Device, method and program

Abstract

SOLUTION: Provided is a device comprising: an image acquisition unit for acquiring an image of a farm animal; an index value acquisition unit for acquiring, on the basis of the image, at least one state index value which indicates a state of the farm animal; a determination unit for determining a feeding content for the farm animal, on the basis of the at least one state index value; and a control unit for controlling a feeding device which feeds the farm animal, according to the feeding content. The feeding device has a feed discharge device for discharging feed. The determination unit determines a feeding amount discharged by the feed discharge unit, on the basis of the at least one state index value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus, a method, and a program.

Background Art

[0002] Patent Documents 1 to 5 describe, for example, "In an apparatus for determining a score of a physical state of an animal (50): - a three-dimensional camera system (51) provided to face the animal and record at least one three-dimensional image of the animal; and - an image processing apparatus (52) that forms a three-dimensional surface representation of a part of the animal from the three-dimensional image recorded by the three-dimensional camera system (51), statistically analyzes the surface of the three-dimensional surface representation, and is provided to determine a score of the physical state of the animal based on the statistically analyzed surface of the three-dimensional surface representation and is connected to the three-dimensional camera system (51) ... An apparatus characterized by including." (Claim 1 of Patent Document 1). [Prior Art Documents] [Patent Documents] [Patent Document 1] Patent No. 5519693 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-173732 [Patent Document 3] Japanese Patent Application Laid-Open No. 2016-59300 [Patent Document 4] Japanese Patent Application Laid-Open No. 2019-187277 [Patent Document 5] Patent No. 6777948

Summary of the Invention

[0003] In a first aspect of the present invention, there is provided an apparatus including an image acquisition unit that acquires an image of livestock, an index value acquisition unit that acquires at least one state index value indicating the state of the livestock based on the image, a determination unit that determines feeding content for the livestock based on the at least one state index value, and a control unit that controls a feeding device that feeds the livestock according to the feeding content.

[0004] In the above-described apparatus, the feeding device has a feed discharging device that discharges feed, and the determining unit may determine the amount of feed discharged by the feed discharging device based on the at least one state index value.

[0005] In the above-described apparatus for determining the amount of feed, the apparatus further includes a specifying unit that specifies livestock located at a position where the feed discharged by the feed discharging device is eaten among a plurality of livestock raised together. The image acquisition unit acquires an image of each of the plurality of livestock, the index value acquisition unit acquires the at least one state index value for each livestock from the image of each livestock, and the determining unit may determine the amount of feed for the livestock specified by the specifying unit among the plurality of livestock.

[0006] In any of the above-described apparatuses for determining the amount of feed, the determining unit may determine the amount of feed for roughage and concentrate respectively.

[0007] In the above-described apparatus for determining the amount of feed for roughage and concentrate respectively, the at least one state index value includes a body condition score BCS and a rumen fill score RFS. The determining unit determines the average score BCS of BCS in one week Ave / week and BCS Ave / week the change rate ΔBCS of Ave / week and the first threshold value BCS of BCS Th1 and the RFS at any time and the threshold value RFS of RFS Th and when BCS Ave / week >BCS Th1 and ΔBCS Ave / week >0 and RFS Th <RFS are satisfied, the amount of concentrate fed may be decreased.

[0008] In any of the above-described apparatuses for determining the amount of feed for roughage and concentrate respectively, the at least one state index value includes a body condition score BCS and a rumen fill score RFS. The determining unit determines the average score BCS of BCS in one week Ave / week and BCS Ave / week the change rate ΔBCS of Ave / weekand the first threshold value of BCS, BCS Th1 and the RFS at any time and the threshold value of RFS, RFS Th and BCS Ave / week > BCS Th1 and ΔBCS Ave / week > 0 and RFS Th ≧ RFS, the feeding amount of the concentrate feed may be decreased and the feeding amount of the roughage feed may be increased accordingly.

[0009] In any of the above devices for determining the feeding amounts of the roughage feed and the concentrate feed respectively, the at least one state index value includes the body condition score BCS and the rumen fill score RFS, and the determining unit is the average score of BCS in one week, BCS Ave / week and BCS Ave / week the change rate of ΔBCS Ave / week and the second threshold value of BCS, BCS Th2 and the RFS at any time and the threshold value of RFS, RFS Th and BCS Ave / week < BCS Th2 and ΔBCS Ave / week < 0 and RFS Th < RFS, the feeding amount of the concentrate feed may be increased and the feeding amount of the roughage feed may be decreased accordingly.

[0010] In any of the above devices for determining the feeding amounts of the roughage feed and the concentrate feed respectively, the at least one state index value includes the body condition score BCS and the rumen fill score RFS, and the determining unit is the average score of BCS in one week, BCS Ave / week and BCS Ave / week the change rate of ΔBCS Ave / week and the second threshold value of BCS, BCS Th2 and the RFS at any time and the threshold value of RFS, RFS Th and BCS Ave / week < BCS Th2 and ΔBCS Ave / week < 0 and RFS Th ≧ RFS, the feeding amount of the roughage feed may be increased accordingly.

[0011] In any of the above devices for determining the feeding amount, the feed discharging device includes a feed discharging unit that discharges feed near a fence surrounding the livestock, a moving unit that moves the feed discharging unit along the fence, and an imaging unit that moves integrally with the feed discharging unit by the moving unit and images livestock at a position where the livestock eats the feed discharged by the feed discharging unit. The image acquisition unit may acquire an image from the imaging unit.

[0012] In any of the above devices, the feeding device has a feed gathering device that gathers leftover feed so as to approach the livestock, and the determination unit may determine whether to perform feed gathering for the livestock based on at least a part of the at least one state index value.

[0013] In the above device for determining whether to perform feed gathering, the at least one state index value includes a rumen fill score RFS, and the determination unit determines to perform feed gathering for the livestock when RFS and a threshold value RFS of RFS Th satisfy RFS Th >RFS.

