Livestock ultrasound testing system and method

Abstract

Embodiments of the present application provide a livestock ultrasonic detection system and method. The system comprises: an acquisition module configured to acquire basic information of a target livestock; wherein the basic information comprises: species information, month-old information, and / or historical health condition information; a construction module configured to construct a target twin model according to the basic information; a determination module configured to determine target ultrasonic pose information according to the target twin model and a target grid; and an execution module configured to execute a target ultrasonic detection operation according to the target ultrasonic pose information. In this way, the dependence of the livestock ultrasonic detection process on manual work can be reduced, the accuracy, efficiency and intelligent level of the livestock ultrasonic detection can be improved.

Description

Technical Field

[0001] The embodiments of this application relate to the field of ultrasound diagnostic technology, and in particular to a livestock ultrasound detection system and method. Background Technology

[0002] Livestock ultrasound is a non-invasive diagnostic tool widely used in animal husbandry, primarily for assessing and monitoring the health status, reproductive status, and condition of internal organs of animals.

[0003] Currently, in related technologies, the livestock ultrasound detection process is highly dependent on manual labor, resulting in poor accuracy, low efficiency, and low level of intelligence in livestock ultrasound detection. Summary of the Invention

[0004] According to embodiments of this application, a livestock ultrasound detection system and method are provided, which can reduce the dependence on manual labor in the livestock ultrasound detection process and improve the accuracy, efficiency, and intelligence of livestock ultrasound detection.

[0005] In a first aspect of this application, a livestock ultrasound detection system is provided, comprising:

[0006] The acquisition module is used to obtain basic information about the target livestock;

[0007] The basic information includes: species information, age information, and / or, historical health status information;

[0008] The building module is used to construct a target twin model based on basic information;

[0009] The determination module is used to determine the ultrasonic pose information of the target based on the target twin model and the target grid.

[0010] The execution module is used to perform target ultrasound detection operations based on the target ultrasound pose information.

[0011] In some feasible implementations, the above-mentioned determining module includes:

[0012] The first determining unit is used to determine the target axial information based on the target twin model and the target grid, wherein the target axial information includes: first axial information, second axial information, and / or, third axial information;

[0013] The second determining unit is used to determine the target deflection angle information based on the target twin model and the target grid, wherein the target deflection angle information includes: deflection angle information corresponding to the first axis, deflection angle information corresponding to the second axis, and / or, deflection angle information corresponding to the third axis.

[0014] The third determining unit is used to determine the ultrasonic pose information of the target based on the target axial information and / or the target deflection angle information.

[0015] In some feasible implementations, the first determining unit is used to determine the target axial information based on the following formula:

[0016]

[0017] in, Used to represent the value of the first axis; Used to indicate the value of the second axis; Used to represent the value of the third axis; Used to represent the target rigid body transformation matrix;

[0018] Wherein, the target rigid body transformation matrix corresponds to the target grid coordinate system. To the target livestock body surface coordinate system The rigid body transformation matrix; Used to represent target points in the target grid coordinate system 3D coordinate vector; An index used to represent the target point; Used to represent the target compensation vector.

[0019] In some feasible implementations, the second determining unit includes:

[0020] The extraction component is used to extract the target grid elevation information corresponding to the target point based on the target twin model and the target grid.

[0021] The fitting component is used to fit and generate the target tangent plane based on the target raster elevation information;

[0022] The component is determined to determine the target deflection angle information based on the target tangential plane.

[0023] In some feasible implementations, the third determining unit is used to determine the target ultrasonic pose information based on the following formula:

[0024]

[0025] in, Used to indicate the target ultrasonic pose; An index used to represent the target ultrasound; Used to represent the first weighting coefficient; Used to represent the second weighting coefficient; Used to represent the third weighting coefficient; Used to represent the first pose estimate; Used to represent the second pose estimate; Used to represent the third pose estimate.

[0026] In some feasible implementations, the above-mentioned determining module further includes:

[0027] The correction unit is used to correct the target's ultrasonic pose information based on the target information.

[0028] The target information includes: target image information, target sebum information, and / or target electromyographic signal information.

