WO2020038452A1

WO2020038452A1 - Inspection method and device for inspection vehicle

Info

Publication number: WO2020038452A1
Application number: PCT/CN2019/102128
Authority: WO
Inventors: 郑磊
Original assignee: 京东数字科技控股有限公司
Priority date: 2018-08-24
Filing date: 2019-08-23
Publication date: 2020-02-27
Also published as: CN109243003A

Abstract

An inspection method and device for an inspection vehicle (11). The method comprises: moving the inspection vehicle (11) along a preset track (12), wherein the preset track (12) is provided with a sensing element (121), and an enclosure is set at a preset position relative to the sensing element (121); during the movement of the inspection vehicle (11), detecting the sensing element (121) at preset time intervals; and in response to the detection of the sensing element (121), suspending the movement of the inspection vehicle (11) and performing image collection on the enclosure to obtain an enclosure image. The inspection cost is reduced, and inspection efficiency is improved.

Description

用于巡检车的巡检方法和装置Inspection method and device for inspection vehicle

本专利申请要求于2018年8月24日提交的、申请号为201810970785.3、申请人为北京京东金融科技控股有限公司、发明名称为“用于巡检车的巡检方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。This patent application requires a Chinese patent application filed on August 24, 2018, with an application number of 201810970785.3, the applicant being Beijing Jingdong Financial Technology Holdings Co., Ltd., and an invention name of "Inspection Method and Device for Inspection Vehicles" Priority is hereby incorporated by reference in its entirety.

技术领域Technical field

本申请实施例涉及计算机技术领域，具体涉及用于巡检车的巡检方法和装置。The embodiments of the present application relate to the field of computer technology, and in particular, to an inspection method and device for an inspection vehicle.

背景技术Background technique

随着人们生活水平的不断提高，对肉类(例如，猪肉、牛肉、羊肉等)的需求量也不断增加，加之生活条件的提高以及机械化的发展，家畜养殖逐渐向规模化、专门化发展，例如，规模化的养殖场。With the continuous improvement of people's living standards, the demand for meat (for example, pork, beef, mutton, etc.) is also increasing, coupled with the improvement of living conditions and the development of mechanization, livestock breeding is gradually developing towards large-scale and specialized development For example, large-scale farms.

家畜养殖通常包括若干生产环节，例如，选种、饲养、繁育、疾病防疫、环境清理、称重和屠宰等等。这些环节均需要及时、全面的巡检，以便及时发现存在的或潜在的问题并及时处理，将可能出现的隐患消灭于萌芽状态。Livestock farming usually includes several production steps, such as seed selection, raising, breeding, disease prevention, environmental cleanup, weighing and slaughter, etc. These links need timely and comprehensive inspections in order to timely identify existing or potential problems and deal with them in a timely manner, and eliminate potential hazards in the bud state.

目前大部分养殖场主要依靠人工进行定时巡检，巡检内容主要包括家畜的总体情况(数量、预估体重、精神状态、皮毛情况、膘情状况、采食情况、粪便形态等)、设备使用/运行情况、饲料存放/使用情况等。其中，点数和估重贯穿于各个生产环节，是养殖管理中的重点。然而通过人工进行点数和估重耗时耗力，以猪只估重为例，猪场管理人员可以通过观察、拍打猪只来估测猪只重量。At present, most farms mainly rely on manual regular inspections. The inspections mainly include the overall situation of the livestock (quantity, estimated weight, mental state, fur condition, condition, feeding situation, fecal form, etc.), equipment use / Operating conditions, feed storage / use conditions, etc. Among them, points and valuations run through all production links and are the focus of breeding management. However, it is time-consuming and labor-intensive to carry out point counting and weight estimation. Taking pig weight estimation as an example, the farm management staff can estimate pig weight by observing and slapping the pigs.

发明内容Summary of the Invention

本申请实施例提出了用于巡检车的巡检方法和装置。The embodiments of the present application propose inspection methods and devices for inspection vehicles.

第一方面，本申请实施例提供了一种用于巡检车的巡检方法，该方法包括：沿预设轨道移动巡检车，预设轨道上设置有感应元件，相对于感应元件的预设位置处设置有圈舍；在巡检车移动期间，以预设时间间隔检测感应元件；响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。In a first aspect, an embodiment of the present application provides an inspection method for an inspection vehicle. The method includes: moving the inspection vehicle along a preset track, and an induction element is provided on the preset track. A pen is set at a position; a sensing element is detected at a preset time interval during the movement of the inspection vehicle; in response to the detection of the sensing element, the inspection vehicle is suspended and image acquisition is performed on the pen to acquire an image of the pen.

在一些实施例中，该方法还包括：响应于检测到圈舍图像中包含动物图像，从圈舍图像中提取动物图像；基于所提取的动物图像，确定圈舍内动物的成长信息；若确定出的成长信息超出预设范围，发送预警信息。In some embodiments, the method further includes: in response to detecting that the enclosure image contains an animal image, extracting the animal image from the enclosure image; determining the growth information of the animals in the enclosure based on the extracted animal image; if determined The outgrowth information exceeds the preset range, and an early warning message is sent.

在一些实施例中，基于所提取的动物图像，确定圈舍内动物的成长信息，包括：从所提取的动物图像中提取动物的面部图像；对提取的面部图像进行面部识别，确定面部图像表征的动物的标识信息。In some embodiments, determining the growth information of the animals in the enclosure based on the extracted animal images includes: extracting the facial images of the animals from the extracted animal images; performing facial recognition on the extracted facial images to determine the facial image representation Animal identification information.

在一些实施例中，基于所提取的动物图像，确定圈舍内动物的成长信息，还包括：确定圈舍内动物的数量；和/或确定圈舍内动物的体重。In some embodiments, determining the growth information of the animals in the pen based on the extracted animal images further includes: determining the number of animals in the pen; and / or determining the weight of the animals in the pen.

在一些实施例中，巡检车设置有充电电源，预设轨道设置有充电设备；以及该方法还包括：响应于检测到巡检车移动到充电设备，连接充电设备以对充电电源进行充电。In some embodiments, the inspection vehicle is provided with a charging power source, and the preset track is provided with a charging device; and the method further includes: in response to detecting that the inspection vehicle moves to the charging device, connecting the charging device to charge the charging power source.

在一些实施例中，预设轨道包括两个端部；以及方法还包括：响应于检测到巡检车移动到预设轨道的其中一个端部，改变巡检车的移动方向，使巡检车朝向预设轨道的另一端部移动。In some embodiments, the preset track includes two ends; and the method further includes: in response to detecting that the inspection vehicle moves to one of the ends of the preset track, changing a moving direction of the inspection vehicle so that the inspection vehicle Move towards the other end of the preset track.

在一些实施例中，巡检车设置有霍尔传感器，感应元件为霍尔元件。In some embodiments, the inspection vehicle is provided with a Hall sensor, and the sensing element is a Hall element.

在一些实施例中，巡检车包括封装组件，封装组件包括防水、防腐蚀、耐啃咬的材料；和/或预设轨道包括高分子工程塑料。In some embodiments, the inspection vehicle includes a packaging component including a material that is waterproof, corrosion-resistant, and resistant to biting; and / or the preset track includes a polymer engineering plastic.

在一些实施例中，预设轨道从圈舍上方穿过圈舍，感应元件位于圈舍的上方。In some embodiments, the preset track passes through the enclosure from above the enclosure, and the sensing element is above the enclosure.