[0014] In any of the above devices for determining whether to perform feed gathering, the device further includes a specifying unit that specifies livestock at a position where the livestock eats the feed gathered by the feed gathering device among a plurality of livestock raised together. The image acquisition unit acquires an image of each of the plurality of livestock, the index value acquisition unit acquires the at least one state index value for each livestock from the image of each livestock, and the determination unit may determine whether to perform feed gathering for the livestock specified by the specifying unit among the plurality of livestock.

[0015] In the above device, the at least one state index value includes a rumen fill score RFS, and the determination unit determines that the livestock specified by the specifying unit shows the minimum value RFS of RFS among the plurality of livestock, and when the RFS min / group is min / group the maximum value RFS of RFS among the plurality of livestock max / group and RFS max / group ―RFSmin / group It may be determined to perform feeding attraction for the livestock according to satisfying >1.

[0016] In any of the devices that determine whether to perform feeding attraction, the feeding attraction device includes a feeding attraction unit that attracts the remaining feed so as to approach the fence surrounding the livestock, a moving unit that moves the feeding attraction unit along the fence, and an imaging unit that moves integrally with the feeding attraction unit by the moving unit and images the livestock at the position where the feeding attraction is performed by the feeding attraction unit. The image acquisition unit may acquire an image from the imaging unit.

[0017] In any of the devices, the index value acquisition unit may supply the image acquired by the image acquisition unit to a model that outputs at least one state index value for the livestock in the image in response to the input of the image of the livestock, and acquire the at least one state index value.

[0018] In a second aspect of the present invention, there is provided a method including an image acquisition step of acquiring an image of livestock, an index value acquisition step of acquiring at least one state index value indicating the state of the livestock based on the image, a determination step of determining the feeding content for the livestock based on the at least one state index value, and a control step of controlling a feeding device that feeds the livestock according to the feeding content.

[0019] In a third aspect of the present invention, there is provided a program for causing a computer to function as an image acquisition unit that acquires an image of livestock, an index value acquisition unit that acquires at least one state index value indicating the state of the livestock based on the image, a determination unit that determines the feeding content for the livestock based on the at least one state index value, and a control unit that controls a feeding device that feeds the livestock according to the feeding content.

[0020] Note that the above summary of the invention does not list all the necessary features of the present invention. Also, sub-combinations of these feature groups can also be inventions.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0022] Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution means of the invention.

[0023] <1. System 1> FIG. 1 shows the system 1 according to the present embodiment. The system 1 manages feeding for one or more livestock, and includes a feeding device 2 and a control device 3.

[0024] Note that the livestock may be agricultural animals (for example, draft animals or work animals), or may be companion animals. The animal may be a mammal, a bird, or a fish. In this embodiment, as an example, the livestock may be cows. The livestock may be collectively raised (also referred to as multi-head raising or group feeding) within a common area surrounded by a fence, and the plurality of livestock within the fence may be free-range. A plurality of positions (also referred to as feeding positions) occupied by the livestock when eating food may be provided within the fence, and the fence at the feeding position may be provided with an opening so that the livestock within the fence can put their heads out and eat the food outside the fence. Each feeding position may be partitioned so as to accommodate only a single livestock.

[0025] <1.1. Feeding Device 2> The feeding device 2 feeds one or more livestock. The feeding device 2 has a feed discharging device 21 and a feed gathering device 22.

[0026] <1.1.1. Feed discharging device 21> The feed discharging device 21 discharges livestock feed. The feed discharging device 21 has a moving part 211, a feed discharging part 212, and an imaging part 213. Each part of the feed discharging device 21 may be controlled by the control device 3.

[0027] <1.1.1(1). Moving part 211> The moving part 211 moves the feed discharging part 212 along the fence surrounding the livestock. The moving part 211 may move the feed discharging part 212 along the fence on a preset route. As an example, the moving part 211 may carry the feed discharging part 212 and move the feed discharging part 212 by traveling on a rail installed along the fence.

[0028] <1.1.1(2). Feed discharging part 212> The feed discharging part 212 discharges feed near the fence surrounding the livestock. In this embodiment, as an example, the feed discharging part 212 may discharge feed at a feeding position outside the fence. The feeding position may be a position for feeding the livestock at the feeding position, and may be a position facing the feeding position across the fence. The feed discharging part 212 may accumulate feed inside, and may discharge feed at the feeding position in response to the feed discharging part 212 being moved to the feeding position by the moving part 211.

[0029] <1.1.1(3). Imaging part 213> The imaging part 213 images the livestock at the feeding position (in this embodiment, as an example, the position opposite to the feeding position) of the feed discharged by the feed discharging part 212. The imaging part 213 may image at least one of the side surface (as an example, the left side surface) or the upper surface (the back surface) of the livestock. The imaging part 213 may move integrally with the feed discharging part 212 by the moving part 211, and may perform imaging in response to the imaging part 213 being moved to the feeding position or its vicinity by the moving part 211.

[0030] The imaging unit 213 may capture a monochrome image or a color image. The imaging unit 213 may include a distance measurement sensor (also referred to as a depth sensor), and may capture a two-dimensional image including depth information to the subject or may capture a three-dimensional image. The imaging unit 213 may capture a plurality of still images for each reference interval, or may capture a moving image including a plurality of frames over a reference period. The imaging unit 213 may supply the captured image to the control device 3.

[0031] <1.1.2. Bait Feeding Device 22> The bait feeding device 22 moves the uneaten bait closer to the livestock. The bait feeding device 22 may move the uneaten bait outside the fence after feeding by the bait discharging device 21 to the feeding position, and may feed the livestock again. The bait feeding device 22 includes a moving unit 221, a bait feeding unit 222, and an imaging unit 223. Each part of the bait feeding device 22 may be controlled by the control device 3.

