WO2000011936A1 - An improved apparatus and method for monitoring an animal related volume - Google Patents

An improved apparatus and method for monitoring an animal related volume Download PDF

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Publication number
WO2000011936A1
WO2000011936A1 PCT/SE1999/001492 SE9901492W WO0011936A1 WO 2000011936 A1 WO2000011936 A1 WO 2000011936A1 SE 9901492 W SE9901492 W SE 9901492W WO 0011936 A1 WO0011936 A1 WO 0011936A1
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WO
WIPO (PCT)
Prior art keywords
image
anyone
animal
volume
memory
Prior art date
Application number
PCT/SE1999/001492
Other languages
French (fr)
Inventor
Stephen Robert Lee
Diane Susan Spencer
Michael John Street
Original Assignee
Alfa Laval Agri Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to AU58934/99A priority Critical patent/AU5893499A/en
Publication of WO2000011936A1 publication Critical patent/WO2000011936A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes

Definitions

  • the present invention relates to an apparatus and a method for monitoring an animal related volume, comprising an image capturing device arranged to monitor at least one animal related volume, said image capturing device being associated with a control means.
  • Such an apparatus and such a method are known from WO 97/15901, according to which an injured animal having a bleeding wound is recognised by performing colour analysis, such as Red-Green-Blue (RGB) analysis, of an image captured by a video camera.
  • colour analysis such as Red-Green-Blue (RGB) analysis
  • Colour analysis or contour analysis of an image is useful in cases where the colours or contrasts are distinct. However, in a dirty and sparsely illuminated environment, colours and contours tend to be less distinct and are accordingly more difficult to analyse.
  • an object of the invention to overcome the difficulties of performing analysis of an image captured in an animal related volume.
  • This object has been achieved by an apparatus of the initially defined kind, which is characterised in that said image capturing device is adapted to be directed towards said animal related volume, such as movable stall equipment and/or at least one part of an animal, wherein said control means are adapted to register at least one image of said volume or part of said volume, said image registered at a first point of time stored as reference image in said memory means, said control means being adapted to compare said reference image to a second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image.
  • said reference image represents a defined normal status of the volume, such that any change in a captured image will indicate the possible presence of an added object or an object which has been displaced in regard to the normal status in the monitored volume.
  • the reference image is updated at intervals including storing of the same as a new reference image, thereby creating an image defining a normal status of the volume to be used for a consecutive number of image subtractions.
  • At least one characteristic of said object is stored in said memory as reference, said control means being adapted to compare said stored reference characteristic to a characteristic of said object.
  • identification of said object is made possible.
  • said characteristic is at least one of a colour, a pattern and one or more sets of shapes.
  • different types of analyses are made possible.
  • At least one standard colour content of said object is stored in said memory.
  • a further possibility of identifying said object is provided.
  • possible positions of said object are stored in a memory of the control means, for allowing identification of the real time position thereof.
  • said object is movable stall equipment, such as a gate or a robot arm.
  • movable stall equipment such as a gate or a robot arm.
  • said object is an animal identifiable in real time by said control means.
  • said control means it is possible to establish a position of said animal.
  • a plurality of characteristics of expected objects are stored in said memory.
  • the presence and/or identity and/or position of a plurality of different objects are possible to be established.
  • a plurality of characteristics of known but unexpected objects e.g. human beings, toolboxes etc. are stored in said memory.
  • abnormal events e.g. malfunction of an object, the presence of an animal where it should not be allowed to reside or the presence of a human being or an item not removed after cleaning and/or maintenance.
  • Unknown objects may be detected by failure to match the object with the plurality of expected objects stored in memory. Hereby it is possible to establish e.g. the presence of some object foreign to the system.
  • an image captured by said image capturing device is analysed by contour analysis after.
  • the differential image created by image subtraction i.e. an image registered as a "normal status image” is subtracted from an instantaneous image of the same view or vice versa.