[0029] In some feasible implementations, the aforementioned target sebum information is determined based on the following formula:

[0030]

[0031] in, Used to indicate target sebum thickness; Used to indicate initial sebum thickness; Used to indicate the first One target correction factor; An index used to represent the target correction factor; Used to represent the sum of standard correction factors;

[0032] The target correction factors include: environmental correction factors, individual difference correction factors, and / or, physiological state correction factors.

[0033] In some feasible implementations, the above-mentioned execution module includes:

[0034] The first execution unit is used to perform target ultrasonic detection operations according to the target ultrasonic beam emission path;

[0035] The target ultrasonic beam emission path is determined based on the following formula:

[0036]

[0037] in, Used to indicate the emission angle of the target ultrasonic beam; Used to indicate the target pose angle; Used to indicate the target sebum compensation angle;

[0038] in, Determined based on the following formula:

[0039]

[0040] in, Used to indicate the target sebum compensation angle; Used to indicate the target pose angle; Used to represent the speed of sound corresponding to the target adipose tissue; Used to represent the speed of sound corresponding to the target muscle tissue.

[0041] In some feasible implementations, the above-mentioned execution module further includes:

[0042] The second execution unit is used to perform target ultrasonic detection operations based on the target pressure;

[0043] The target pressure is determined based on the following formula:

[0044]

[0045] in, Used to indicate target pressure; Used to represent the target pressure regulation coefficient; Used to represent the target attenuation coefficient; Used to indicate minimum contact pressure; Used to indicate the target sebum thickness.

[0046] In a second aspect of this application, a method for ultrasonic detection of livestock is provided, applicable to the system described above, including...

[0047] Obtain basic information about the target livestock;

[0048] Based on the basic information, construct a twin model of the target;

[0049] Based on the target twin model and the target grid, determine the target's ultrasonic pose information;

[0050] Based on the target ultrasound pose information, perform the target ultrasound detection operation;

[0051] The basic information includes: species information, age information, and / or, historical health status information.

[0052] This application provides a livestock ultrasound detection system and method. The system includes: an acquisition module for acquiring basic information about the target livestock, including species information, age information, and / or historical health status information; a construction module for constructing a target twin model based on the basic information; a determination module for determining the target ultrasound pose information based on the target twin model and a target grid; and an execution module for performing target ultrasound detection operations based on the target ultrasound pose information. This application can reduce the dependence on manual labor in the livestock ultrasound detection process, improve the accuracy, efficiency, and intelligence of livestock ultrasound detection.

[0053] It should be understood that the description in the Summary Section is not intended to limit the key or essential features of the embodiments of this application, nor is it intended to restrict the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0054] The above and other features, advantages, and aspects of the embodiments of this application will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0055] Figure 1 This is a structural schematic diagram of a livestock ultrasound detection system provided according to an embodiment of this application;

[0056] Figure 2 This is a flowchart illustrating a livestock ultrasound detection method according to an embodiment of this application;

[0057] Figure 3 This is a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0059] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0060] In a first aspect of this application, a livestock ultrasound detection system is provided. Figure 1 A structural schematic diagram of a livestock ultrasound detection system 100 according to an embodiment of this application is shown, as follows: Figure 1 As shown, system 100 includes: acquisition module 110, construction module 120, determination module 130 and execution module 140.

[0061] The acquisition module 110 is used to acquire basic information about the target livestock.

[0062] It should be noted that the above basic information includes: species information, age information, and / or, historical health status information.

[0063] Specifically, the breed information, age information, and / or historical health status information of the target livestock can be automatically retrieved and determined based on the identification unit configured in the acquisition module 110, the RFID tags or other identifiers identified, etc.

[0064] Among them, the construction module 120 is used to construct a target twin model based on basic information.

[0065] For example, the aforementioned construction module 120 may be configured with a preprocessing unit for performing target preprocessing operations on the aforementioned species information, age information, and / or historical health status information. These preprocessing operations may include: data standardization operations, missing value imputation or labeling operations, and / or data format conversion operations, etc.

[0066] For example, the aforementioned construction module 120 may also be configured with a construction unit for constructing a target twin model corresponding to the target livestock based on the preprocessed species information, age information, and / or historical health status information. The target twin model may include: the target livestock's body structure, organ distribution, and / or physiological parameters, etc.

[0067] Specifically, the aforementioned construction unit can generate the aforementioned target twin model based on the preprocessed species information, age information, and / or historical health status information, combined with a preset target twin model construction template.