[0032] <1.1.2(1). Moving Unit 221> The moving unit 221 moves the bait feeding unit 222 along the fence. The moving unit 221 may move the bait feeding unit 222 on a preset route. For example, the moving unit 221 may carry the bait feeding unit 222, and may move the bait feeding unit 222 by self-running on a route specified by a plurality of markers previously installed on the floor or the fence along the route. The marker may be a magnet or a communication device (e.g., a transponder as an example) that emits a signal.

[0033] <1.1.2(2). Bait Feeding Unit 222> The bait feeding unit 222 moves the uneaten bait closer to the fence surrounding the livestock. In this embodiment, as an example, the bait feeding unit 222 may move the bait to the feeding position. The bait feeding unit 222 may execute bait feeding by moving the bait scattered on the floor closer to the fence with a blade (also referred to as a spatula), a brush, an airbrush, etc. The bait feeding unit 222 may perform bait feeding by moving by the moving unit 221, and when not performing bait feeding, it may not move the bait on the floor by raising the blade or the brush.

[0034] <1.1.2(3). Imaging unit 223> The imaging unit 223 images the livestock at the feeding position of the feed attracted by the feed attracting unit 222 (in this embodiment, for example, the position opposite to the feeding position). The imaging unit 223 may move integrally with the feed attracting unit 222 by the moving unit 221, and may perform imaging in response to the movement of the imaging unit 223 to the feeding position or its vicinity by the moving unit 221, and supply the captured image to the control device 3. The imaging unit 223 may be provided in the same manner as the imaging unit 213 of the feed discharging device 21.

[0035] <1.2. Control device 3> The control device 3 is an example of the device, and includes an image acquisition unit 31, a specifying unit 32, a model 33, an index value acquisition unit 34, a storage unit 35, a determination unit 36, and a control unit 37.

[0036] <1.2.1. Image acquisition unit 31> The image acquisition unit 31 acquires an image of the livestock. The image acquisition unit 31 may acquire images from the imaging unit 213 of the feed discharging device 21 and the imaging unit 223 of the feed attracting device 22. The image acquisition unit 31 may acquire images of each of a plurality of livestock collectively raised in the pen. The image acquisition unit 31 may supply the acquired image to the specifying unit 32 and the index value acquisition unit 34.

[0037] <1.2.2. Specifying unit 32> The specifying unit 32 specifies the livestock at the feeding position among a plurality of livestock collectively raised in the pen. The specifying unit 32 may perform image recognition on the image supplied from the image acquisition unit 31 to specify the subject livestock. As an example, the specifying unit 32 may specify the subject livestock among the livestock in the pen based on the nose pattern or body pattern of the livestock such as a cow. When a tag indicating the individual identification information (also referred to as individual ID) of the livestock is attached to the livestock, the specifying unit 32 may also specify the livestock by analyzing the individual ID indicated by the tag. The individual ID indicated by the tag may be two-dimensionally coded. The specifying unit 32 may supply the specified individual ID to the index value acquisition unit 34 and the determination unit 36.

[0038] <Model 33 of 1.2.3> When an image of livestock is input, Model 33 outputs at least one state index value for the livestock in the image.

[0039] The at least one state index value may include, for example, a body condition score BCS and a rumen fill score RFS. BCS may be a value obtained by quantifying the degree of fleshing and fat accumulation, and may be a value within the range of 1 to 5, for example. RFS may be a value obtained by quantifying the feed intake and the fullness of the first stomach (also referred to as the rumen), and may be a value within the range of 1 to 5, for example.

[0040] Model 33 may analyze an image of livestock to detect feature points on the skeleton and body surface, and calculate state index values from feature quantities calculated from the positional relationships of the feature points. The feature quantity may be the distance between a feature point on the skeleton and a feature point on the body surface, or the sum of the distances between feature points, or the difference or ratio between the area of a region surrounded by a plurality of feature points on the skeleton and the area of a region surrounded by a plurality of feature points on the body surface. When the image data includes depth information to the subject, Model 33 may calculate the feature quantity using the actual size of the livestock calculated using the depth information and the size of the livestock in the image. Model 33 may calculate the feature quantity by enlarging or reducing the image based on the depth information. Model 33 may move or trim the image so that any feature point of the livestock becomes the center in the image. Model 33 may detect feature points in the image by a learning process using a learning algorithm such as deep learning. Model 33 may calculate each state index value from the feature quantity using a regression equation (also referred to as a regression model) obtained by performing a regression analysis on the relationship between the feature quantity and each state index value.

[0041] <Index value acquisition unit 34 of 1.2.4> The index value acquisition unit 34 acquires at least one state index value indicating the state of the livestock based on the image. The index value acquisition unit 34 may acquire at least one state index value for each livestock from the image of each livestock. The index value acquisition unit 34 may supply the image acquired by the image acquisition unit 31 to the model 33 and acquire at least one state index value output from the model 33. The index value acquisition unit 34 may supply each state index value acquired for the livestock in the image to the storage unit 35 in association with the individual ID supplied from the identification unit 32 for the livestock.

[0042] <1.2.5. Storage unit 35> The storage unit 35 stores the state index value for each livestock. The storage unit 35 may store and accumulate each state index value in association with the individual ID. Note that the state index value stored in the storage unit 35 may be displayed on a display device (not shown) according to an operation from the operator.

[0043] <1.2.6. Decision unit 36> The decision unit 36 determines the feeding content for the livestock based on at least one state index value (in this embodiment, BCS or RFS as an example). The decision unit 36 may determine the feeding content for each livestock, or may determine the feeding content for the livestock identified by the identification unit 32, that is, the livestock at the feeding position. The decision unit 36 may determine the feeding content based on the state index value stored in the storage unit 35. In this embodiment, as an example, the decision unit 36 may determine the feeding content for the livestock with the individual ID based on each state index value stored in the storage unit 35 in association with the individual ID supplied from the identification unit 32.

