CN105432486A - Feeding detection system and feeding detection method thereof - Google Patents
Feeding detection system and feeding detection method thereof Download PDFInfo
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- CN105432486A CN105432486A CN201510749743.3A CN201510749743A CN105432486A CN 105432486 A CN105432486 A CN 105432486A CN 201510749743 A CN201510749743 A CN 201510749743A CN 105432486 A CN105432486 A CN 105432486A
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 230000037396 body weight Effects 0.000 claims description 27
- 238000002955 isolation Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000035622 drinking Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 6
- 241000282898 Sus scrofa Species 0.000 description 124
- 238000007726 management method Methods 0.000 description 14
- 238000012544 monitoring process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 241000282887 Suidae Species 0.000 description 3
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
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- 230000003203 everyday effect Effects 0.000 description 1
- 230000037406 food intake Effects 0.000 description 1
- 235000012631 food intake Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003020 moisturizing effect Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005204 segregation Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- 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
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
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- 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
- A01K11/00—Marking of animals
- A01K11/001—Ear-tags
- A01K11/004—Ear-tags with electronic identification means, e.g. transponders
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- 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
- A01K11/00—Marking of animals
- A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
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- 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
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- 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
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Abstract
The present invention relates to the technical field of digitization cultivation and, in particular to a feeding detection system. The feeding detection system comprises a feeding channel, a feeding device, an information acquiring device and an industrial personal computer, wherein the feeding device is arranged at the outlet end of the feeding channel; the information acquiring device comprises an image acquiring machine for obtaining the shape, size and image of a pig, a weight sensor for obtaining weight information of the pig, and an ear tag card reader for reading ear tag information of the pig; the image acquiring machine and the weight sensor are respectively arranged at the inlet end of the feeding channel; the ear tag card reader is arranged on one side, close to the feeding device, of the feeding channel; the feeding device comprises a feeding controller for controlling material feeding of the feeding device; the ear tag card reader is connected with the feeding controller to activate the feeding controller to control the feeding device for material feeding; the image acquiring machine, the weight sensor and the feeding controller are respectively connected with the industrial personal computer.
Description
Technical field
The present invention relates to digitlization cultural technique field, particularly relate to feed detection system and detection method of feeding thereof.
Background technology
At present along with the development of hyundai electronics information technology, digitlization cultural technique also reaches its maturity in the application in conventional animal husbandry field.The automation on traditional pig farm, networking and intelligentized transformation are had important practical significance.
According to aquaculture model and the state of development on domestic and international existing pig farm, modern pig farm should have following feature: first, the operation and management on pig farm progressively trends towards digitlization completely and intellectuality, and pig farm often only needs little management and operating personnel just can ensure the normal operation on pig farm.The second, good pig house environment should be had.The environmental factors such as controlled temperature, humidity, air quality be both conducive to the working environment that the growth of pig and control and prevention of disease which in turn improve operating personnel.3rd, omnibearing monitoring can be realized to the upgrowth situation of every pig.Comprise collection and storage that the scale of feeding to pig, body weight, body chi, health and behavioral aspect etc. realize automation.4th, more focus on and emphasize that welfare cultivates.Europe has been promulgated in 13 years especially and has been completely forbidden the pattern adopting position limiting fence to raise pigs, ensureing under the prerequisite that cultivation density is substantially constant, adopt great circle group support to add the aquaculture model at automatic feeding station, effectively can increase the activity space of every pig, and make searching for food of pig be provided with certain independence.
Although current domestic and international many pig farms all have employed the equipment of searching for food of automation, but these equipment mostly cannot realize body chi to every pig, body weight and day the information such as scale of feeding add up accurately, even if external some electronics feeding stations introduced, its major function is also that the limit of feeding to meet pig raises requirement.Although these electronics feeding stations can gather the food-intake information of every sow equally, the problems such as its ubiquity is expensive, dependability is poor.This kind equipment relies on electron ear tage and RFID card reader to realize to the identification of pig individuality completely, therefore cannot gather the information such as form, size of the individuality of pig.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention be solve existing pig farm feeding equipment cannot stress not condition under the information such as body chi, body weight, form of pig is gathered and record automatically, and the problem of the scale of feeding of every pig every day being carried out to accurate control and management cannot be realized.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides one to feed detection system, comprise passage of feeding, drawing-in device, information collecting device and industrial computer, the port of export of described passage of feeding is provided with described drawing-in device, described information collecting device comprises the image acquisition device of the shape size image obtaining pig, the ear tag card reader of the LOAD CELLS obtaining the body weight information of pig and the ear tag information reading pig, to feed described in described image acquisition device and described LOAD CELLS are all arranged at the arrival end of passage, described ear tag card reader is arranged at the side near passage of feeding described in described drawing-in device, described drawing-in device comprises the controller of feeding controlling described drawing-in device blanking, described ear tag card reader is connected with described controller of feeding, described drawing-in device blanking is controlled with controller of feeding described in starting, described image acquisition device, described LOAD CELLS and described in controller of feeding all be connected with described industrial computer.