第二方面，本申请实施例提供了一种用于巡检车的巡检装置，该装置包括：移动单元，被配置成沿预设轨道移动巡检车，预设轨道上设置有感应元件，相对于感应元件的预设位置处设置有圈舍；元件检测单元，被配置成在巡检车移动期间，以预设时间间隔检测感应元件；图像采集单元，被配置成响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。In a second aspect, an embodiment of the present application provides an inspection device for an inspection vehicle. The device includes a moving unit configured to move the inspection vehicle along a preset track, and a sensing element is provided on the preset track. A circle is provided at a preset position relative to the sensing element; the element detection unit is configured to detect the sensing element at a predetermined time interval during the inspection vehicle movement; the image acquisition unit is configured to respond to detecting the sensing element , Pause the mobile inspection vehicle and acquire image of the enclosure to obtain the enclosure image.

在一些实施例中，该装置还包括：图像提取单元，被配置成响应于检测到圈舍图像中包含动物图像，从圈舍图像中提取动物图像；信息确定单元，被配置成基于所提取的动物图像，确定圈舍内动物的成长信息；预警单元，被配置成若确定出的成长信息超出预设范围，发送预警信息。In some embodiments, the apparatus further includes: an image extraction unit configured to extract an animal image from the enclosure image in response to detecting that the enclosure image includes an animal image; and an information determination unit configured to be based on the extracted The animal image determines the growth information of the animals in the pen; the early warning unit is configured to send the early warning information if the determined growth information exceeds a preset range.

在一些实施例中，信息确定单元包括：面部图像提取模块，被配置成从所提取的动物图像中提取动物的面部图像；面部识别模块，被配置成对提取的面部图像进行面部识别，确定面部图像表征的动物的标识信息。In some embodiments, the information determination unit includes: a facial image extraction module configured to extract a facial image of an animal from the extracted animal image; and a facial recognition module configured to perform facial recognition on the extracted facial image to determine a face Image characterization of animal identification information.

在一些实施例中，信息确定单元还包括：数量确定模块，被配置成确定该圈舍内动物的数量；和/或体重确定模块，被配置成确定该圈舍内动物的体重。In some embodiments, the information determination unit further includes: a quantity determination module configured to determine the number of animals in the pen; and / or a weight determination module configured to determine the weight of the animals in the pen.

在一些实施例中，巡检车设置有充电电源，预设轨道设置有充电设备；以及装置还包括：充电单元，被配置成响应于检测到巡检车移动到充电设备，连接充电设备以对充电电源进行充电。In some embodiments, the inspection vehicle is provided with a charging power source, and the preset track is provided with a charging device; and the device further includes: a charging unit configured to respond to detecting that the inspection vehicle moves to the charging device, and connecting the charging device to The charging power source is used for charging.

在一些实施例中，预设轨道包括两个端部；以及装置还包括：方向改变单元，被配置成响应于检测到巡检车移动到预设轨道的其中一个端部，改变巡检车的移动方向，使巡检车朝向预设轨道的另一端部移动。In some embodiments, the preset track includes two ends; and the device further includes: a direction changing unit configured to change the inspection vehicle in response to detecting that the inspection vehicle moves to one of the ends of the preset track The moving direction moves the inspection vehicle toward the other end of the preset track.

第三方面，本申请实施例提供了一种巡检车，包括：一个或多个处理器；存储装置，其上存储有一个或多个程序；传感器，用于检测感应元件；摄像头，用于采集图像；当一个或多个程序被一个或多个处理器执行，使得一个或多个处理器实现如第一方面中任一实现方式描述的方法。In a third aspect, an embodiment of the present application provides an inspection vehicle, including: one or more processors; a storage device storing one or more programs thereon; a sensor for detecting a sensing element; a camera for Acquire images; when one or more programs are executed by one or more processors, causing the one or more processors to implement the method as described in any implementation of the first aspect.

第四方面，本申请实施例提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如第一方面中任一实现方式描述的方法。In a fourth aspect, an embodiment of the present application provides a computer-readable medium having stored thereon a computer program that, when executed by a processor, implements the method as described in any implementation manner of the first aspect.

本申请实施例提供的用于巡检车的巡检方法和装置，通过沿设置有感应元件的预设轨道移动巡检车，然后在巡检车移动期间以预设时间间隔检测感应元件，最后在检测到感应元件时暂停移动巡检车以及对感应元件预设位置处的圈舍进行图像采集，从而降低了巡检成本，提高了巡检效率。The inspection method and device for inspection vehicles provided in the embodiments of the present application move the inspection vehicle along a preset track provided with an induction element, and then detect the induction elements at preset time intervals during the inspection vehicle movement, and finally When the sensing element is detected, the mobile inspection vehicle is suspended and image acquisition is performed on the enclosure at the preset position of the sensing element, thereby reducing the inspection cost and improving the inspection efficiency.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

图1是本申请的一个实施例可以应用于其中的示例性***架构图；FIG. 1 is an exemplary system architecture diagram to which an embodiment of the present application can be applied; FIG.

图2是根据本申请的用于巡检车的巡检方法的一个实施例的流程图；2 is a flowchart of an embodiment of an inspection method for an inspection vehicle according to the present application;

图3是根据本申请的用于巡检车的巡检方法的一个应用场景的示意图；3 is a schematic diagram of an application scenario of an inspection method for an inspection vehicle according to the present application;

图4是根据本申请的用于巡检车的巡检方法的另一实施例的流程图；4 is a flowchart of another embodiment of an inspection method for an inspection vehicle according to the present application;

图5是根据本申请的用于巡检车的巡检装置的一个实施例的结构示意图；5 is a schematic structural diagram of an embodiment of an inspection device for an inspection vehicle according to the present application;

图6是适于用来实现本申请实施例的巡检车的硬件结构示意图。FIG. 6 is a schematic diagram of a hardware structure suitable for implementing an inspection vehicle according to an embodiment of the present application.

具体实施方式detailed description

下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。The following describes the present application in detail with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The application will be described in detail below with reference to the drawings and embodiments.

图1示出了可以应用本申请的用于巡检车的巡检方法或用于巡检车的巡检装置的实施例的示例性***架构。FIG. 1 illustrates an exemplary system architecture of an embodiment of an inspection method for an inspection vehicle or an inspection device for an inspection vehicle to which the present application can be applied.

如图1所示，***架构可以包括巡检车11和轨道12。As shown in FIG. 1, the system architecture may include an inspection vehicle 11 and a track 12.

轨道12可以是能够提供巡检车11移动路线的设备。轨道12可以穿过或经过需要定期巡检的若干圈舍。轨道12上可以设置有感应元件121，感应元件121用于定位圈舍的位置。The track 12 may be a device capable of providing a moving route of the inspection vehicle 11. The track 12 can pass through or pass through a number of sheds that require regular inspections. The track 12 may be provided with a sensing element 121, and the sensing element 121 is used for positioning the housing.

巡检车11可以是能够在轨道12上移动的巡检设备。例如，巡检设备可以是轨道小车、轨道机器人等电子设备。巡检车11上可以安装摄像头111和传感器112。巡检车11可以在轨道12上移动。在巡检车11移动期间，巡检车11可以通过传感器112检测轨道12上的感应元件121。在检测到感应元件121后，巡检车11可以暂停移动，并通过摄像头111对圈舍进行图像采集。The inspection vehicle 11 may be an inspection device capable of moving on the track 12. For example, the inspection equipment may be an electronic device such as a rail car, a rail robot, and the like. A camera 111 and a sensor 112 may be installed on the inspection vehicle 11. The inspection vehicle 11 can move on the track 12. While the inspection vehicle 11 is moving, the inspection vehicle 11 can detect the sensing element 121 on the track 12 through the sensor 112. After the sensing element 121 is detected, the inspection vehicle 11 may temporarily stop moving, and perform image acquisition on the enclosure through the camera 111.