[0044] The decision unit 36 may determine the feeding amount by the feeding device 21 based on at least one state index value, and may determine the feeding amount for the livestock identified by the identification unit 32 among the plurality of livestock, that is, the livestock at the feeding position.

[0045] The determination unit 36 may determine whether to perform feeding attraction for livestock based on at least a part of at least one state index value, and may determine whether to perform feeding attraction for the livestock specified by the specifying unit 32 among a plurality of livestock, that is, the livestock at the feeding position. In this embodiment, as an example, the determination unit 36 may determine whether to perform feeding attraction based on the RFS among the BCS or RFS acquired by the index value acquisition unit 34.

[0046] The determination unit 36 may supply the determined feeding content (in this embodiment, the feeding amount and the feasibility of feeding attraction as an example) to the control unit 37.

[0047] <1.2.7. Control unit 37> The control unit 37 controls the feeding device 2 according to the feeding content determined by the determination unit 36. The control unit 37 may cause the feed discharge device 21 to discharge feed by only the feeding amount determined by the determination unit 36. The control unit 37 may cause the feeding attraction device 22 to perform feeding attraction according to the feasibility of feeding attraction determined by the determination unit 36.

[0048] According to the above control device 3, a plurality of state index values of livestock are acquired based on the acquired image, and the feeding device 2 is controlled according to the feeding content determined based on the at least one state index value. Therefore, by supplying an image of the livestock, it is possible to automatically perform feeding with an appropriate feeding content for the livestock.

[0049] In addition, since the feeding amount by the feed discharge device 21 is determined based on at least one state index value, it is possible to automatically perform feeding with an appropriate feeding amount.

[0050] In addition, among a plurality of livestock being raised together, the livestock at the feeding position is specified, and the feeding amount for the specified livestock is determined. Therefore, it is possible to determine the feeding amount individually for each livestock being raised together and perform feeding.

[0051] In addition, since an image of the livestock is acquired from the imaging unit 213 that moves integrally with the food discharge unit 212 of the food discharge device 21, an image of the livestock can be acquired by moving the food discharge unit 212. Therefore, it is possible to save the labor of moving the livestock to the imaging area for imaging.

[0052] In addition, since it is determined whether or not to perform food gathering based on at least one state index value, appropriate automatic food gathering can be performed.

[0053] In addition, among a plurality of livestock that are collectively raised, the livestock at the feeding position is identified, and it is determined whether or not to perform food gathering on the identified livestock. Therefore, food gathering can be performed individually for each livestock that is collectively raised.

[0054] In addition, since an image of the livestock is acquired from the imaging unit 223 that moves integrally with the food gathering unit 222 of the food gathering device 22, an image of the livestock can be acquired by moving the food gathering unit 222. Therefore, it is possible to save the labor of moving the livestock to the imaging area for imaging.

[0055] In addition, the image acquired by the image acquisition unit 31 is supplied to the model 33 that outputs at least one state index value for the livestock in response to the input of the image of the livestock, and at least one state index value is acquired. Therefore, at least one state index value can be acquired with a simple configuration.

[0056] <2. Control Device 3 and Food Discharge Device 21> Figure 2 shows the control device 3 and the feed discharging device 21. The feed discharging device 21 may include a moving part 211 that travels on a rail 215, a feed discharging part 212 that is mounted on the moving part 211 and discharges at least one of concentrated feed 100 or roughage 101 to the feeding position 110, and an imaging part 213 that is mounted on the moving part 211 and images livestock. The roughage 101 may be a feed with a high crude fiber content and a low nutrient content, and may be, for example, pasture, weeds, silage, straw, etc. The volume per weight of the roughage 101 may be larger than that of the concentrated feed. The concentrated feed 100 may be a feed with a low crude fiber content and a high nutrient content, and may be, for example, grains, oil cakes, bran, starch cake, beer cake, and molasses, etc.

[0057] The imaging part 213 may be provided on an arm 214 protruding from the moving part 211 to image the side or top surface of the livestock. The control device 3 may acquire, from the imaging part 213, an image of the livestock at the feeding position 111 facing the feeding position 110 where the feed discharging part 212 moves, determine the feeding amounts of the concentrated feed 100 and the roughage 101 for the livestock, and cause the feed discharging part 212 to discharge the determined amounts of feed.

[0058] <3. Characteristic points of livestock> Figure 3 shows the characteristic points of livestock. In the figure, the left figure shows the characteristic points of the livestock's skeleton, and the right figure shows the characteristic points of the body surface. Note that in the figure, the characteristic points are connected by white lines for illustration. The characteristic points may be the hip angle, ischium, base of the tail, withers, etc. The model 33 may be trained using learning data including an image annotated with the positions of the characteristic points by an operator. The learning data may further include at least one state index value such as BSC or RFS input by the operator for the livestock in the image.

[0059] <4. Operations> Figure 4 shows the operations of the control device 3. The control device 3 manages the feeding of livestock by performing the processes of steps S11 to S21.

[0060] In step S11, the control unit 37 controls the feeding device 2 to move the food discharging unit 212 or the food gathering unit 222 and to perform imaging by the imaging units 213 and 223. The control unit 37 may control the moving units 211 and 221 to move the food discharging unit 212 and the food gathering unit 222 to the feeding position. Thereby, the livestock may move to the feeding position facing the food intake position. The control unit 37 may control the imaging units 213 and 223 to image the livestock at the food intake position.

[0061] In step S13, the image acquisition unit 31 acquires an image of the livestock. The image acquisition unit 31 may acquire an image from the imaging units 213 and 223.

[0062] In step S15, the identification unit 32 identifies the livestock at the food intake position. The identification unit 32 may identify the livestock as the subject of the image supplied from the image acquisition unit 31.