[0068] The determination module 130 is used to determine the ultrasonic pose information of the target based on the target twin model and the target grid.

[0069] It should be noted that the aforementioned target grid is used to mark the coordinates of the body structure and / or organ distribution of the target livestock in the target twin model, so as to be used as the location of the target ultrasound probe.

[0070] For example, the target grid described above may include: a target two-dimensional grid composed of grid-like regions divided according to skin tissue. The target grid may also include: a target three-dimensional grid composed of grid-like regions divided according to skin tissue, and / or organ tissue.

[0071] For example, the aforementioned target ultrasound pose information is used to determine the target spatial position and / or target orientation of the target ultrasound probe in order to obtain a target ultrasound image corresponding to the target tissue and / or target organ. The resolution of the aforementioned target ultrasound image is greater than or equal to a preset resolution.

[0072] Specifically, the aforementioned target grid can be superimposed on the aforementioned target twin model to determine the aforementioned target ultrasonic pose information.

[0073] In some feasible implementations, the determining module 130 includes:

[0074] The first determining unit is used to determine the target axial information based on the target twin model and the target grid, wherein the target axial information includes: first axial information, second axial information, and / or, third axial information.

[0075] For example, the aforementioned two-dimensional target grid and / or three-dimensional target grid can be superimposed on the aforementioned target twin model to determine the aforementioned target axial information. The aforementioned target axial information may include: first axial information, second axial information, and / or, third axial information. The aforementioned first axial information may include: Axial coordinate information. The aforementioned second axial information may include: Axis coordinate information. The aforementioned third axial information may include: Axis coordinate information.

[0076] In some feasible implementations, the first determining unit is used to determine the target axial information based on the following formula:

[0077]

[0078] in, Used to represent the value of the first axis; Used to indicate the value of the second axis; Used to represent the value of the third axis; Used to represent the target rigid body transformation matrix.

[0079] Wherein, the target rigid body transformation matrix corresponds to the target grid coordinate system. To the target livestock body surface coordinate system The rigid body transformation matrix; Used to represent target points in the target grid coordinate system 3D coordinate vector; An index used to represent the target point; Used to represent the target compensation vector.

[0080] It should be noted that the above target compensation vector It can be used to indicate positional shifts caused by factors such as sebum thickness.

[0081] Therefore, the first determining unit can accurately determine the target axial information according to the above formula (1), thereby improving the determination accuracy of the target ultrasonic pose information and thus improving the automated execution accuracy of the target ultrasonic detection operation. This will improve the accuracy, efficiency and intelligence of livestock ultrasonic detection while reducing the human dependence in the livestock ultrasonic detection process.

[0082] In some feasible implementations, the determining module 130 further includes:

[0083] The second determining unit is used to determine the target deflection angle information based on the target twin model and the target grid. The target deflection angle information includes: deflection angle information corresponding to the first axis, deflection angle information corresponding to the second axis, and / or, deflection angle information corresponding to the third axis.

[0084] For example, the deflection angle information corresponding to the first axis mentioned above can correspond to The deflection angle information corresponding to the axis. The deflection angle information corresponding to the second axis mentioned above can correspond to... The deflection angle information corresponding to the axis. The deflection angle information corresponding to the third axis mentioned above can correspond to... Information on the deflection angle corresponding to the axis.

[0085] Specifically, the above The deflection angle information corresponding to the axis can be marked as roll Information. The above. The deflection angle information corresponding to the axis can be marked as Pitch Information. The above. The deflection angle information corresponding to the axis can be marked as yaw information.

[0086] In some feasible implementations, the second determining unit includes:

[0087] The extraction component is used to extract the target grid elevation information corresponding to the target point based on the target twin model and the target grid.

[0088] For example, the extraction component described above can extract the target points corresponding to the target points based on the target twin model and the target raster. Elevation information corresponding to the axis Elevation information corresponding to the axis, and / or, Elevation information corresponding to the axis.

[0089] In some feasible implementations, the second determining unit further includes:

[0090] The fitting component is used to fit and generate the target tangent plane based on the target raster elevation information.