  • a differential image created by said image subtraction from images captured by said image capturing device is analysed by colour (RGB) analysis.
  • a further object of the invention is the tracking of an object in an animal related volume.
  • Fig 1 illustrates the type of environment the invention may be used in comprising an animal related volume including a cow and a gate viewed by an image capturing device.
  • Fig 2 illustrates the use of the apparatus and the method in localising differences i consecutive images.
  • Fig 3 illustrates the use of the apparatus and the method in tracking e.g. an animal.
  • Fig 4 illustrated how differential images may be used in tracking speed of an animal or an object.
  • Fig 1 illustrates a cow in an animal related volume 1, in the form of a gateway la, which is provided with a wall (not shown). Other gateway demarcations have been omitted for clarity reasons.
  • An image capturing device 4a such as a video camera or a digital camera, is pivotally arranged on a wall, a post or the like and is arranged to be directed towards the volume by means of a motor. Both the image capturing device 4a and the motor are associated with a control means (not shown). Alternatively, one or several image capturing devices 4a are mounted in a fixed position and are provided with a wide angle or a zoom lens. Analysis of images captured by the image capturing device 4a are performed by the control means in a known manner, e.g. by colour analyses or contour analysis, by means of which it is possible to establish whether a cow is present in the monitored volume.
  • a gate 5 In front of the cow there is provided a gate 5 with opening/closing means 5a associated with said control means. Closing and opening of the gate 5 prevents or allows the cow to proceed further.
  • a further video camera 4b associated with the control means is arranged to view the gate 5 from above. The gate 5 opening and closing thereof is controlled in response to the image capturing device 4b.
  • an illuminating means 6 such as a halogen lamp, is provided on top of the image capturing devices 4a and 4b. Also the illuminating means 6 is associated with the control means.
  • the viewing direction of the cameras 4a and 4b are substantially the same as the direction of the light from the illuminating means 6. Of course, the illuminating means 6 is only needed if the light conditions are bad.
  • the volume will partly be in the shadow of the cow.
  • further illuminating means 7, such as fluorescent lamps, halogen lamps or traditional light bulbs, above the cow and the gate 5, and if needed associated with the control means.
  • the illuminating means 7 are continuously lit.
  • Fig 2a is shown an image of an animal related volume.
  • the image in Fig 2a as the reference image showing a background 1.
  • the volume in Fig 2a is empty.
  • Fig 2b an animal 2 is seen in the animal related volume.
  • Fig 2c the differential image in which the image in Fig 2a is deducted from the one in Fig 2b.
  • the background may not always be so even as the one presented in this figure, thus making the recognition of animals and objects easier and more definite.
  • Another advantage of the method according to Fig 2 is that no matter how unfit the so called background is for distinguishing purposes The area common to the two images will be cancelled, giving a clearer image to be analysed.
  • Fig 3 a is shown an image of an animal related volume in which an animal is present. Part of the volume can not be seen because the animal conceals part of the volume. The part of the volume seen may be considered the background 1.
  • Fig 2b is shown the animal in a second position partly outside the imaged volume.
  • Fig 2c is shown the differential image in which the background is denoted 1, the animal's first position 2' and the animal's second position 2".
  • the volume denoted 3 is the volume in which part of the animal concealed the background in the first image, but not in the second image.
  • the parts of the volume denoted 4 represents a volume in which the animal was present in both images.
  • Fig 4 is shown how the differential images may be used in tracking speed of an animal or an object.
  • the object in the image Fig 4a has after a certain time reached the position in the image in Fig 2b. Knowing the time difference between the two differential images the speed of movement may be calculated.
  • animal related volume and the surface could be arranged outdoors, rather than in an animal shed.
  • the described apparatus and method are applicable to all animal related volumes where animals to be milked are to be monitored, such as cows, sheep, goats, buffaloes and horses.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Biophysics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Catching Or Destruction (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)