[0063] In step S17, the index value acquisition unit 34 acquires at least one state index value (BCS or RFS as an example in this embodiment) indicating the state of the livestock based on the image supplied from the image acquisition unit 31. The index value acquisition unit 34 may supply the image acquired by the image acquisition unit 31 to the model 33 and acquire at least one state index value output from the model 33. The index value acquisition unit 34 may store each state index value in the storage unit 35 in association with the individual ID of the livestock identified in step S15.

[0064] In step S19, the determination unit 36 determines the feeding content for the livestock based on at least one state index value acquired in step S17.

[0065] When the food discharging device 21 is controlled in step S11 described above, the determination unit 36 may determine the feeding amounts of the roughage and the concentrate respectively. The determination unit 36 reads the BCS or RFS stored in the storage unit 35 in association with the individual ID of the livestock identified in step S15, and the average score BCS of BCS in one week Ave / week and BCS Ave / week the change rate ΔBCS ofAve / week calculate the RFS at any time and determine the feeding amount. The any time may be set by an operator. BCS Ave / week , the RFS may be a moving average over the most recent week, and ΔBCS Ave / week may be the most recent rate of change.

[0066] The determination unit 36 uses BCS Ave / week and ΔBCS Ave / week and RFS and the first threshold value of BCS, BCS Th1 and the threshold value of RFS, RFS Th When BCS Ave / week > BCS Th1 and ΔBCS Ave / week > 0 and RFS Th < RFS are satisfied, the feeding amount of the concentrated feed may be decreased. As a result, when the livestock eats well and is in the process of gaining weight, the feeding amount of the concentrated feed decreases. Decreasing the feeding amount may mean decreasing the feeding amount from a reference, and the reference may be the feeding amount when step S21 described later was last performed, or may be a preset feeding amount. BCS Th1 may be a threshold value for determining whether the livestock is overweight, and RFS Th may be a threshold value for determining whether the livestock is eating. BCS Th1 and RFS Th may be set to arbitrary values in advance.

[0067] The determination unit 36 uses BCS Ave / week and ΔBCS Ave / week and BCS Th1 and RFS and RFS Th When BCS Ave / week > BCS Th1 and ΔBCS Ave / week > 0 and RFS ThIn response to satisfying ≧RFS, the feeding amount of the concentrate feed may be decreased and the feeding amount of the roughage may be increased. Thereby, in response to the livestock not eating much feed although being in the fattening process, the calorie content of the feed is decreased without reducing the total amount of the feed. Increasing the feeding amount may mean increasing the feeding amount beyond a reference, and the reference may be the feeding amount when step S21 described later was last performed, or may be a preset feeding amount.

[0068] The determination unit 36 determines BCS Ave / week and ΔBCS Ave / week and the second threshold value BCS of BCS Th2 and RFS and RFS Th and when BCS Ave / week <BCS Th2 and ΔBCS Ave / week <0 and RFS Th <RFS is satisfied, the feeding amount of the concentrate feed may be increased and the feeding amount of the roughage may be decreased. Thereby, in response to the livestock eating a lot of feed although being in the atrophy process, the calorie content of the feed is increased. BCS Th2 may be a threshold value for determining whether the livestock is atrophied, and may be smaller than BCS Th1 . BCS Th2 may be set to an arbitrary value in advance.

[0069] The determination unit 36 determines BCS Ave / week and ΔBCS Ave / week and BCS Th2 and RFS and RFS Th and when BCS Ave / week <BCS Th2 and ΔBCS Ave / week <0 and RFS Th ≧RFS is satisfied, the feeding amount of the roughage may be increased. Thereby, in response to the livestock not eating much feed and being in the atrophy process, the total amount of the feed is increased.

[0070] Also, when the food attracting device 22 is controlled in the above-described step S11, the determination unit 36 may read out the most recent RFS stored in the storage unit 35 in association with the individual ID of the livestock specified in step S15, and determine whether food attracting is possible. The determination unit 36 may determine to execute food attracting for the livestock in response to the RFS and the RFS Th and the RFS Th >RFS being satisfied. Thereby, the feeding opportunity increases in response to insufficient food intake.

[0071] Alternatively, the determination unit 36 may read out the most recent RFS stored in the storage unit 35 in association with the individual ID of each livestock bred collectively in the pen, and determine whether food attracting is possible. The determination unit 36 indicates the minimum value RFS of the RFS among the plurality of livestock in the pen for the livestock specified in step S15 min / group , and when the RFS min / group is greater than the maximum value RFS of the RFS among the plurality of livestock max / group by RFS max / group -RFS min / group >1, it may be determined to execute food attracting for the livestock. Thereby, among the livestock bred collectively, food attracting is executed for the livestock that is losing the most in eating.

[0072] In step S21, the control unit 37 controls the feeding device 2 according to the determined feeding content to cause feeding. The control unit 37 may control the food discharging unit 212 to discharge the feed to the feeding position, and may discharge each of the concentrated feed and the roughage in the determined feeding amount. The control unit 37 may control the food attracting unit 222 to execute food attracting for the feeding position. After the process of step S21 is completed, the process may shift to step S11. Thereby, the food discharging device 21 and the food attracting device 22 move to each feeding position to perform feeding. The food discharging device 21 and the food attracting device 22 may perform feeding at an interval of 6 to 8 hours for each feeding position.

[0073] According to the above operation, the feeding amounts of the roughage and the concentrate are determined, so that the health condition and growth of the livestock can be automatically managed.

[0074] Also, according as BCS Ave / week and ΔBCS Ave / week and RFS satisfy BCS Ave / week >BCS Th1 and ΔBCS Ave / week >0 and RFS Th <RFS, the feeding amount of the concentrate decreases. Therefore, according as the livestock eats feed well and is in the process of gaining weight, the total amount of feed can be decreased to prevent weight gain.