[0091] For example, the above-mentioned fitting component can be based on the above... Elevation information corresponding to the axis Elevation information corresponding to the axis, and / or, The elevation information corresponding to the axis is used to fit and generate a first target tangent plane, a second target tangent plane, and / or a third target tangent plane based on the target algorithm.

[0092] The aforementioned target algorithm may include: least squares method, and / or, RANSAC algorithm, etc.

[0093] In some feasible implementations, the second determining unit further includes:

[0094] The component is determined to determine the target deflection angle information based on the target tangential plane.

[0095] For example, the determining component described above can determine the above based on the first target tangent plane, the second target tangent plane, and / or, the third target tangent plane. The deflection angle information corresponding to the axis is also roll information, The deflection angle information corresponding to the axis is also Pitch Information, and / or, The deflection angle information corresponding to the axis is also yaw information.

[0096] Therefore, the second determining unit can accurately extract the target grid elevation information corresponding to the target point based on the target twin model and the target grid by configuring the extraction component; it can accurately fit and generate the target tangent plane based on the target grid elevation information by configuring the fitting component; and it can accurately determine the target deflection angle information based on the target tangent plane by configuring the determining component, thereby improving the accuracy of the target deflection angle information determination, further improving the accuracy of the target ultrasonic pose information determination, and further improving the accuracy of the automated execution of the target ultrasonic detection operation. This reduces the reliance on manual labor in the livestock ultrasonic detection process and further improves the accuracy, efficiency, and intelligence of livestock ultrasonic detection.

[0097] In some feasible implementations, the determining module 130 further includes:

[0098] The third determining unit is used to determine the ultrasonic pose information of the target based on the target axial information and / or the target deflection angle information.

[0099] For example, the third determining unit described above can be based on the above... Axis coordinate information Axis coordinate information Axis coordinate information Information on the deflection angle corresponding to the axis Information on the deflection angle corresponding to the axis, and / or, The deflection angle information corresponding to the axis is used to determine the ultrasonic pose information of the target.

[0100] In some feasible implementations, the third determining unit is used to determine the target ultrasonic pose information based on the following formula:

[0101]

[0102] in, Used to indicate the target ultrasonic pose; An index used to represent the target ultrasound; Used to represent the first weighting coefficient; Used to represent the second weighting coefficient; Used to represent the third weighting coefficient; Used to represent the first pose estimate; Used to represent the second pose estimate; Used to represent the third pose estimate.

[0103] It should be noted that the first pose estimate mentioned above... This can correspond to the pose estimation value of the target ultrasound probe. The aforementioned second pose estimation value... This can correspond to the pose estimation value of the target depth camera and be used for depth alignment. The third pose estimation value mentioned above... It can correspond to the pose estimation value of the target inertial measurement unit, and be used to determine the acceleration and / or angular velocity of the target ultrasonic probe.

[0104] For example, the aforementioned first weighting coefficient Greater than the second weighting coefficient mentioned above The aforementioned second weighting coefficient Greater than the third weighting coefficient mentioned above .

[0105] Specifically, the aforementioned first weighting coefficient The value can be 0.6; the aforementioned second weighting coefficient The value can be 0.3; the aforementioned third weighting coefficient The value can be 0.1.

[0106] Therefore, the third determining unit can accurately determine the target ultrasound pose information based on the above formula (2), thereby further improving the automated execution accuracy of the target ultrasound detection operation, so as to further improve the accuracy, efficiency and intelligence of livestock ultrasound detection while reducing the human dependence in the livestock ultrasound detection process.

[0107] Based on this, the aforementioned determining module 130 can accurately determine the target axial information by configuring the first determining unit, accurately determine the target deflection angle information by configuring the second determining unit, and accurately determine the target ultrasonic pose information by configuring the third determining unit, thereby improving the automated execution accuracy of the target ultrasonic detection operation. This reduces the reliance on manual labor in the livestock ultrasonic detection process while precisely improving the accuracy, efficiency, and intelligence of livestock ultrasonic detection.

[0108] In some feasible implementations, the determining module 130 further includes:

[0109] The correction unit is used to correct the target's ultrasonic pose information based on the target information.

[0110] It should be noted that the above target information includes: target image information, target sebum information and / or target electromyographic signal information.

[0111] For example, the target image information may include: the outline image information of the target livestock, the behavior and action image information, and / or, the gait image information, etc.

