultry and moved out of the first feeding area; The third livestock and poultry individual feed intake monitoring module 230 is used to obtain a third depth image captured by the RGB-D camera at the first feeding area when the first livestock and poultry leaves the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The fourth livestock and poultry individual feed intake monitoring module 240 is used to obtain the feed intake of the first livestock and poultry based on the first depth image, the second depth image and the third depth image.

[0062] The device provided in the embodiment of the present invention realizes non-contact monitoring of the feeding behavior of individual livestock and poultry in livestock and poultry farms by combining an RGB-D camera with a UWB positioning tag. This eliminates the need for large-scale transformation of the ranch infrastructure, reduces costs and maintenance complexity, and accurately captures changes in the depth of feed piles when livestock and poultry enter and exit the feeding area, effectively calculates and monitors their feed intake, thereby providing efficient and accurate data support for ranch management.

[0063] The individual livestock and poultry feed intake monitoring device described in this embodiment and the individual livestock and poultry feed intake monitoring method provided by the present invention described above can be referred to each other, and will not be described in detail here.

[0064] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the method for monitoring the individual feed intake of livestock and poultry, which is applied to the individual feed intake monitoring system of livestock and poultry, wherein the individual feed intake monitoring system of livestock and poultry includes at least one RGB-D camera and at least one UWB positioning tag, wherein the livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag, and the method includes: When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; An object tracking algorithm is applied to monitor the eating behavior of the first livestock and poultry. When abnormal eating behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal eating behavior is collected, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a third depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The feed intake of the first livestock and poultry is acquired based on the first depth image, the second depth image, and the third depth image.

[0065] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0066] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the individual livestock and poultry feed intake monitoring method provided by the above methods, which is applied to the individual livestock and poultry feed intake monitoring system. The individual livestock and poultry feed intake monitoring system includes at least one RGB-D camera and at least one UWB positioning tag, wherein a livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag. The method includes: When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; An object tracking algorithm is applied to monitor the eating behavior of the first livestock and poultry. When abnormal eating behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal eating behavior is collected, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a third depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The feed intake of the first livestock and poultry is acquired based on the first depth image, the second depth image, and the third depth image.

[0067] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by the processor to execute the individual livestock and poultry feed intake monitoring method provided by the above methods, and is applied to the individual livestock and poultry feed intake monitoring system, wherein the individual livestock and poultry feed intake monitoring system includes at least one RGB-D camera and at least one UWB positioning tag, wherein the livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag, and the method includes: When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; An object tracking algorithm is applied to monitor the eating behavior of the first livestock and poultry. When abnormal eating behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal eating behavior is collected, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a third depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The feed intake of the first livestock and poultry is acquired based on the first depth image, the second depth image, and the third depth image.

[0068] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0069] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical coding feature diagrams therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the feed intake of individual livestock and poultry, characterized in that: Applied to a livestock and poultry individual feed intake monitoring system, the livestock and poultry individual feed intake monitoring system comprises at least one RGB-D camera and at least one UWB positioning tag, wherein a livestock and poultry farm is divided into a plurality of feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag, the method comprises: When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry enters the first feeding area, a first depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; An object tracking algorithm is applied to monitor the eating behavior of the first livestock and poultry. When abnormal eating behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal eating behavior is collected, wherein the second depth image is a depth image of feed in the first eating area that is eaten by the first livestock and poultry and moved out of the first eating area; When the UWB positioning tag of the first livestock and poultry monitors that the first livestock and poultry leaves the first feeding area, a third depth image captured by the RGB-D camera at the first feeding area is acquired, wherein the third depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The feed intake of the first livestock and poultry is acquired based on the first depth image, the second depth image, and the third depth image.

2. The method for monitoring the feed intake of individual livestock and poultry according to claim 1, characterized in that: The obtaining of the feed intake of the first livestock and poultry based on the first depth image, the second depth image and the third depth image includes: Based on the first depth image, obtaining a first feed volume when the first livestock and poultry enters the first feeding area; Based on the second depth image, obtaining a second volume of feed that is not eaten by the first livestock and poultry in the first feeding area and is eaten by the first livestock and poultry and moved out of the first feeding area; Based on the third depth image, obtaining a third feed volume when the first livestock and poultry leaves the first feeding area; Acquire environmental parameters in the livestock and poultry farm, wherein the environmental parameters include at least one of ambient temperature, ambient humidity, ambient air pressure, and air flow speed; Based on the environmental parameters and the initial feed moisture content, a feed moisture content model is applied to determine the target feed moisture content corresponding to the environmental parameters, wherein the initial feed moisture content is the moisture content of the feed when it is put in; Based on the target feed moisture content, the standard feed volume-feed density curve is corrected to obtain a target feed volume-feed density curve; Obtaining a feed intake of the first livestock and poultry based on the first feed volume, the second feed volume, the third feed volume and the target feed volume-feed density curve; Among them, it also includes: For each of the first depth image, the second depth image and the third depth image, obtaining a feed three-dimensional point cloud corresponding to the depth image; Divide the three-dimensional point cloud of feed into a plurality of rectangular blocks whose bottom surfaces are on the same horizontal plane as the plane where the lowest point of the three-dimensional point cloud of feed is located and whose bottom areas are equal; The volume of the feed corresponding to the depth image is determined based on the Z-axis coordinate value of the lowest point of the three-dimensional point cloud of the feed, the Z-axis coordinate value of the highest point in each of the rectangular blocks and the bottom area of ​​the rectangular blocks.