[0075] Also, according as BCS Ave / week and ΔBCS Ave / week and RFS satisfy BCS Ave / week >BCS Th1 and ΔBCS Ave / week >0 and RFS Th ≧RFS, the feeding amount of the concentrate decreases and the feeding amount of the roughage increases. Therefore, according as the livestock is in the process of gaining weight but does not eat much feed, the calorie content of the feed can be decreased without reducing the total amount of feed to prevent weight gain.

[0076] Also, according as BCS Ave / week and ΔBCS Ave / week and RFS satisfy BCS Ave / week <BCS Th2 and ΔBCS Ave / week <0 and RFS Th <RFS, the feeding amount of the concentrate increases and the feeding amount of the roughage decreases. Therefore, according as the livestock is in the process of atrophy but eats feed well, the calorie content of the feed can be increased to shift the livestock from the atrophy process to the weight gain process.

[0077] Also, according as BCS Ave / week and ΔBCS Ave / week and RFS satisfy BCS Ave / week <BCS Th2 and ΔBCS Ave / week <0 and RFS ThAs the RFS is greater than or equal to, the amount of roughage fed increases. Therefore, in response to the livestock not eating much feed and being in the atrophy process, the total amount of feed can be increased to prevent atrophy.

[0078] Also, when the RFS is greater than the RFS Th > RFS, feed attraction is executed. Therefore, the feeding opportunity can be increased in response to insufficient intake.

[0079] Also, when the specified livestock shows the minimum value RFS of the RFS min / group and the RFS max / group − RFS min / group > 1, feed attraction is executed for the livestock. Therefore, in response to the occurrence of being outcompeted in a group of livestock raised together, feed attraction can be executed for the most outcompeted livestock.

[0080] <5. Modification Example> In the above embodiment, the control device 3 has been described as having the specifying unit 32, the model 33, and the storage unit 35, but it may not have any of these. For example, when the livestock are raised individually, the control device 3 may not have the specifying unit 32. When the control device 3 does not have the model 33, the model 33 may be stored in an external device of the control device 3.

[0081] Also, the specifying unit 32 has been described as specifying the livestock by image recognition of an image of the livestock, but the livestock may be specified by other methods. For example, when an individual ID is held in a tag (as an example, an RFID tag) attached to the livestock so that it can be read, the specifying unit 32 may read the individual ID from the tag to specify the livestock.

[0082] Also, although the image acquisition unit 31 has been described as acquiring images of livestock from the imaging units 213 and 223 of the food release device 21 and the food attracting device 22, images of livestock may be acquired from an imaging device fixed in advance at the feeding position. Also, although the image acquisition unit 31 has been described as acquiring images of livestock imaged at the feeding position, as long as the specifying unit 32 specifies the livestock at the feeding position, images imaged at other positions where the livestock passes or stays may be acquired.

[0083] Also, although the imaging units 213 and 223 have been described as performing imaging in response to the food release units 212 and the food attracting units 222 moving to the feeding position or the vicinity thereof, imaging may be performed in response to detecting livestock. As an example, the imaging units 213 and 223 may monitor the pixel values of each pixel, and may perform imaging in response to the change amount of any one or a plurality of pixel values exceeding a threshold value.

[0084] Also, although the index value acquisition unit 34 has been described as acquiring BCS or RFS as at least one state index value, BCS Ave / week , ΔBCS Ave / week , RFS and RFS max / group etc. may be further acquired as state index values. As an example, the index value acquisition unit 34 may read BCS or RFS stored in the storage unit 35 and calculate BCS Ave / week , ΔBCS Ave / week , RFS and RFS max / group etc.

[0085] Also, although it has been described that a plurality of livestock are free-range in the pen, they may be tied up and raised at their respective unique positions. In this case, the specifying unit 32 may specify the livestock from the breeding position.

[0086] Also, although the feeding device 2 has been described as having the food release device 21 and the food attracting device 22, it may have only one of them.

[0087] Also, various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where the blocks may represent (1) stages of a process in which operations are performed or (2) sections of an apparatus having a role of performing operations. Specific stages and sections may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include an integrated circuit (IC) and / or discrete circuits. The programmable circuit may include a reconfigurable hardware circuit including memory elements such as logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, a field programmable gate array (FPGA), a programmable logic array (PLA), etc.

[0088] The computer-readable medium may include any tangible device capable of storing instructions executable by an appropriate device, and as a result, a computer-readable medium having instructions stored therein will comprise a product including instructions executable to create means for performing the operations specified in the flowchart or block diagram. Examples of the computer-readable medium may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of the computer-readable medium may include a floppy (registered trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an electrically erasable programmable read-only memory (EEPROM), a static random access memory (SRAM), a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a Blu-ray (RTM) disk, a memory stick, an integrated circuit card, etc.

[0089] Computer-readable instructions may include source code or object code written in any combination of one or more programming languages, including assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming languages such as Smalltalk®, JAVA®, C++, and conventional procedural programming languages such as the "C" programming language or similar programming languages.

[0090] Computer-readable instructions may be executed to create means for causing a processor or programmable circuit of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to perform the operations specified in a flowchart or block diagram, locally or via a wide area network (WAN) such as a local area network (LAN), the Internet, etc. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0091] FIG. 5 shows an example of a computer 2200 in which multiple aspects of the present invention may be embodied, in whole or in part. Programs installed on the computer 2200 can cause the computer 2200 to function as an operation associated with the apparatus according to an embodiment of the present invention or as one or more sections of the apparatus, or to execute the operation or the one or more sections, and / or can cause the computer 2200 to execute a process according to an embodiment of the present invention or a stage of the process. Such a program may be executed by the CPU 2212 to cause the computer 2200 to perform specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

[0092] The computer 2200 according to this embodiment includes a CPU 2212, a RAM 2214, a graphic controller 2216, and a display device 2218, which are interconnected by a host controller 2210. The computer 2200 also includes an input / output unit such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via an input / output controller 2220. The computer also includes legacy input / output units such as a ROM 2230 and a keyboard 2242, which are connected to the input / output controller 2220 via an input / output chip 2240.