[0112] Specifically, the aforementioned target image information can be acquired using various target image acquisition devices. These various target image acquisition devices may include: camera devices, infrared imaging devices, and / or, spectral imaging acquisition devices, etc.

[0113] For example, the target subcutaneous fat information mentioned above may include: subcutaneous fat thickness information, fat distribution information, and / or, muscle-to-fat ratio information, etc.

[0114] For example, the target sebum information mentioned above can be obtained based on the target instrument or can be determined automatically.

[0115] In some feasible implementations, the aforementioned target instrument may include: a radar-type body fat analyzer, and / or, an infrared spectrometer, etc.

[0116] In some feasible implementations, the aforementioned target sebum information is determined based on the following formula:

[0117]

[0118] in, Used to indicate target sebum thickness; Used to indicate initial sebum thickness; Used to indicate the first One target correction factor; An index used to represent the target correction factor; Used to represent the sum of standard correction factors;

[0119] The target correction factors include: environmental correction factors, individual difference correction factors, and / or, physiological state correction factors, etc.

[0120] Therefore, based on the above formula (3), the accuracy of the determination of target sebum information can be improved, thereby improving the accuracy of the determination of target information, thereby improving the accuracy of the correction of target ultrasound pose information, and further improving the accuracy of the automated execution of target ultrasound detection operation, so as to improve the accuracy, efficiency and intelligence of livestock ultrasound detection while reducing the human dependence in the livestock ultrasound detection process.

[0121] For example, the target electromyographic signal information may include: target muscle activation level information, target muscle contraction frequency and intensity information, and / or, target muscle abnormality information, such as: spasticity information, and / or, fatigue information, etc.

[0122] Therefore, the aforementioned determining module 130, by configuring the aforementioned correction unit, can further accurately determine the target ultrasound pose information, thereby improving the automated execution accuracy of the target ultrasound detection operation. This reduces the reliance on manual labor in the livestock ultrasound detection process while precisely improving the accuracy, efficiency, and intelligence of livestock ultrasound detection.

[0123] In some feasible implementations, the execution module 140 includes:

[0124] The first execution unit is used to perform target ultrasonic detection operations according to the target ultrasonic beam emission path;

[0125] The target ultrasonic beam emission path is determined based on the following formula:

[0126]

[0127] in, Used to indicate the emission angle of the target ultrasonic beam; Used to indicate the target pose angle; Used to indicate the target sebum compensation angle;

[0128] in, Determined based on the following formula:

[0129]

[0130] in, Used to indicate the target sebum compensation angle; Used to indicate the target pose angle; Used to represent the speed of sound corresponding to the target adipose tissue; Used to represent the speed of sound corresponding to the target muscle tissue.

[0131] It should be noted that the above-mentioned target sebum compensation angle The rate of increase can be determined based on the target sebum thickness.

[0132] For example, when the target sebum thickness is as described above 5mm In the case of the above-mentioned target sebum compensation angle The growth rate can be 18% At the aforementioned target sebum thickness of 10mm In the case of the above-mentioned target sebum compensation angle The growth rate can be 33% At the aforementioned target sebum thickness of 20mm In the case of the above-mentioned target sebum compensation angle The growth rate can be 55% .

[0133] Therefore, by configuring the first execution unit, the above-mentioned execution module 140 can accurately execute the target ultrasound detection operation according to the target ultrasound beam emission path, so as to improve the accuracy, efficiency and intelligence of livestock ultrasound detection while reducing the human dependence in the livestock ultrasound detection process.

[0134] In some feasible implementations, the execution module 140 further includes:

[0135] The second execution unit is used to perform target ultrasonic detection operations based on the target pressure;

[0136] The target pressure is determined based on the following formula:

[0137]

[0138] in, Used to indicate target pressure; Used to represent the target pressure regulation coefficient; Used to represent the target attenuation coefficient; Used to indicate minimum contact pressure; Used to indicate the target sebum thickness.