Wherein, described passage of feeding comprises mechanical isolation door, to feed described in described mechanical isolation door is arranged at the arrival end of passage, described mechanical isolation door is connected with described industrial computer, passage of feeding described in described mechanical isolation door side is provided with photoelectric sensor, described photoelectric sensor is connected with described industrial computer, controls the operation of described image collecting device to start described industrial computer.
Wherein, described image acquisition device comprises two video cameras, and two described positions for video camera are in the top of described passage of feeding, and two described video cameras become binocular vision model structure to arrange.
Wherein, described drawing-in device also comprises hopper, feeding screw and hopper, described hopper is connected with ground, the charging aperture of described feeding screw is connected with described hopper, and the discharging opening of described feeding screw is connected with described hopper, is provided with blanking trigger in described hopper, described blanking trigger is connected with described controller of feeding, to control the blanking number of times of described drawing-in device, described hopper is also provided with auxiliary drinking bowl, described auxiliary drinking bowl is connected with described controller of feeding.
Wherein, described passage of feeding also comprises isolated column, to feed described in described isolated column is positioned at the both sides of passage, described in side, isolated column is provided with escape door, and described in opposite side, isolated column is provided with exit passageway, and described exit passageway is near described drawing-in device, and described exit passageway both sides are provided with guiding fence and unilateral gate, described unilateral gate side is provided with photoelectric sensor, and described photoelectric sensor is connected with described industrial computer, to start locking and the unblock that described industrial computer controls described mechanical isolation door.
Present invention also offers one to feed detection method, comprise the following steps:
S1, industrial computer have judged whether that pig enters passage of feeding;
S2, pig are positioned at passage of feeding, and image acquisition device obtains the shape size image of pig;
The shape size image of the pig obtained in step S1 is sent to industrial computer and processes by S3, image acquisition device, obtains the shape size information of pig;
S4, LOAD CELLS obtain the body weight information of pig, and the body weight information of the pig of acquisition is sent to industrial computer;
S5, pig arrive after near drawing-in device, and ear tag card reader obtains the ear tag information of pig, and the ear tag information of the pig of acquisition is sent to controller of feeding;
The ear tag information of the pig obtained in step S4 is sent to industrial computer, and controls drawing-in device blanking by S6, controller of feeding;
S7, industrial computer are according to the body weight information of pig in the shape size information of pig in the ear tag information storage recording step S2 of the pig obtained in step S5 and step S3.
Wherein, step S1 specifically comprises the following steps:
S11, above feeder connection section of feeding, using binocular vision model structure, two video cameras are set as image acquisition device;
S12, video camera to be demarcated, determine camera interior and exterior parameter;
The photoelectric sensor of S13, mechanical isolation door side triggers, and sends a signal to industrial computer, and industrial computer controls video camera and starts;
S14, camera acquisition image, be sent to industrial computer, and industrial computer has judged whether that pig enters and fed in passage;
Feed in passage if S15 has pig to enter, then carry out step 2, feed in passage if do not have pig to enter, then return step S14.
Wherein, step S3 specifically comprises the following steps:
S31, industrial computer by camera acquisition to image carry out gradation conversion and separation, extract the complete image of pig;
S32, eliminate tiny noise spot, obtain the form bianry image of pig;
S33, the number of the area pixel point of image collected according to step S31 and position judge whether the image gathered meets the requirements;
If the image that S34 gathers meets the requirements, then obtain the length of pig and the extreme point of width and flex point as characteristic point according to the form bianry image in step S32, if the image gathered is undesirable, then repeat step S2;
S35, determine the correspondence image coordinate of the characteristic point of the image that two video cameras gather in step S34;
Two correspondence image coordinates that S36, basis match try to achieve the three-dimensional coordinate point of each characteristic point;
S37, obtain the shape size information of pig according to three-dimensional coordinate point.
Wherein, between step S15 and step S2, further comprising the steps of:
S151, industrial computer send signal to mechanical isolation door, control mechanical isolating door and close locking.
Wherein, further comprising the steps of:
The photoelectric sensor of S8, unilateral gate side triggers and starts, and sends a signal to industrial computer;
S9, industrial computer send signal to mechanical isolation door, control the unblock of mechanical isolating door and open.