[0093] The CPU 2212 operates according to programs stored in the ROM 2230 and the RAM 2214, thereby controlling each unit. The graphic controller 2216 acquires image data generated by the CPU 2212 in a frame buffer provided in the RAM 2214 or the like or in itself, and causes the image data to be displayed on the display device 2218.

[0094] The communication interface 2222 communicates with other electronic devices via a network. The hard disk drive 2224 stores programs and data used by the CPU 2212 in the computer 2200. The DVD-ROM drive 2226 reads a program or data from the DVD-ROM 2201 and provides the program or data to the hard disk drive 2224 via the RAM 2214. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0095] The ROM 2230 stores therein a boot program or the like executed by the computer 2200 upon activation, and / or a program dependent on the hardware of the computer 2200. The input / output chip 2240 may also be connected to the input / output controller 2220 via various input / output units such as a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0096] The program is provided by a computer-readable medium such as a DVD-ROM 2201 or an IC card. The program is read from the computer-readable medium, installed in a hard disk drive 2224, a RAM 2214, or a ROM 2230 which is also an example of a computer-readable medium, and executed by the CPU 2212. The information processing described in these programs is read by the computer 2200, resulting in the cooperation between the programs and the various types of hardware resources described above. The apparatus or method may be configured by realizing the operation or processing of information according to the use of the computer 2200.

[0097] For example, when communication is executed between the computer 2200 and an external device, the CPU 2212 may execute a communication program loaded in the RAM 2214 and instruct the communication interface 2222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2212, the communication interface 2222 reads the transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 2214, the hard disk drive 2224, the DVD-ROM 2201, or the IC card, transmits the read transmission data to the network, or writes the received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0098] Further, the CPU 2212 may cause all or necessary portions of files or databases stored in external recording media such as a hard disk drive 2224, a DVD-ROM drive 2226 (DVD-ROM 2201), an IC card, etc. to be read into the RAM 2214, and may execute various types of processing on the data on the RAM 2214. The CPU 2212 then writes back the processed data to the external recording media.

[0099] Various types of information such as various types of programs, data, tables, and databases may be stored in a recording medium and may undergo information processing. The CPU 2212 may perform various types of processing on the data read from the RAM 2214, including various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information search / replacement, etc. described throughout this disclosure and specified by the instruction sequence of the program, and write back the results to the RAM 2214. Also, the CPU 2212 may search for information in files, databases, etc. within the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 2212 searches for an entry that matches the condition where the attribute value of the first attribute is specified from among the plurality of entries, reads the attribute value of the second attribute stored in the entry, and thereby may obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0100] The programs or software modules described above may be stored on a computer-readable medium on or near the computer 2200. Also, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable medium, thereby providing the program to the computer 2200 via the network.

[0101] As described above, the present invention has been described using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be added to the above embodiments. It is clear from the description of the claims that forms with such changes or improvements can also be included in the technical scope of the present invention.

[0102] It should be noted that the execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, specification, and drawings is not explicitly stated as "earlier" or "preceding" etc., and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, specification, and drawings, even if it is described using "first," "next," etc. for convenience, it does not mean that it is essential to implement in this order.

Explanation of Signs

[0103] 1 System 2 Feeding device 3 Control device 21 Feed discharging device 22 Device 31 Image acquisition unit 32 Identification unit 33 Model 34 Index value acquisition unit 35 Storage unit 36 Decision unit 37 Control unit 100 Concentrate feed 101 Roughage 110 Feeding position 111 Eating position 211 Moving part 212 Feed discharging part 213 Imaging part 214 Arm 215 Rail 221 Moving part 222 Feed gathering part 223 Imaging part 2200 Computer 2201 DVD-ROM 2210 Host Controller 2212 CPU 2214 RAM 2216 Graphic Controller 2218 Display Device 2220 Input / Output Controller 2222 Communication Interface 2224 Hard Disk Drive 2226 DVD-ROM Drive 2230 ROM 2240 Input / Output Chip 2242 Keyboard

Claims

1. An image acquisition unit that acquires an image of livestock; An index value acquisition unit that acquires at least one state index value indicating the state of the livestock based on the image; A determination unit that determines the feeding content for the livestock based on the at least one state index value; A control unit that controls a feeding device for feeding the livestock according to the feeding content; An apparatus comprising the above.

2. The feeding device has a feed discharging device that discharges feed, The determination unit determines the amount of feed to be discharged by the feed discharging device based on the at least one state index value. The apparatus according to Claim 1.

3. The apparatus further comprises a specifying unit that specifies livestock located at a position where the feed discharged by the feed discharging device is eaten among a plurality of livestock raised together, The image acquisition unit acquires an image of each of the plurality of livestock, The index value acquisition unit acquires the at least one state index value for each livestock from the image of each livestock, The determination unit determines the amount of feed for the livestock specified by the specifying unit among the plurality of livestock. The apparatus according to Claim 2.

4. The determination unit determines the amount of roughage and concentrate feed respectively. The apparatus according to Claim 2.

5. The at least one state index value includes a body condition score BCS and a rumen fill score RFS, The determining unit determines the average BCS score for one week. Ａｖｅ／ｗｅｅｋ And B.C.S. Ａｖｅ／ｗｅｅｋ Rate of change of ΔBCS Ａｖｅ／ｗｅｅｋ and the first threshold value of BCS BCS Ｔｈ１ and RFS at any time, and RFS threshold RFS Ｔｈ Toga BCS Ａｖｅ／ｗｅｅｋ > B.C.S. Ｔｈ１ And ΔBCS Ａｖｅ／ｗｅｅｋ >0 and RFS Ｔｈ 5. The apparatus of claim 4, wherein the amount of concentrate fed is reduced in response to the RFS being met.