Abstract

The invention concerns an apparatus for monitoring an animal related volume (1, 1a), comprising an image capturing device (4a, 4b) arranged at one or more locations at said animal related volume, said image capturing device being associated with a control means, said control means comprising memory means, characterised in that said image capturing device (4a, 4b) is adapted to be directed towards said animal related volume (1, 1a), wherein said control means are adapted to register at least one image of said volume or part of said volume, said image registered at a first point of time stored as reference image in said memory means, said control means being adapted to compare said reference image to a second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image.

Description

An improved apparatus and method for monitoring an animal related volume
Technical field of the invention
The present invention relates to an apparatus and a method for monitoring an animal related volume, comprising an image capturing device arranged to monitor at least one animal related volume, said image capturing device being associated with a control means.
Background of the invention
Such an apparatus and such a method are known from WO 97/15901, according to which an injured animal having a bleeding wound is recognised by performing colour analysis, such as Red-Green-Blue (RGB) analysis, of an image captured by a video camera.
It is also known to perform contour analysis of a captured image, see e.g. DE-A-3 742 867.
Summary of the invention
Colour analysis or contour analysis of an image is useful in cases where the colours or contrasts are distinct. However, in a dirty and sparsely illuminated environment, colours and contours tend to be less distinct and are accordingly more difficult to analyse.
It is therefore an object of the invention to overcome the difficulties of performing analysis of an image captured in an animal related volume. This object has been achieved by an apparatus of the initially defined kind, which is characterised in that said image capturing device is adapted to be directed towards said animal related volume, such as movable stall equipment and/or at least one part of an animal, wherein said control means are adapted to register at least one image of said volume or part of said volume, said image registered at a first point of time stored as reference image in said memory means, said control means being adapted to compare said reference image to a second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image.
Preferably, said reference image represents a defined normal status of the volume, such that any change in a captured image will indicate the possible presence of an added object or an object which has been displaced in regard to the normal status in the monitored volume.
It is thus an object of the invention to provide a method in which a differential image is used when monitoring an animal related volume.
This is achieved by a method according to the above-described type, characterised by the following steps:
- directing said image capturing device towards said animal related volume registering several images of said volume or part of said volume, at least a first image at a first point of time;
- storing said image as reference image in said memory means, and a second image at second point of time; and
- comparing said reference image to said second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image. Preferably the reference image is updated at intervals including storing of the same as a new reference image, thereby creating an image defining a normal status of the volume to be used for a consecutive number of image subtractions.
Suitably, at least one characteristic of said object is stored in said memory as reference, said control means being adapted to compare said stored reference characteristic to a characteristic of said object. Hereby, identification of said object is made possible.
Preferably, said characteristic is at least one of a colour, a pattern and one or more sets of shapes. Hereby, different types of analyses are made possible.
Preferably, at least one standard colour content of said object is stored in said memory. Hereby, a further possibility of identifying said object is provided.
Suitably, possible positions of said object are stored in a memory of the control means, for allowing identification of the real time position thereof.
Preferably, said object is movable stall equipment, such as a gate or a robot arm. Hereby, it is possible to establish a position of said equipment.
Suitably, said object is an animal identifiable in real time by said control means. Hereby, it is possible to establish a position of said animal.
Preferably, a plurality of characteristics of expected objects are stored in said memory. Hereby, the presence and/or identity and/or position of a plurality of different objects are possible to be established.
Suitably, a plurality of characteristics of known but unexpected objects, e.g. human beings, toolboxes etc. are stored in said memory. Hereby, it is possible to establish abnormal events e.g. malfunction of an object, the presence of an animal where it should not be allowed to reside or the presence of a human being or an item not removed after cleaning and/or maintenance.
Unknown objects may be detected by failure to match the object with the plurality of expected objects stored in memory. Hereby it is possible to establish e.g. the presence of some object foreign to the system.
Preferably, an image captured by said image capturing device, is analysed by contour analysis after. According to the invention the differential image created by image subtraction i.e. an image registered as a "normal status image" is subtracted from an instantaneous image of the same view or vice versa.