需要说明的是，本申请实施例所提供的用于巡检车的巡检方法一般由巡检车11执行，相应地，用于巡检车的巡检装置一般设置于巡检车11中。It should be noted that the inspection method for the inspection vehicle provided by the embodiment of the present application is generally executed by the inspection vehicle 11. Accordingly, the inspection device for the inspection vehicle is generally disposed in the inspection vehicle 11.

应该理解，图1中的巡检车、图像采集设备、传感器和轨道的数目仅仅是示意性的。根据实现需要，可以具有任意合适数目的巡检车、图像采集设备、传感器和轨道。It should be understood that the numbers of inspection vehicles, image acquisition equipment, sensors, and tracks in FIG. 1 are only schematic. There can be any suitable number of inspection vehicles, image acquisition equipment, sensors and tracks according to implementation needs.

继续参考图2，示出了根据本申请的用于巡检车的巡检方法的一个实施例的流程200。该用于巡检车的巡检方法，包括以下步骤：With continued reference to FIG. 2, a flowchart 200 of an embodiment of the inspection method for an inspection vehicle according to the present application is shown. The inspection method for an inspection vehicle includes the following steps:

步骤201，沿预设轨道移动巡检车。Step 201: Move the inspection vehicle along a preset track.

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以沿预设轨道移动。其中，预设轨道上可以设置有感应元件。相对于感应元件的预设位置处可以设置有用于圈养动物的圈舍。这里，预设轨道可以是根据养殖场的圈舍排布设置的轨道。例如，预设轨道可以经过养殖场的各个圈舍。In this embodiment, an execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) can move along a preset track. Wherein, a sensing element may be provided on the preset track. A pen for captive animals may be provided at a preset position relative to the sensing element. Here, the preset track may be a track set according to the arrangement of the pens in the farm. For example, the preset track can pass through various pens in the farm.

另外，根据养殖场中圈舍的种类(例如，猪舍、牛舍、羊舍等，或配怀舍、育肥舍、妊娠舍等)和数量，可以设置多条轨道。例如，一条轨道经过猪舍，而另一条轨道经过牛舍。再例如，一条轨道经过配怀舍，而另一条轨道经过育肥舍。In addition, multiple tracks can be set according to the type of pen in the farm (for example, pig pen, cow pen, sheep pen, etc., or maternity pen, fattening pen, pregnancy pen, etc.) and number. For example, one track passes through a pig pen, and another track passes through a cow pen. As another example, one track goes through a breeding house and the other track goes through a fattening house.

这里，预设轨道可以具有各种合适的形状。例如预设轨道可以为U型轨道、直线型轨道等等。本领域的技术人员可以根据养殖场中圈舍的结构(例如，圈舍中栏位的尺寸、数量以及料线的铺设等)设置任意合适的轨道形状，本申请对此不作具体限定。Here, the preset track may have various suitable shapes. For example, the preset track may be a U-shaped track, a linear track, and the like. Those skilled in the art can set any suitable track shape according to the structure of the pen in the farm (for example, the size and number of the fields in the pen and the laying of the material line, etc.), which is not specifically limited in this application.

在本实施例的一些可选的实现方式中，预设轨道可以从圈舍上方穿过圈舍，感应元件可以位于圈舍的上方。作为示例，预设轨道可以对称地穿过圈舍，感应元件设置于圈舍的正上方的中心位置处。In some optional implementations of this embodiment, the preset track can pass through the enclosure from above the enclosure, and the sensing element may be located above the enclosure. As an example, the preset track may pass symmetrically through the enclosure, and the sensing element is disposed at a center position directly above the enclosure.

应当理解，预设轨道也可以不从圈舍中穿过，例如，从圈舍旁边经过。It should be understood that the preset track may not pass through the pen, for example, passing by the pen.

步骤202，在巡检车移动期间，以预设时间间隔检测感应元件。In step 202, during the movement of the inspection vehicle, the sensing element is detected at a preset time interval.

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以在巡检车移动期间，以预设的时间间隔(例如1s、5s、10s等)检测预设轨道上的感应元件。这里，感应元件可以是能够在预设距离内被传感器感应到的元件。In this embodiment, an execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) may be at a preset time interval (for example, 1s, 5s) during the movement of the inspection vehicle. , 10s, etc.) to detect the sensing element on the preset track. Here, the sensing element may be an element capable of being sensed by a sensor within a preset distance.

步骤203，响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。In step 203, in response to detecting the sensing element, the mobile inspection vehicle is suspended and image acquisition is performed on the enclosure to obtain the enclosure image.

在本实施例中，若检测到感应元件，则表示巡检车移动到了相对于圈舍的预设位置处。此时，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以暂停巡检车的移动，然后对相对于该感应元件的预设位置处的圈舍(即，当前被巡检的圈舍)进行图像采集，获取采集的圈舍图像。这里，对圈舍进行图像采集可以包括对圈舍进行拍照和/或录像预定时间(例如，10s)。In this embodiment, if a sensing element is detected, it indicates that the inspection vehicle has moved to a preset position relative to the enclosure. At this time, the execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) may suspend the movement of the inspection vehicle, and then adjust the circle at a preset position relative to the sensing element. The house (that is, the house currently being inspected) performs image acquisition, and acquires the collected house image. Here, performing image collection on the enclosure may include photographing and / or recording the enclosure for a predetermined time (for example, 10 s).

在本实施例的一些可选的实现方式中，感应元件为霍尔元件，巡检车上可以设置有一个或多个霍尔传感器。In some optional implementations of this embodiment, the sensing element is a Hall element, and one or more Hall sensors may be provided on the inspection vehicle.

作为示例，巡检车上安装有霍尔传感器，预设轨道上镶嵌有铁片。当巡检车上的霍尔传感器检测到轨道上的铁片时，在霍尔效应的作用下触发开关，改变磁场，从而可以使巡检车暂停移动。As an example, a hall sensor is installed on the inspection vehicle, and iron plates are inlaid on the preset track. When the Hall sensor on the inspection vehicle detects the iron piece on the track, the switch is triggered under the effect of the Hall effect to change the magnetic field, so that the inspection vehicle can be suspended.

继续参考图3，其示出了根据本申请的用于巡检车的巡检方法的一个应用场景300。在图3的应用场景300中，养猪场包括猪舍331～338，猪舍331～338中圈养有多头猪34。U型轨道31从上方穿过猪舍331～338，U型轨道31上镶嵌有铁片311～318。其中，铁片311位于猪舍331的正上方，铁片312位于猪舍332的正上方，……，铁片318位于猪舍338的正上方。巡检车32从U型轨道31的一个端部开始向另一端部移动，巡检车32上安装有霍尔传感器和摄像头。当巡检车32上的霍尔传感器检测到铁片311时，暂停移动，并控制摄像头对猪舍331进行图像采集。对猪舍331摄像10s之后，巡检车32沿U型轨道31继续移动，直到检测到铁片312后暂停移动，并控制摄像头对猪舍332进行图像采集。以此类推，巡检车32依次对猪舍333～338进行图像采集，从而可以获得猪舍331～338的猪舍图像。Continuing to refer to FIG. 3, it illustrates an application scenario 300 of the inspection method for an inspection vehicle according to the present application. In the application scenario 300 of FIG. 3, the pig farm includes pig houses 331-338, and pigs 331-338 are housed with multiple pigs 34. The U-shaped rail 31 passes through the pig houses 331-338 from above, and the U-shaped rail 31 is inlaid with iron pieces 311-318. Among them, the iron plate 311 is located directly above the pig house 331, the iron plate 312 is located directly above the pig house 332, ..., and the iron plate 318 is located directly above the pig house 338. The inspection vehicle 32 moves from one end of the U-shaped rail 31 to the other end, and a hall sensor and a camera are installed on the inspection vehicle 32. When the hall sensor on the inspection vehicle 32 detects the iron piece 311, the movement is suspended, and the camera is controlled to collect images of the pig house 331. After the pighouse 331 is photographed for 10 seconds, the inspection vehicle 32 continues to move along the U-shaped track 31 until it stops moving after detecting the iron piece 312, and controls the camera to collect images of the pighouse 332. By analogy, the inspection vehicle 32 sequentially acquires images of pig houses 333-338, so that pig house images of pig houses 331-338 can be obtained.