[0139] It should be noted that the above-mentioned target pressure This corresponds to the optimal contact force between the target ultrasound probe and the target animal's body surface. The aforementioned target pressure adjustment coefficient... This can be used to reflect the sensitivity of pressure to changes in sebum thickness. The aforementioned target attenuation coefficient... It can be used to adjust the rate at which pressure decreases with the thickness of the sebum layer. The aforementioned minimum contact pressure... This corresponds to a reference pressure value that maintains the target ultrasound probe coupling degree greater than a preset coupling degree. The preset coupling degree is positively correlated with the target user's ultrasound detection accuracy requirements; that is, the higher the target user's ultrasound detection accuracy requirements, the larger the value of the preset coupling degree.

[0140] Therefore, by configuring the second execution unit, the above-mentioned execution module 140 can accurately execute the target ultrasound detection operation according to the target pressure, so as to further improve the accuracy, efficiency and intelligence of livestock ultrasound detection while reducing the dependence on manual labor in the livestock ultrasound detection process.

[0141] In some feasible implementations, the system may also be provided with an output module 150, which is used to output the target ultrasound image obtained by the target ultrasound detection operation performed by the execution module 140, and output the target ultrasound detection result. The target ultrasound detection result may include the pregnancy detection result of the target livestock, such as the pregnancy probability result.

[0142] Based on this, the livestock ultrasound detection system provided in this application includes: an acquisition module 110 for acquiring basic information of the target livestock; wherein the basic information includes: species information, age information, and / or historical health status information; a construction module 120 for constructing a target twin model based on the basic information; a determination module 130 for determining the target ultrasound pose information based on the target twin model and a target grid; and an execution module 140 for executing the target ultrasound detection operation based on the target ultrasound pose information. This application can accurately construct a corresponding target twin model based on the target livestock's species information, age information, and / or historical health status information; accurately determine the target ultrasound pose information based on the target twin model and a target grid; and accurately and automatically execute the target ultrasound detection operation based on the target ultrasound pose information, thereby reducing the dependence of the livestock ultrasound detection process on manual labor and improving the accuracy, efficiency, and intelligence of livestock ultrasound detection.

[0143] It should be noted that, for the sake of simplicity, the aforementioned system embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0144] The above is an introduction to the system embodiments. The following method embodiments will further illustrate the solution described in this application.

[0145] In a second aspect of this application, a method for ultrasonic detection of livestock is provided, applicable to the system described above. Figure 2 A flowchart illustrating an embodiment of the ultrasonic testing method 200 for livestock proposed in this application is shown, as follows: Figure 2 As shown, method 200 includes the following steps:

[0146] Step S1: Obtain basic information about the target livestock;

[0147] Step S2: Construct a target twin model based on the basic information;

[0148] Step S3: Determine the target ultrasonic pose information based on the target twin model and the target grid;

[0149] Step S4: Perform target ultrasound detection operation based on the target ultrasound pose information;

[0150] The basic information includes: species information, age information, and / or, historical health status information.

[0151] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the described method can be referred to the corresponding process in the aforementioned system embodiments, and will not be repeated here.

[0152] In a third aspect of this application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0153] Figure 3 A schematic diagram of the structure of an electronic device suitable for implementing embodiments of this application is shown.

[0154] like Figure 3 As shown, the electronic device includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 302 or a program loaded from a storage section 308 into a random access memory (RAM) 303. The RAM 303 also stores various programs and data required for the operation of the electronic device. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0155] The following components are connected to I / O interface 305: an input section 306 including a keyboard, mouse, etc.; an output section 307 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to I / O interface 305 as needed. A removable medium 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 310 as needed so that computer programs read from it can be installed into storage section 308 as needed.

[0156] Specifically, according to embodiments of this application, the above method flow steps can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a machine-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 309, and / or installed from removable medium 311. When the computer program is executed by central processing unit (CPU) 301, it performs the functions defined in the system of this application.

[0157] In a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0158] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0159] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0160] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be located in a processor. The names of these units or modules do not, in certain circumstances, constitute a limitation on the unit or module itself.

[0161] In another aspect, this application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable storage medium stores one or more programs that, when used by one or more processors, execute the methods described in this application.