Suitably, a differential image created by said image subtraction from images captured by said image capturing device, is analysed by colour (RGB) analysis.
A further object of the invention is the tracking of an object in an animal related volume.
This object is attained by a method of tracking an object in which the above method of image subtraction as described in claim 24 of the present application, said tracking method comprising the steps of:
- registering consecutive further images of said volume, or part of volume, at determined points of time;
- comparing one of said further images with the preceding further image captured at a determined points of time using image subtraction, thereby foπning a first differential image of said object;
-comparing the next further image with the preceding further image captured at a determined point of time using image subtraction, thereby forming a second differential image of said object; and
- using the displacement of the second differential image as compared to the first differential image as a tracking measure. Drawing summary
The invention will now be described in more detail with reference to the accompanying drawings, in which:
Fig 1 illustrates the type of environment the invention may be used in comprising an animal related volume including a cow and a gate viewed by an image capturing device.
Fig 2 illustrates the use of the apparatus and the method in localising differences i consecutive images.
Fig 3 illustrates the use of the apparatus and the method in tracking e.g. an animal.
Fig 4 illustrated how differential images may be used in tracking speed of an animal or an object.
Detailed description of the invention
Fig 1 illustrates a cow in an animal related volume 1, in the form of a gateway la, which is provided with a wall (not shown). Other gateway demarcations have been omitted for clarity reasons.
An image capturing device 4a, such as a video camera or a digital camera, is pivotally arranged on a wall, a post or the like and is arranged to be directed towards the volume by means of a motor. Both the image capturing device 4a and the motor are associated with a control means (not shown). Alternatively, one or several image capturing devices 4a are mounted in a fixed position and are provided with a wide angle or a zoom lens. Analysis of images captured by the image capturing device 4a are performed by the control means in a known manner, e.g. by colour analyses or contour analysis, by means of which it is possible to establish whether a cow is present in the monitored volume.
In front of the cow there is provided a gate 5 with opening/closing means 5a associated with said control means. Closing and opening of the gate 5 prevents or allows the cow to proceed further. A further video camera 4b associated with the control means is arranged to view the gate 5 from above. The gate 5 opening and closing thereof is controlled in response to the image capturing device 4b.
On top of the image capturing devices 4a and 4b, an illuminating means 6, such as a halogen lamp, is provided. Also the illuminating means 6 is associated with the control means. The viewing direction of the cameras 4a and 4b are substantially the same as the direction of the light from the illuminating means 6. Of course, the illuminating means 6 is only needed if the light conditions are bad.
If solely the lamp 6 is used, the volume will partly be in the shadow of the cow. In cases where e.g. a shadow on the wall is not desired or where the cow is unevenly illuminated, it may be desirable to provide further illuminating means 7, such as fluorescent lamps, halogen lamps or traditional light bulbs, above the cow and the gate 5, and if needed associated with the control means. Alternatively, the illuminating means 7 are continuously lit.
In Fig 2a is shown an image of an animal related volume. We may for the purpose of this example regard the image in Fig 2a as the reference image showing a background 1. The volume in Fig 2a is empty. In Fig 2b an animal 2 is seen in the animal related volume. In Fig 2c the differential image in which the image in Fig 2a is deducted from the one in Fig 2b. It may be appreciated the background may not always be so even as the one presented in this figure, thus making the recognition of animals and objects easier and more definite. Another advantage of the method according to Fig 2 is that no matter how unfit the so called background is for distinguishing purposes The area common to the two images will be cancelled, giving a clearer image to be analysed.
In Fig 3 a is shown an image of an animal related volume in which an animal is present. Part of the volume can not be seen because the animal conceals part of the volume. The part of the volume seen may be considered the background 1. In Fig 2b is shown the animal in a second position partly outside the imaged volume. In Fig 2c is shown the differential image in which the background is denoted 1, the animal's first position 2' and the animal's second position 2". The volume denoted 3, is the volume in which part of the animal concealed the background in the first image, but not in the second image. The parts of the volume denoted 4 represents a volume in which the animal was present in both images.
In Fig 4 is shown how the differential images may be used in tracking speed of an animal or an object. The object in the image Fig 4a has after a certain time reached the position in the image in Fig 2b. Knowing the time difference between the two differential images the speed of movement may be calculated.
It should be understood that the animal related volume and the surface could be arranged outdoors, rather than in an animal shed.
The described apparatus and method are applicable to all animal related volumes where animals to be milked are to be monitored, such as cows, sheep, goats, buffaloes and horses.