本申请的上述实施例提供的用于巡检车的巡检方法，通过沿设置有感应元件的预设轨道移动巡检车，然后在巡检车移动期间以预设时间间隔检测感应元件，最后在检测到感应元件时暂停移动巡检车以及对感应元件预设位置处的圈舍进行图像采集，从而降低了巡检成本，提高了巡检效率。The inspection method for an inspection vehicle provided by the above embodiments of the present application includes moving the inspection vehicle along a preset track provided with an induction element, and then detecting the induction element at preset time intervals during the inspection vehicle movement, and finally When the sensing element is detected, the mobile inspection vehicle is suspended and image acquisition is performed on the enclosure at the preset position of the sensing element, thereby reducing the inspection cost and improving the inspection efficiency.

进一步参考图4，其示出了根据本申请的用于巡检车的巡检方法的另一实施例的流程400。该用于巡检车的巡检方法，可以包括以下步骤：Further reference is made to FIG. 4, which illustrates a flow 400 of another embodiment of the inspection method for an inspection vehicle according to the present application. The inspection method for an inspection vehicle may include the following steps:

步骤401，沿预设轨道移动巡检车。Step 401: Move the inspection vehicle along a preset track.

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以沿预设轨道移动。其中，预设轨道上可以设置有感应元件。相对于感应元件的预设位置处可以设置有用于圈养动物的圈舍。这里，预设轨道可以是根据养殖场的圈舍排布设置的轨道。例如，预设轨道可以经过养殖场的各个圈舍。In this embodiment, an execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) can move along a preset track. Wherein, a sensing element may be provided on the preset track. A pen may be provided at a preset position relative to the sensing element for captive animals. Here, the preset track may be a track set according to the arrangement of the pens in the farm. For example, the preset track can pass through various pens in the farm.

步骤402，在巡检车移动期间，以预设时间间隔检测感应元件。In step 402, the sensing element is detected at a preset time interval during the movement of the inspection vehicle.

步骤403，响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。In step 403, in response to detecting the sensing element, the mobile inspection vehicle is suspended and image acquisition is performed on the enclosure to obtain the enclosure image.

步骤404，响应于检测到圈舍图像中包含动物图像，从圈舍图像中提取动物图像。In step 404, in response to detecting that the animal image is contained in the shed image, an animal image is extracted from the shed image.

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以检测步骤403采集到的圈舍图像中是否包含动物图像。若检测到圈舍图像中包含动物图像(即，圈舍中有动物)，则可以从圈舍图像中提取动物图像。作为示例，圈舍图像中包含三个动物图像，则可以从圈舍图像中提取该三个动物图像。In this embodiment, an execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) may detect whether an animal image is included in the enclosure image collected in step 403. If it is detected that the enclosure image contains an animal image (that is, there are animals in the enclosure), the animal image may be extracted from the enclosure image. As an example, if the enclosure image contains three animal images, the three animal images can be extracted from the enclosure image.

步骤405，基于所提取的动物图像，确定圈舍内动物的成长信息。Step 405: Determine the growth information of the animals in the pen based on the extracted animal images.

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以对所提取的动物图像进行分析处理，来确定圈舍内动物的成长信息。这里，动物的成长信息可以包括但不限于：动物的标识、数量、预估体重、皮毛情况、膘情状况等。In this embodiment, the execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) may analyze and process the extracted animal images to determine the growth of the animals in the pen. information. Here, the animal growth information may include, but is not limited to, the animal's identification, number, estimated weight, fur condition, and condition.

在本实施例的一些可选的实现方式中，动物图像可以包括动物的面部图像。在此情形下，步骤405可以包括：首先从动物图像中提取动物的面部图像，然后对提取的面部图像进行面部识别，确定该面部图像表征的动物的标识。In some optional implementation manners of this embodiment, the animal image may include a facial image of the animal. In this case, step 405 may include: first extracting a facial image of the animal from the animal image, and then performing face recognition on the extracted facial image to determine the identification of the animal represented by the facial image.

可选地，对面部图像进行面部识别，确定该面部图像表征的动物的标识可以包括：将面部图像输入到预先训练的面部识别模型中，得到该面部图像表征的动物的标识。其中，面部识别模型可以用于表征面部图像与动物的标识之间的对应关系。作为示例，面部识别模型可以是人工神经网络，例如卷积神经网络、循环神经网络等模型。Optionally, performing facial recognition on the facial image and determining the identification of the animal represented by the facial image may include: inputting the facial image into a pre-trained facial recognition model to obtain the identification of the animal represented by the facial image. The facial recognition model can be used to characterize the correspondence between facial images and animal identifications. As an example, the facial recognition model may be an artificial neural network, such as a model such as a convolutional neural network, a recurrent neural network, or the like.

在本实施例的一些可选的实现方式中，步骤405还可以包括：基于所提取的动物图像，确定圈舍内动物的数量和/或动物的体重。In some optional implementations of this embodiment, step 405 may further include: determining the number of animals in the pen and / or the weight of the animals based on the extracted animal images.

可选地，圈舍内动物的数量可以由动物图像的数量确定，或者直接对动物图像进行图像识别来确定动物的数量。Optionally, the number of animals in the pen can be determined by the number of animal images, or the number of animals can be determined by directly performing image recognition on the animal images.

可选地，动物的体重可以通过如下方式确定：从所提取的动物图像中提取动物的体尺参数；基于动物的体尺参数与动物体重之间的对应关系确定动物的体重。其中，动物的体尺参数可以包括以下至少一种：体长、体高、体宽、胸围、腹围、投影面积和侧视面积等。Alternatively, the weight of the animal may be determined by: extracting the body size parameters of the animal from the extracted animal image; and determining the weight of the animal based on the correspondence between the body size parameters of the animal and the weight of the animal. The body size parameters of the animal may include at least one of the following: body length, body height, body width, chest circumference, abdominal circumference, projected area, and side-view area.

在一些示例中，可以从所提取的动物图像中提取动物的投影面积(俯视方向)，并基于预先拟合的体重与投影面积之间的对应关系确定动物的体重。In some examples, the projected area (top view direction) of the animal may be extracted from the extracted animal image, and the weight of the animal may be determined based on the correspondence between the pre-fitted weight and the projected area.

在另一些示例中，可以从所提取的动物图像中提取动物的投影面积和体高，并基于预先拟合的体重与投影面积(俯视方向)、体高之间的对应关系确定动物的体重。In other examples, the projected area and body height of the animal may be extracted from the extracted animal image, and the weight of the animal may be determined based on the correspondence between the pre-fitted body weight and the projected area (view direction) and body height.

另外，还可以通过其他适合的方式来确定动物的体重，本申请对此不作具体限定。In addition, the weight of the animal can also be determined by other suitable methods, which is not specifically limited in this application.