6. The at least one state index value includes a body condition score BCS and a rumen fill score RFS, The determining unit determines the average BCS score for one week. Ａｖｅ／ｗｅｅｋ And B.C.S. Ａｖｅ／ｗｅｅｋ Rate of change of ΔBCS Ａｖｅ／ｗｅｅｋ and the first threshold value of BCS BCS Ｔｈ１ and RFS at any time, and RFS threshold RFS Ｔｈ Toga BCS Ａｖｅ／ｗｅｅｋ > B.C.S. Ｔｈ１ And ΔBCS Ａｖｅ／ｗｅｅｋ >0 and RFS Ｔｈ 5. The apparatus of claim 4, wherein the feeding rate of concentrate is decreased and the feeding rate of roughage is increased in response to meeting ≥ RFS.

7. The at least one state index value includes a body condition score BCS and a rumen fill score RFS, The determination unit is the average score BCS of BCS in one week Ａｖｅ／ｗｅｅｋ and BCS Ａｖｅ／ｗｅｅｋ The change rate ΔBCS of Ａｖｅ／ｗｅｅｋ and the second threshold BCS of BCS Ｔｈ２ and the RFS at any time, and the threshold RFS of RFS Ｔｈ And when BCS Ａｖｅ／ｗｅｅｋ < BCS Ｔｈ２ and ΔBCS Ａｖｅ／ｗｅｅｋ < 0 and RFS Ｔｈ < RFS is satisfied, the feeding amount of the concentrate feed is increased and the feeding amount of the roughage feed is decreased. The apparatus according to claim 4

8. The at least one state index value includes a body condition score BCS and a rumen fill score RFS, The determination unit is the average score BCS of BCS in one week Ａｖｅ／ｗｅｅｋ and BCS Ａｖｅ／ｗｅｅｋ 's change rate ΔBCS Ａｖｅ／ｗｅｅｋ and the second threshold BCS of BCS Ｔｈ２ and the RFS at any time and the threshold RFS of RFS Ｔｈ and when BCS Ａｖｅ／ｗｅｅｋ < BCS Ｔｈ２ and ΔBCS Ａｖｅ／ｗｅｅｋ < 0 and RFS Ｔｈ ≧ RFS is satisfied, the device according to claim 4, which increases the feeding amount of roughage

9. The feed discharging device, A feed discharging unit that discharges feed near a fence surrounding the livestock, A moving unit that moves the feed discharging unit along the fence, An imaging unit that moves integrally with the feed discharging unit by the moving unit and images livestock located at a position where the feed discharged by the feed discharging unit is eaten, Having the above, The image acquisition unit acquires an image from the imaging unit. The apparatus according to Claim 2.

10. The feeding device has a feed gathering device that gathers uneaten feed so as to approach the livestock. The apparatus according to claim 1, wherein the determination unit determines whether to perform food attraction for the livestock based on at least a part of the at least one state index value.

11. The at least one state index value includes a rumen fill score RFS. The determination unit determines to perform food attraction on the livestock in response to the RFS and the threshold value RFS of the RFS Ｔｈ satisfying RFS Ｔｈ > RFS, the apparatus according to claim 10.

12. The apparatus further comprises an identification unit that identifies livestock that are at a position where food is eaten by the food attraction device among a plurality of livestock that are collectively raised. The image acquisition unit acquires an image of each of the plurality of livestock. The index value acquisition unit acquires the at least one state index value for each livestock from the image of each livestock. The apparatus according to claim 10, wherein the determination unit determines whether to perform food attraction for the livestock identified by the identification unit among the plurality of livestock.

13. The at least one state index value includes a rumen fill score RFS. The determination unit determines to perform food attraction on the livestock specified by the specifying unit when the livestock specified by the specifying unit shows the minimum value RFS among the plurality of livestock, and the RFS satisfies RFS - RFS > 1 with respect to the maximum value RFS of the RFS among the plurality of livestock. The apparatus according to claim 12. ｍｉｎ／ｇｒｏｕｐ among them, and the RFS ｍｉｎ／ｇｒｏｕｐ is the maximum value RFS of the RFS among the plurality of livestock, and the RFS ｍａｘ／ｇｒｏｕｐ satisfies RFS ｍａｘ／ｇｒｏｕｐ - RFS ｍｉｎ／ｇｒｏｕｐ > 1, the apparatus according to claim 12.

14. The food attraction device includes a food attraction unit that attracts uneaten food so as to approach a fence surrounding the livestock, a moving unit that moves the food attraction unit along the fence, and an imaging unit that moves integrally with the food attraction unit by the moving unit and images livestock that are at a position where food attraction is performed by the food attraction unit. It has The apparatus according to claim 10, wherein the image acquisition unit acquires an image from the imaging unit.

15. The index value acquisition unit supplies the image acquired by the image acquisition unit to a model that outputs the at least one state index value for the livestock in the image in response to the input of the image of the livestock, and acquires the at least one state index value. The apparatus according to claim 1.

16. An image acquisition step of acquiring an image of livestock, an index value acquisition step of acquiring at least one state index value indicating the state of the livestock based on the image, a determination step of determining the feeding content for the livestock based on the at least one state index value, and a control step of controlling a feeding device that feeds the livestock according to the feeding content. A method comprising

17. A program that causes a computer to function as an image acquisition unit that acquires an image of livestock, an index value acquisition unit that acquires at least one state index value indicating the state of the livestock based on the image, a determination unit that determines the feeding content for the livestock based on the at least one state index value, and a control unit that controls a feeding device that feeds the livestock according to the feeding content. as a program.

Images