[0162] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. Livestock ultrasound testing system, characterized in that The method comprises the following steps: acquiring basic information of a target livestock; wherein the basic information comprises: species information, age information, and / or historical health condition information; constructing a target twin model according to the basic information; determining target ultrasonic pose information according to the target twin model and a target grid; executing a target ultrasonic detection operation according to the target ultrasonic pose information; the determining module comprises: a first determining unit configured to determine target axial information according to the target twin model and the target grid, wherein the target axial information comprises: first axial information, second axial information, and / or third axial information; a second determining unit configured to determine target deflection angle information according to the target twin model and the target grid, wherein the target deflection angle information comprises: deflection angle information corresponding to the first axial information, deflection angle information corresponding to the second axial information, and / or deflection angle information corresponding to the third axial information; a third determining unit configured to determine the target ultrasonic pose information according to the target axial information and / or the target deflection angle information; wherein the second determining unit comprises: an extraction component configured to extract target grid elevation information corresponding to a target point according to the target twin model and the target grid; a fitting component configured to generate a target tangent plane by fitting according to the target grid elevation information; a determination component configured to determine the target deflection angle information according to the target tangent plane.

2. The system of claim 1, wherein, The first determining unit is configured to determine the target axial information based on the following formula: wherein, a value for representing the first axial direction; a value for representing the second axial direction; a value for representing the third axial direction; for representing a target rigid body transformation matrix; wherein the target rigid body transformation matrix corresponds to a target grid coordinate system to a target livestock body surface coordinate system rigid body transformation matrix; for representing a three-dimensional coordinate vector of a target point in the target grid coordinate system; for representing an index of the target point; for representing a target compensation vector.

3. The system of claim 2, wherein, The third determining unit is configured to determine the target ultrasonic pose information based on the following formula: wherein, for representing a target ultrasound pose; for representing an index of a target ultrasound; for representing a first weight coefficient; for representing a second weight coefficient; for representing a third weight coefficient; for representing a first pose estimate; for representing a second pose estimate; for representing a third pose estimate.

4. The system of claim 3, wherein, The determining module further comprises: a correction unit configured to correct the target ultrasonic pose information according to target information; wherein the target information comprises: target image information, target sebum information, and / or target electromyographic signal information.

5. The system of claim 4, wherein, The target sebum information is determined based on the following formula: in, Used to indicate target sebum thickness; Used to indicate initial sebum thickness; Used to indicate the first One target correction factor; An index used to represent the target correction factor; Used to represent the sum of standard correction factors; wherein the target correction factor comprises: an environmental correction factor, an individual difference correction factor, and / or a physiological state correction factor.

6. The system of any one of claims 1 to 5, wherein, The execution module comprises: a first execution unit configured to execute the target ultrasonic detection operation according to a target ultrasonic beam emission path; wherein the target ultrasonic beam emission path is determined based on the following formula: wherein, for representing a target ultrasound beam emission angle; for representing a target pose angle; for representing a target sebum compensation angle; wherein, is determined based on the following equation: wherein, for representing a target sebum compensation angle; for representing a target pose angle; for representing a target fat tissue corresponding speed of sound; for representing a target muscle tissue corresponding speed of sound.

7. The system of claim 6, wherein, The execution module further comprises: a second execution unit configured to execute the target ultrasonic detection operation according to a target pressure; wherein the target pressure is determined based on the following formula: wherein, for indicating a target pressure; for indicating a target pressure adjustment coefficient; for indicating a target attenuation coefficient; for indicating a minimum contact pressure; for indicating a target sebum thickness.

8. A method of ultrasonic testing of livestock, suitable for use in the system of claim 1, characterized in that, The method comprises the following steps: acquiring basic information of a target livestock; constructing a target twin model according to the basic information; determining target ultrasonic pose information according to the target twin model and a target grid; executing a target ultrasonic detection operation according to the target ultrasonic pose information; wherein the basic information comprises: species information, age information, and / or historical health condition information; The method further comprises the following steps: According to the target twin model and the target grid, target axial information is determined, wherein the target axial information includes: first axial information, second axial information, and / or third axial information; According to the target twin model and the target grid, target deflection angle information is determined, wherein the target deflection angle information includes: first axial corresponding deflection angle information, second axial corresponding deflection angle information, and / or third axial corresponding deflection angle information; According to the target axial information and / or the target deflection angle information, the target ultrasonic pose information is determined; Further comprising: According to the target twin model and the target grid, target point corresponding target grid elevation information is extracted; According to the target grid elevation information, a target tangent plane is generated by fitting; According to the target tangent plane, the target deflection angle information is determined.

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