步骤406，若确定出的成长信息超出预设范围，发送预警信息 Step 406, if the determined growth information exceeds a preset range, send an early warning message

在本实施例中，用于巡检车的巡检方法的执行主体(例如，图1所示的巡检车11)可以将确定出的成长信息与预设的成长信息范围进行比较，若确定出的成长信息超出预设范围，则可以发送预警信息。例如，若确定出圈舍内的猪只数量小于预设数量，则可以向猪场管理***发送“猪只数量不足”的预警信息。In this embodiment, an execution subject of the inspection method for the inspection vehicle (for example, the inspection vehicle 11 shown in FIG. 1) may compare the determined growth information with a preset growth information range. If the growth information is out of the preset range, you can send early warning information. For example, if it is determined that the number of pigs in the pen is less than a preset number, a warning message of "lack of pigs" may be sent to the pig farm management system.

在本实施例的一些可选的实现方式中，巡检车可以包括封装组件。其中，封装组件可以包括防水、防腐蚀、耐啃咬的材料。由于养殖场环境复杂(例如，蚊虫多、湿度大等)，采用具有高可靠性的封装组件可以保证巡检车的可靠性，并使巡检车在移动过程中不受蚊虫以及排泄物的影响。In some optional implementations of this embodiment, the inspection vehicle may include a package component. The packaging component may include a material that is waterproof, corrosion-resistant, and resistant to biting. Due to the complex environment of the farm (for example, there are many mosquitoes, high humidity, etc.), the use of highly reliable packaging components can ensure the reliability of the inspection vehicle and make the inspection vehicle free from mosquitoes and excreta during its movement. .

在本实施例的一些可选的实现方式中，预设轨道包括高分子工程塑料。例如，玻璃钢、铝合金等。采用高分子工程塑料制作的轨道强度高、质量轻、承载强，能够满足电力***绝缘、阻燃以及养殖场防水、耐腐蚀等方面的要求。In some optional implementations of this embodiment, the preset track includes a polymer engineering plastic. For example, FRP, aluminum alloy, etc. The track made of high-molecular engineering plastics has high strength, light weight, and strong bearing capacity, which can meet the requirements of power system insulation, flame retardancy, and waterproof and corrosion resistance of farms.

在本实施例的一些可选的实现方式中，巡检车通过设置于其上的充电电源供电。预设轨道的特定位置处设置有充电设备。在此情形下，该用于巡检车的巡检方法还可以包括：响应于检测到巡检车移动到充电设备，连接充电设备以对充电电源进行充电。这里，充电电源可以选用低压(例如12V)电源，从而可以避免由于环境潮湿引起火灾。In some optional implementations of this embodiment, the inspection vehicle is powered by a charging power source provided on the inspection vehicle. A charging device is provided at a specific position of the preset track. In this case, the inspection method for an inspection vehicle may further include: in response to detecting that the inspection vehicle moves to a charging device, connecting the charging device to charge the charging power source. Here, the low-voltage (for example, 12V) power source can be used as the charging power source, which can avoid fire caused by the humid environment.

作为示例，预设轨道的端部可以设置有磁片，相对于磁片的预定位置处配置有充电接口。当巡检车上的霍尔传感器感测到轨道端部的磁片时，可以连接充电接口，对充电电池进行充电。该示例中，可以使用与圈舍内的感应元件不同的感应元件来区分预设轨道端部的感应元件，也可以使用与感应圈舍内的感应元件不同的传感器来感测预设轨道端部的感应元件。比如，巡检车左右两侧各设置一个霍尔传感器，左侧的霍尔传感器可以用于检测猪舍内的感应元件，而右侧的霍尔传感器可以用于检测预设轨道端部的感应元件。As an example, the end of the preset track may be provided with a magnetic sheet, and a charging interface is configured at a predetermined position relative to the magnetic sheet. When the Hall sensor on the inspection vehicle senses the magnetic sheet at the end of the track, a charging interface can be connected to charge the rechargeable battery. In this example, a sensing element different from the sensing element in the enclosure can be used to distinguish the sensing element at the end of the preset track, or a sensor different from the sensing element in the sensing enclosure can be used to sense the end of the preset track. Sensing element. For example, a hall sensor is provided on each of the left and right sides of the inspection vehicle. The hall sensors on the left can be used to detect the sensing elements in the pig house, while the hall sensors on the right can be used to detect the induction on the end of the preset track. element.

在本实施例的一些可选的实现方式中，巡检车上设置有多路可选的供电***。用户可以根据实际需要选择合适的供电方式。In some optional implementations of this embodiment, the inspection vehicle is provided with multiple optional power supply systems. Users can choose the appropriate power supply mode according to actual needs.

在本实施例的一些可选的实现方式中，预设轨道包括两个端部。该用于巡检车的巡检方法还可以包括：响应于检测到巡检车移动到预设轨道的其中一个端部，改变巡检车的移动方向，使巡检车朝向预设轨道的另一端部移动。这样，可以实现不间断地巡检，而不需要人工参与。In some optional implementations of this embodiment, the preset track includes two ends. The inspection method for an inspection vehicle may further include: in response to detecting that the inspection vehicle moves to one end of the preset track, changing the moving direction of the inspection vehicle so that the inspection vehicle faces another one of the preset track. One end moves. In this way, uninterrupted inspections can be achieved without manual involvement.

从图4中可以看出，与图2对应的实施例相比，本实施例中的用于巡检车的巡检方法的流程400突出了确定圈舍内动物成长信息的步骤。由此，本实施例描述的方案可以更准确地监测动物的成长状况，从而实现对圈舍更有效的监测。As can be seen from FIG. 4, compared with the embodiment corresponding to FIG. 2, the process 400 of the inspection method for an inspection vehicle in this embodiment highlights the steps of determining the animal growth information in the pen. Therefore, the solution described in this embodiment can more accurately monitor the growth status of animals, thereby achieving more effective monitoring of pens.

进一步参考图5，作为对上述各图所示方法的实现，本申请提供了一种用于巡检车的巡检装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于巡检车中。Further referring to FIG. 5, as an implementation of the methods shown in the foregoing figures, this application provides an embodiment of an inspection device for an inspection vehicle, which is similar to the method embodiment shown in FIG. 2. Correspondingly, the device can be specifically applied to inspection vehicles.

如图5所示，本实施例的用于巡检车的巡检装置500包括移动单元501、元件检测单元502和图像采集单元503。其中，移动单元501被配置成沿预设轨道移动巡检车，预设轨道上设置有感应元件，相对于感应元件的预设位置处设置有圈舍；元件检测单元502被配置成在巡检车移动期间，以预设时间间隔检测感应元件；而图像采集单元503被配置成响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。As shown in FIG. 5, the inspection device 500 for an inspection vehicle in this embodiment includes a mobile unit 501, a component detection unit 502, and an image acquisition unit 503. The moving unit 501 is configured to move the inspection vehicle along a preset track. A sensing element is provided on the preset track, and a pen is provided at a preset position relative to the sensing element. The component detection unit 502 is configured to perform inspection During the movement of the vehicle, the sensing element is detected at preset time intervals; and the image acquisition unit 503 is configured to, in response to detecting the sensing element, suspend the mobile inspection vehicle and perform image acquisition on the enclosure to obtain the enclosure image.

在本实施例中，用于巡检车的巡检装置500的上述移动单元501可以沿预设轨道移动巡检车。其中，预设轨道上可以设置有感应元件。相对于感应元件的预设位置处可以设置有用于圈养动物的圈舍。这里，预设轨道可以是根据养殖场的圈舍排布设置的轨道。例如，预设轨道可以经过养殖场的各个圈舍。In this embodiment, the above-mentioned moving unit 501 of the inspection device 500 for an inspection vehicle may move the inspection vehicle along a preset track. Wherein, a sensing element may be provided on the preset track. A pen may be provided at a preset position relative to the sensing element for captive animals. Here, the preset track may be a track set according to the arrangement of the pens in the farm. For example, the preset track can pass through various pens in the farm.