3. The method for monitoring the feed intake of individual livestock and poultry according to claim 2, characterized in that: The method further comprises: Inputting the feed three-dimensional point cloud into a 3D instance segmentation model to obtain a 3D instance segmentation result output by the 3D instance segmentation model; Background information in the feed three-dimensional point cloud is removed based on the 3D instance segmentation result.

4. The method for monitoring the feed intake of individual livestock and poultry according to claim 3, characterized in that: The 3D instance segmentation model is obtained by: Constructing a three-dimensional point cloud data set, wherein each three-dimensional point cloud sample in the three-dimensional point cloud data set is composed of a plurality of sample points, each sample point has a corresponding category label, and the category label includes a feed pile label and a non-feed pile label; The PointNet model is trained based on the three-dimensional point cloud dataset to obtain a trained 3D instance segmentation model.

5. The method for monitoring the feed intake of individual livestock and poultry according to claim 1, characterized in that: Also includes: Obtaining the arrival time difference of the UWB signal emitted by the UWB positioning tag of the first livestock and poultry to at least three UWB positioning base stations; Based on the arrival time difference and the positions of the at least three UWB positioning base stations, determining the position of the first livestock and poultry by a TDOA algorithm; Based on the position of the first livestock, the center point position of each feeding area, and the radius of the feeding area, the position relationship of the first livestock relative to each feeding area is determined.

6. The method for monitoring the feed intake of individual livestock and poultry according to claim 5, characterized in that: Also includes: When it is monitored at a first time point that the distance between the position of the first livestock and poultry and the center point position of the first feeding area is less than or equal to the radius of the feeding area and lasts for a preset time, it is determined that the first livestock and poultry enters the first feeding area, and a first depth image captured by the RGB-D camera at the first feeding area at the first time point is obtained; When it is monitored at the second time point that the distance between the position of the first livestock and poultry and the center point of the first feeding area is greater than the radius of the feeding area and lasts for a preset period of time, it is determined that the first livestock and poultry has left the first feeding area, and a third depth image captured by the RGB-D camera at the first feeding area at the second time point is obtained.

7. A device for monitoring the feed intake of individual livestock and poultry, characterized in that: Applied to the livestock and poultry individual feed intake monitoring system, the livestock and poultry individual feed intake monitoring system includes at least one RGB-D camera and at least one UWB positioning tag, wherein the livestock and poultry farm is divided into multiple feeding areas, each feeding area is equipped with at least one RGB-D camera, and each livestock and poultry in the livestock and poultry farm is equipped with a unique corresponding UWB positioning tag, the device includes: A first livestock and poultry individual feed intake monitoring module, for acquiring a first depth image acquired by the RGB-D camera at the first feeding area when the first livestock and poultry enters the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the first depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry enters the first feeding area; The second feed intake monitoring module for monitoring the individual feed intake of livestock and poultry is used to monitor the feeding behavior of the first livestock and poultry by applying an object tracking algorithm, and when abnormal feeding behavior of the first livestock and poultry is detected, a second depth image corresponding to the abnormal feeding behavior is collected, and the second depth image is a depth image of the feed in the first feeding area that is eaten by the first livestock and poultry and moved out of the first feeding area; A third livestock and poultry individual feed intake monitoring module is used to obtain a third depth image captured by the RGB-D camera at the first feeding area when the first livestock and poultry leaves the first feeding area based on the UWB positioning tag of the first livestock and poultry, wherein the second depth image is a depth image of the feed pile in the first feeding area when the first livestock and poultry leaves the first feeding area; The fourth livestock and poultry individual feed intake monitoring module is used to obtain the feed intake of the first livestock and poultry based on the first depth image, the second depth image and the third depth image.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for monitoring the individual feed intake of livestock and poultry as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for monitoring the feed intake of individual livestock and poultry as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for monitoring the feed intake of individual livestock and poultry as described in any one of claims 1 to 6 is implemented.

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