Claims

Claims
1. An apparatus for monitoring an animal related volume (1, la), such as movable stall equipment (5) and/or at least one part of an animal, comprising an image capturing device (4a, 4b) arranged at one or more locations at said animal related volume (1, la), said image capturing device (4a, 4b) being associated with a control means, said control means comprising memory means, characterised in that said image capturing device (4a, 4b) is adapted to be directed towards said animal related volume (1, la); wherein said control means is adapted to register at least one image of said volume or part of said volume, said image registered at a first point of time stored as reference image in said memory means; said control means being adapted to compare said reference image to a second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image.
2. An apparatus according to claim 1, characterised in that said apparatus comprises means for storing images of possible objects found in the animal related volume, wherein at least one characteristic of said object is stored in said memory as a reference; said control means being adapted to compare said stored characteristic to said differential image.
3. An apparatus according to anyone of the preceding claims, characterised in that at least one standard colour content of said object is stored in said memory.
4. An apparatus according to anyone of the preceding claims, characterised in that said reference image represents a defined normal status.
5. An apparatus according to anyone of the preceding claims, characterised in that said reference image represents an image of the status as recorded in a first preceding image.
6. An apparatus according to anyone of the preceding claims, characterised in that possible positions of said object are stored in a memory of the control means for allowing identification of the real time position thereof.
7. An apparatus according to anyone of the preceding claims, characterised in that a plurality of characteristics of expected objects are stored in said memory.
8. An apparatus according to anyone of the preceding claims, characterised in that a plurality of characteristics of known but unexpected objects are stored in said memory.
9. An apparatus according to anyone of the preceding claims, characterised in that an image captured by said image capturing device is analysed by contour analysis.
10. An apparatus according to anyone of the preceding claims, characterised in that an image captured by said image capturing device is analysed by colour (RGB) analysis.
11. An apparatus according to anyone of the preceding claims, characterised in that it further comprises an illuminating means (6, 7) associated with said control means.
12. An apparatus according to claim 11, characterised in that said image capturing device (4a, 4b) is provided with said illuminating means (6); a viewing direction of said image capturing device being substantially the same as the direction of the light from said illuminating means; said image capturing means being movable; said illuminating means being movable together with said image captiiring means.
13. An apparatus according to anyone of the preceding claims, characterised in that it comprises a robot with a robot arm for performing an animal related operation, such as teatcup attachment.
14. An apparatus according to claim 13, characterised in that said image subtraction is adapted to establish the presence of an animal to initiate said animal related operation.
15. An apparatus according to claim 13 or 14, characterised in that said image subtraction is adapted to establish a movement of said animal for allowing said robot arm to follow the movement of the animal.
16. A method of monitoring an animal related volume (1, la), such as movable stall equipment (5) and/or at least one part of an animal, comprising an image capturing device (4a, 4b) arranged at one or more locations at an animal related volume, said image capturing device being associated with a control means, said control means comprising a memory means, characterised by the following steps: directing said image capturing device (4a, 4b) towards said animal related volume (1, la); registering several images of said volume or part of said volume, at least a first image at a first point of time; storing said image as reference image in said memory means, and a second image at second point of time; and comparing said reference image to said second image captured at a second point of time for allowing said first image to be subtracted from said second image, thereby creating a differential image.
17. A method according to claim 16, characterised by storing said reference image registered at a first point of time, thereby creating an image defining a normal status of the volume to be used for a consecutive number of image subtractions.
18. A method according to anyone of claims 16 and 17, characterised by storing images of possible objects found in the animal related volume; wherein at least one characteristic of said object is stored in said memory as a reference; and comparing said stored characteristic to said differential picture.
19. A method according to anyone of claims 16 to 18, characterised by storing a plurality of standard contours of a particular kind of said object in said memory.
20. A method according to anyone of claims 16 to 19, characterised by storing in said memory at least one characteristic of said object.
21. A method according to anyone of claims 16 to 20, characterised by storing in said memory at least one standard colour content of said object.
22. A method according to anyone of claims 16 to 21, characterised by storing in said memory possible positions of said object, for allowing identification of the real time position thereof.
23. A method according to anyone of claims 16 to 22, characterised by storing a plurality of characteristics of expected objects in said memory; and comparing said plurality of characteristics of the object with said differential image defined by image subtraction using the image captured at a first point of time and the image captured at a second point of time.
24. A method according to anyone of claims 16 to 23, characterised by storing a plurality of characteristics of unexpected objects in said memory; and comparing said plurality of characteristics of the object with said differential image defined by image subtraction using the image captured at a determined point of time and the image captured at a predetermined point of time.
25. A method according to anyone of claims 16 to 24, characterised by analysing said differential image by contour analysis.
26. A method according to anyone of claims 16 to 25, characterised by analysing said differential image by colour (RGB) analysis.
27. A method of tracking an object using the method of claim 16-26, whereby said tracking method is characterised by the steps of: registering consecutive further images of said volume, or part of volume, at determined points of time; comparing one of said further images with the preceding further image captured at a determined point of time using image subtraction, thereby forming a first differential image of said object; comparing the next further image with the preceding further image captured at a determined point of time using image subtraction, thereby forming a second differential image of said object; and using the displacement of the second differential image as compared to the first differential image as a tracking measure.
28. A method of tracking an object using the method of claim 27, characterised by tracking a robot with a robot arm performing an animal related operation, such as teatcup attachment.
29. A method of tracking an object using the method of claim 27 or 28, characterised by using said image subtraction, which is adapted to establish the presence of an animal to initiate said animal related operation.
30. A method of tracking an object using the method of claim 27 or 29, characterised by using said image subtraction to establish a movement of said animal for allowing said robot arm to follow the movement of the animal.
PCT/SE1999/001492 1998-08-31 1999-08-31 An improved apparatus and method for monitoring an animal related volume WO2000011936A1 (en)

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