在本实施例中，上述元件检测单元502可以在巡检车移动期间，以预设的时间间隔(例如1s、5s、10s等)检测预设轨道上的感应元件。这里，感应元件可以是能够在预设距离内被传感器感应到的元件。In this embodiment, the above-mentioned component detection unit 502 may detect a sensing component on a preset track at a preset time interval (for example, 1s, 5s, 10s, etc.) during the inspection vehicle movement. Here, the sensing element may be an element capable of being sensed by a sensor within a preset distance.

在本实施例中，若检测到感应元件，则表示巡检车移动到了相对于圈舍的预设位置处。此时，上述图像采集单元503可以暂停巡检车的移动，然后对相对于该感应元件的预设位置处的圈舍(即，当前被巡检的圈舍)进行图像采集，获取采集的圈舍图像。这里，对圈舍进行图像采集可以包括对圈舍进行拍照和/或录像预定时间(例如，10s)。In this embodiment, if a sensing element is detected, it indicates that the inspection vehicle has moved to a preset position relative to the enclosure. At this time, the above-mentioned image acquisition unit 503 may suspend the movement of the inspection vehicle, and then perform image acquisition on the circle at a preset position relative to the sensing element (that is, the circle currently being inspected) to obtain the collected circle Home image. Here, performing image collection on the enclosure may include photographing and / or recording the enclosure for a predetermined time (for example, 10 s).

在本实施例的一些可选的实现方式中，该装置500还可以包括图像提取单元、信息确定单元和预警单元。其中，图像提取单元被配置成响应于检测到圈舍图像中包含动物图像，从圈舍图像中提取动物图像；信息确定单元被配置成基于所提取的动物图像，确定圈舍内动物的成长信息；而预警单元被配置成若确定出的成长信息超出预设范围，发送预警信息。In some optional implementations of this embodiment, the apparatus 500 may further include an image extraction unit, an information determination unit, and an early warning unit. The image extraction unit is configured to extract an animal image from the enclosure image in response to detecting that the enclosure image contains an animal image; the information determination unit is configured to determine the growth information of the animal in the enclosure based on the extracted animal image. ; And the early warning unit is configured to send early warning information if the determined growth information exceeds a preset range.

上述图像提取单元可以检测上述图像采集单元503采集到的圈舍图像中是否包含动物图像。若检测到圈舍图像中包含动物图像(即，圈舍中有动物)，则可以从圈舍图像中提取动物图像。作为示例，圈舍图像中包含三个动物图像，则可以从圈舍图像中提取该三个动物图像。The image extraction unit may detect whether an animal image is included in the enclosure image collected by the image acquisition unit 503. If it is detected that the enclosure image contains an animal image (that is, there are animals in the enclosure), the animal image may be extracted from the enclosure image. As an example, if the enclosure image contains three animal images, the three animal images can be extracted from the enclosure image.

上述信息确定单元可以对所提取的动物图像进行分析处理，来确定圈舍内动物的成长信息。这里，动物的成长信息可以包括但不限于：动物的标识、数量、预估体重、皮毛情况、膘情状况等。The information determining unit may perform analysis processing on the extracted animal image to determine the growth information of the animal in the pen. Here, the animal growth information may include, but is not limited to, the animal's identification, number, estimated weight, fur condition, and condition.

可选地，动物图像可以包括动物的面部图像。上述信息确定单元可以包括面部图像提取模块和面部识别模块。其中，面部图像提取模块被配置成从所提取的动物图像中提取动物的面部图像；面部识别模块被配置成对提取的面部图像进行面部识别，确定面部图像表征的动物的标识信息。Alternatively, the animal image may include a facial image of the animal. The above-mentioned information determination unit may include a face image extraction module and a face recognition module. The facial image extraction module is configured to extract a facial image of an animal from the extracted animal image; the facial recognition module is configured to perform facial recognition on the extracted facial image to determine identification information of the animal represented by the facial image.

可选地，上述信息确定单元可以包括数量确定模块和/或体重确定模块。其中，数量确定模块被配置成确定该圈舍内动物的数量；体重确定模块被配置成确定该圈舍内动物的体重。Optionally, the information determining unit may include a quantity determining module and / or a weight determining module. The number determination module is configured to determine the number of animals in the pen; the weight determination module is configured to determine the weight of the animals in the pen.

上述预警单元可以将确定出的成长信息与预设的成长信息范围进行比较，若确定出的成长信息超出预设范围，则可以发送预警信息。例如，若确定出圈舍内的猪只数量小于预设数量，则可以向猪场管理***发送“猪只数量不足”的预警信息。The above-mentioned early warning unit may compare the determined growth information with a preset range of growth information, and if the determined growth information exceeds the preset range, it may send early warning information. For example, if it is determined that the number of pigs in the pen is less than a preset number, a warning message of "lack of pigs" may be sent to the pig farm management system.

可选地，上述信息确定单元还可以基于圈舍图像确定动物的健康信息和/或圈舍的环境信息。上述预警单元还可以将确定出的健康信息和/或环境信息与预设的健康信息和/或环境信息进行比较，若确定出的健康信息和/或环境信息超出预设范围，则可以发送预警信息。例如，若确定出圈舍内的猪只萎靡不振、发病、分娩等，则可以向猪场管理***发送猪只生病、分娩等的预警信息。若确定出圈舍内的温度、湿度、通风、有害气体等超出正常范围，则可以向猪场管理***发送猪舍环境异常的预警信息。Optionally, the information determining unit may further determine animal health information and / or environmental information of the pen based on the pen image. The above-mentioned early warning unit may also compare the determined health information and / or environmental information with preset health information and / or environmental information. If the determined health information and / or environmental information exceeds a preset range, an early warning may be sent. information. For example, if it is determined that the pigs in the pen are sluggish, ill, giving birth, etc., the pig farm management system can be sent warning information about the pigs being sick, giving birth, etc. If it is determined that the temperature, humidity, ventilation, harmful gases, etc. in the pen are outside the normal range, the pig farm management system can be sent early warning information of the abnormality of the pig house environment.

在本实施例的一些可选的实现方式中，巡检车可以包括封装组件。其中，封装组件可以包括防水、防腐蚀、耐啃咬的材料。由于养殖场环境复杂(例如，蚊虫多、湿度大等)，采用具有高可靠性的封装组件可以保证巡检车的可靠性，并使巡检车在移动过程中不受蚊虫以及***物的影响。In some optional implementations of this embodiment, the inspection vehicle may include a package component. The packaging component may include a material that is waterproof, corrosion-resistant, and resistant to biting. Due to the complex environment of the farm (for example, there are many mosquitoes, high humidity, etc.), the use of highly reliable packaging components can ensure the reliability of the inspection vehicle and make the inspection vehicle free from mosquitoes and excreta during its movement. .

在本实施例的一些可选的实现方式中，巡检车通过设置于其上的充电电源供电。预设轨道的特定位置处设置有充电设备。装置500还可以包括充电单元。其中，充电单元可以响应于检测到巡检车移动到充电设备，连接充电设备以对充电电源进行充电。这里，充电电源可以选用低压(例如12V)电源，从而可以避免由于环境潮湿引起火灾。In some optional implementations of this embodiment, the inspection vehicle is powered by a charging power source provided on the inspection vehicle. A charging device is provided at a specific position of the preset track. The device 500 may further include a charging unit. The charging unit may be connected to the charging device to charge the charging power source in response to detecting that the inspection vehicle moves to the charging device. Here, the low-voltage (for example, 12V) power source can be used as the charging power source, which can avoid fire caused by the humid environment.

在本实施例的一些可选的实现方式中，巡检车上设置有多路可选的供电***。In some optional implementations of this embodiment, the inspection vehicle is provided with multiple optional power supply systems.

在本实施例的一些可选的实现方式中，预设轨道包括两个端部。该装置500还可以包括方向改变单元。其中，方向改变单元可以响应于检测到巡检车移动到预设轨道的其中一个端部，改变巡检车的移动方向，使巡检车朝向预设轨道的另一端部移动。这样，可以实现不间断地巡检，而不需要人工参与。In some optional implementations of this embodiment, the preset track includes two ends. The apparatus 500 may further include a direction changing unit. The direction changing unit may change the moving direction of the inspection vehicle in response to detecting that the inspection vehicle moves to one end of the preset track, so that the inspection vehicle moves toward the other end of the preset track. In this way, uninterrupted inspections can be achieved without manual involvement.

本申请的上述实施例提供的用于巡检车的巡检装置，通过沿设置有感应元件的预设轨道移动巡检车，然后在巡检车移动期间以预设时间间隔检测感应元件，最后在检测到感应元件时暂停移动巡检车以及对感应元件预设位置处的圈舍进行图像采集，从而降低了巡检成本，提高了巡检效率。The inspection device for inspection vehicles provided by the above embodiments of the present application moves the inspection vehicle along a preset track provided with an induction element, and then detects the induction elements at preset time intervals during the inspection vehicle movement, and finally When the sensing element is detected, the mobile inspection vehicle is suspended and image acquisition is performed on the enclosure at the preset position of the sensing element, thereby reducing the inspection cost and improving the inspection efficiency.

下面参考图6，其示出了适于用来实现本申请实施例的巡检车600(例如图1所示的巡检车11)的硬件结构示意图。图6示出的巡检车仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。Referring to FIG. 6, a schematic diagram of a hardware structure of an inspection vehicle 600 (such as the inspection vehicle 11 shown in FIG. 1) suitable for implementing the embodiment of the present application is shown. The inspection vehicle shown in FIG. 6 is only an example, and should not impose any limitation on the functions and application scope of the embodiments of the present application.

如图6所示，巡检车600可以包括一个或多个中央处理单元(CPU)601、存储器602和输入单元603。其中，CPU 601、存储器602以及输入单元603通过总线604彼此相连。在此，根据本申请实施例的方法可以被实现为计算机程序，并且存储在存储器602中。巡检车中的CPU 601通过调用存储器602中存储的上述计算机程序，来具体实现本申请实施例的方法中限定的巡检功能。在一些实现方式中，输入单元603可以包括传感器、摄像头等设备。由此，CPU 601在调用上述计算机程序执行巡检功能时，可以控制输入单元603中的传感器感测轨道上的感应元件，以及控制输入单元603中的摄像头对感应元件对应位置处的圈舍进行图像采集。As shown in FIG. 6, the inspection vehicle 600 may include one or more central processing units (CPUs) 601, a memory 602, and an input unit 603. Among them, the CPU 601, the memory 602, and the input unit 603 are connected to each other through a bus 604. Here, the method according to the embodiment of the present application may be implemented as a computer program and stored in the memory 602. The CPU 601 in the inspection vehicle calls the computer program stored in the memory 602 to specifically implement the inspection function defined in the method of the embodiment of the present application. In some implementations, the input unit 603 may include a sensor, a camera, and other devices. Therefore, when the CPU 601 calls the above-mentioned computer program to perform the inspection function, the CPU 601 can control the sensors on the track to sense the sensing elements in the input unit 603, and control the camera in the input unit 603 to perform the rounds at the corresponding positions of the sensing elements Image Acquisition.

特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分608从网络上被下载和安装，和/或从可拆卸介质610被安装。在该计算机程序被CPU 601执行时，执行本申请实施例的方法中限定的上述功能。In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a computer-readable medium, the computer program containing program code for performing a method shown in a flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 608, and / or installed from a removable medium 610. When the computer program is executed by the CPU 601, the above functions defined in the method of the embodiment of the present application are executed.

需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the foregoing. The computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programming 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 of the foregoing. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal that is included in baseband or propagated as part of a carrier wave, and which carries computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

可以以一种或多种程序设计语言或其组合来编写用于执行本申请实施例的操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。The computer program code for performing the operations of the embodiments of the present application may be written in one or more programming languages or a combination thereof, and the programming languages include an object-oriented programming language such as Java, Smalltalk, C ++, and also Includes regular procedural programming languages—such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer, partly on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider) Internet connection).

附图中的流程图和框图，图示了按照本申请各种实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart 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 the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, which contains one or more functions to implement a specified logical function Executable instructions. It should also be noted that in some alternative implementations, the functions noted in the blocks may also occur in a different order than those marked in the drawings. For example, two successively represented boxes may actually be executed substantially in parallel, and they may sometimes be executed in the 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 by a dedicated hardware-based system that performs the specified function or operation , Or it can be implemented with a combination of dedicated hardware and computer instructions.

描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括移动单元、元件检测单元和图像采集单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，移动单元还可以被描述为“沿预设轨道移动的单元”。The units described in the embodiments of the present application may be implemented by software or hardware. The described unit may also be provided in a processor, for example, it may be described as: a processor includes a mobile unit, a component detection unit, and an image acquisition unit. Among them, the names of these units do not constitute a limitation on the unit itself in some cases. For example, a mobile unit can also be described as a “unit moving along a preset track”.

作为另一方面，本申请还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的装置中所包含的；也可以是单独存在，而未装配入该装置中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该装置执行时，使得该装置：沿预设轨道移动巡检车，预设轨道上设置有感应元件，相对于感应元件的预设位置处设置有圈舍；在巡检车移动期间，以预设时间间隔检测感应元件；响应于检测到感应元件，暂停移动巡检车以及对圈舍进行图像采集以获取圈舍图像。As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the foregoing embodiments; or may exist alone without being assembled into the device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the device, the device is caused to move the inspection vehicle along a preset track, and a sensing element is provided on the preset track. A circle is set at a preset position of the sensing element; the sensing element is detected at a preset time interval during the inspection vehicle movement; in response to detecting the sensing element, the mobile inspection vehicle is suspended and image acquisition is performed on the circle to obtain a circle Home image.

以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution of the specific combination of the above technical features, but it should also cover the above technical features or Other technical solutions formed by arbitrarily combining their equivalent features. For example, a technical solution formed by replacing the above features with technical features disclosed in the present application (but not limited to) with similar functions.

Claims

一种用于巡检车的巡检方法，包括：An inspection method for an inspection vehicle includes:

沿预设轨道移动所述巡检车，所述预设轨道上设置有感应元件，相对于所述感应元件的预设位置处设置有圈舍；Moving the inspection vehicle along a preset track, the preset track is provided with a sensing element, and a pen is set at a preset position relative to the sensing element;

在所述巡检车移动期间，以预设时间间隔检测所述感应元件；Detecting the sensing element at a preset time interval during the inspection vehicle movement;

响应于检测到所述感应元件，暂停移动所述巡检车以及对所述圈舍进行图像采集以获取圈舍图像。In response to detecting the inductive element, the inspection vehicle is suspended and image acquisition is performed on the enclosure to obtain an enclosure image.
根据权利要求1所述的方法，其中，所述方法还包括：The method according to claim 1, further comprising:

响应于检测到所述圈舍图像中包含动物图像，从所述圈舍图像中提取动物图像；In response to detecting that the enclosure image contains an animal image, extracting an animal image from the enclosure image;

基于所提取的动物图像，确定所述圈舍内动物的成长信息；Determining the growth information of the animals in the pen based on the extracted animal images;

若确定出的成长信息超出预设范围，发送预警信息。If the determined growth information exceeds the preset range, an early warning message is sent.
根据权利要求2所述的方法，其中，所述基于所提取的动物图像，确定所述圈舍内动物的成长信息，包括：The method according to claim 2, wherein determining the growth information of the animals in the pen based on the extracted animal images comprises:

从所提取的动物图像中提取动物的面部图像；Extracting facial images of animals from the extracted animal images;

对提取的面部图像进行面部识别，确定面部图像表征的动物的标识信息。Perform face recognition on the extracted face image to determine the identification information of the animal represented by the face image.
根据权利要求3所述的方法，其中，所述基于所提取的动物图像，确定所述圈舍内动物的成长信息，还包括：The method according to claim 3, wherein determining the growth information of the animals in the pen based on the extracted animal images further comprises:

确定所述圈舍内动物的数量；和/或Determine the number of animals in the pen; and / or

确定所述圈舍内动物的体重。Determine the weight of the animals in the pen.
根据权利要求1所述的方法，其中，所述巡检车设置有充电电源，所述预设轨道设置有充电设备；以及The method according to claim 1, wherein the inspection vehicle is provided with a charging power source, and the preset track is provided with a charging device; and

所述方法还包括：The method further includes:

响应于检测到所述巡检车移动到所述充电设备，连接所述充电设备以对所述充电电源进行充电。In response to detecting that the inspection vehicle moves to the charging device, the charging device is connected to charge the charging power source.
根据权利要求1所述的方法，其中，所述预设轨道包括两个端部；以及The method of claim 1, wherein the preset track includes two ends; and

所述方法还包括：The method further includes:

响应于检测到所述巡检车移动到所述预设轨道的其中一个端部，改变所述巡检车的移动方向，使所述巡检车朝向所述预设轨道的另一端部移动。In response to detecting that the inspection vehicle moves to one end portion of the preset track, changing a moving direction of the inspection vehicle to move the inspection vehicle toward the other end portion of the preset track.
根据权利要求1所述的方法，其中，所述巡检车设置有霍尔传感器，所述感应元件为霍尔元件。The method according to claim 1, wherein the inspection vehicle is provided with a Hall sensor, and the sensing element is a Hall element.
根据权利要求1所述的方法，其中，所述巡检车包括封装组件，所述封装组件包括防水、防腐蚀、耐啃咬的材料；和/或The method according to claim 1, wherein the inspection vehicle includes a package assembly including a waterproof, corrosion-resistant, and bite-resistant material; and / or

所述预设轨道包括高分子工程塑料。The preset track includes a polymer engineering plastic.
根据权利要求1所述的方法，其中，所述预设轨道从所述圈舍上方穿过所述圈舍，所述感应元件位于所述圈舍的上方。The method according to claim 1, wherein the preset track passes through the pen from above the pen, and the sensing element is located above the pen.
一种用于巡检车的巡检装置，包括：An inspection device for an inspection vehicle includes:

移动单元，被配置成沿预设轨道移动所述巡检车，所述预设轨道上设置有感应元件，相对于所述感应元件的预设位置处设置有圈舍；A moving unit configured to move the inspection vehicle along a preset track, the preset track is provided with a sensing element, and a pen is provided at a preset position relative to the sensing element;

元件检测单元，被配置成在所述巡检车移动期间，以预设时间间隔检测所述感应元件；An element detection unit configured to detect the inductive element at a preset time interval during the movement of the inspection vehicle;

图像采集单元，被配置成响应于检测到所述感应元件，暂停移动所述巡检车以及对所述圈舍进行图像采集以获取圈舍图像。The image acquisition unit is configured to, in response to detecting the sensing element, temporarily stop moving the inspection vehicle and perform image acquisition on the enclosure to obtain an enclosure image.
根据权利要求10所述的装置，其中，所述装置还包括：The apparatus according to claim 10, wherein the apparatus further comprises:

图像提取单元，被配置成响应于检测到所述圈舍图像中包含动物图像，从所述圈舍图像中提取动物图像；An image extraction unit configured to extract an animal image from the enclosure image in response to detecting that the enclosure image includes an animal image;

信息确定单元，被配置成基于所提取的动物图像，确定所述圈舍内动物的成长信息；An information determining unit configured to determine the growth information of the animals in the pen based on the extracted animal images;

预警单元，被配置成若确定出的成长信息超出预设范围，发送预警信息。The early warning unit is configured to send early warning information if the determined growth information exceeds a preset range.
根据权利要求11所述的装置，其中，所述信息确定单元包括：The apparatus according to claim 11, wherein the information determination unit comprises:

面部图像提取模块，被配置成从所提取的动物图像中提取动物的面部图像；A facial image extraction module configured to extract a facial image of an animal from the extracted animal image;

面部识别模块，被配置成对提取的面部图像进行面部识别，确定面部图像表征的动物的标识信息。The face recognition module is configured to perform face recognition on the extracted face image, and determine identification information of an animal represented by the face image.
根据权利要求12所述的装置，其中，所述信息确定单元还包括：The apparatus according to claim 12, wherein the information determination unit further comprises:

数量确定模块，被配置成确定该圈舍内动物的数量；和/或A quantity determination module configured to determine the number of animals in the pen; and / or

体重确定模块，被配置成确定该圈舍内动物的体重。The weight determination module is configured to determine the weight of the animals in the pen.
根据权利要求10所述的装置，其中，所述巡检车设置有充电电源，所述预设轨道设置有充电设备；以及The apparatus according to claim 10, wherein the inspection vehicle is provided with a charging power source, and the preset track is provided with a charging device; and

所述装置还包括：The device further includes:

充电单元，被配置成响应于检测到所述巡检车移动到所述充电设备，连接所述充电设备以对所述充电电源进行充电。A charging unit configured to connect the charging device to charge the charging power source in response to detecting that the inspection vehicle moves to the charging device.
根据权利要求10所述的装置，其中，所述预设轨道包括两个端部；以及The apparatus according to claim 10, wherein the preset track includes two ends; and

所述装置还包括：The device further includes:

方向改变单元，被配置成响应于检测到所述巡检车移动到所述预设轨道的其中一个端部，改变所述巡检车的移动方向，使所述巡检车朝向所述预设轨道的另一端部移动。The direction changing unit is configured to change the moving direction of the inspection vehicle in response to detecting that the inspection vehicle moves to one end of the preset track so that the inspection vehicle faces the preset The other end of the track moves.
根据权利要求10所述的装置，其中，所述巡检车设置有霍尔传感器，所述感应元件为霍尔元件。The device according to claim 10, wherein the inspection vehicle is provided with a Hall sensor, and the sensing element is a Hall element.
根据权利要求10所述的装置，其中，所述巡检车包括封装组件，所述封装组件包括防水、防腐蚀、耐啃咬的材料；和/或The device according to claim 10, wherein the inspection vehicle includes a packaging component including a waterproof, corrosion-resistant, and bite-resistant material; and / or

所述预设轨道包括高分子工程塑料。The preset track includes a polymer engineering plastic.
根据权利要求10所述的装置，其中，所述预设轨道从所述圈舍上方穿过所述圈舍，所述感应元件位于所述圈舍的上方。The apparatus according to claim 10, wherein the preset track passes through the pen from above the pen, and the sensing element is located above the pen.
一种巡检车，包括：An inspection vehicle includes:

一个或多个处理器；One or more processors;

存储装置，其上存储有一个或多个程序；A storage device on which one or more programs are stored;

传感器，用于检测感应元件；Sensors for detecting inductive elements;

摄像头，用于采集图像；Camera for capturing images;

当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-9中任一所述的方法。When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-9.
一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-9中任一所述的方法。A computer-readable medium having stored thereon a computer program, wherein when the program is executed by a processor, the method according to any one of claims 1-9 is implemented.