(3) beneficial effect
Technique scheme tool of the present invention has the following advantages: detection system and the method for feeding of the present invention, adopt image acquisition device, LOAD CELLS carries out the acquisition of the information such as automatic shape size and body weight to pig, by information collecting device and industrial computer connected applications in pig feeding equipment in, read the ear tag information of pig in ear tag card reader after, industrial computer is to the shape size of the pig obtained before, body weight stores, achieve the shape size to pig under unmanned condition of intervening, the object of the automatic information collecting records such as body weight, controller of simultaneously feeding also can carry out control and management accurately to the scale of feeding of pig and coordinate with ear tag card reader and industrial computer the storing information showing pig, while minimizing manpower and materials, avoid due to the stress reaction of pig to producing the loss brought, real-time monitoring record is carried out to the growth of pig, for boar provides seed selection foundation, have important practical significance in the science feeding and management of boar and meet the intellectuality on pig farm and the requirement of digital management.
The technical characteristic of the technical problem solved except the present invention described above, the technical scheme of formation and have the technical characteristic of these technical schemes to bring advantage except, the advantage that other technologies feature of the present invention and these technical characteristics bring, will further illustrate by reference to the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the front view of the detection system of feeding of the embodiment of the present invention one;
Fig. 2 is the C-C profile of Fig. 1;
Fig. 3 is the control planning schematic diagram of the detection method of feeding of the embodiment of the present invention two;
Fig. 4 is the image information collecting flow chart of the detection method of feeding of the embodiment of the present invention two;
Fig. 5 is the binocular vision model schematic of the detection method of feeding of the embodiment of the present invention two.
In figure: 1: passage of feeding; 2: drawing-in device; 3: information collecting device; 11: mechanical isolation door; 12: isolated column; 13: guiding fence; 14: unilateral gate; 15: escape door; 21: controller of feeding; 22: hopper; 23: feeding screw; 24: hopper; 31: image acquisition device; 32: ear tag card reader.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
In addition, in describing the invention, except as otherwise noted, the implication of " multiple ", " many ", " many groups " is two or more.
Embodiment one
As depicted in figs. 1 and 2, detection system that what the embodiment of the present invention one provided feed, comprise passage 1 of feeding, drawing-in device 2, information collecting device 3 and industrial computer, the port of export of passage 1 of feeding is provided with drawing-in device 2, information collecting device 3 comprises the image acquisition device 31 of the shape size image obtaining pig, the ear tag card reader 32 of the LOAD CELLS obtaining the body weight information of pig and the ear tag information reading pig, image acquisition device 31 and LOAD CELLS are all arranged at the arrival end of passage 1 of feeding, ear tag card reader 32 is arranged at the side of the passage 1 of feeding near drawing-in device 2, drawing-in device 2 comprises the controller 21 of feeding controlling drawing-in device 2 blanking, ear tag card reader 32 is connected with controller 21 of feeding, drawing-in device 2 blanking is controlled to start controller 21 of feeding, image acquisition device 31, LOAD CELLS and controller 32 of feeding all are connected with industrial computer.
Detection system of feeding of the present invention, adopt image acquisition device, LOAD CELLS carries out the acquisition of the information such as automatic shape size and body weight to pig, by information collecting device and industrial computer connected applications in pig feeding equipment in, read the ear tag information of pig in ear tag card reader after, industrial computer is to the shape size of the pig obtained before, body weight stores, achieve the shape size to pig under unmanned condition of intervening, the object of the automatic information collecting records such as body weight, controller of simultaneously feeding also can carry out control and management accurately to the scale of feeding of pig and coordinate with ear tag card reader and industrial computer the storing information showing pig, while minimizing manpower and materials, avoid due to the stress reaction of pig to producing the loss brought, real-time monitoring record is carried out to the growth of pig, for boar provides seed selection foundation, have important practical significance in the science feeding and management of boar and meet the intellectuality on pig farm and the requirement of digital management.
Concrete, passage 1 of feeding comprises mechanical isolation door 11, mechanical isolation door 11 is arranged at the arrival end of passage 1 of feeding, mechanical isolation door 11 is connected with industrial computer, the passage 1 of feeding of mechanical isolation door 11 side is provided with photoelectric sensor, photoelectric sensor is connected with industrial computer, controls image collecting device operation to start industrial computer.At the arrival end of passage of feeding, mechanical isolation door is set, when pig enters after in passage of feeding, photoelectric sensor is opened closedown because of mechanical isolation door and is shut out the light and trigger, control to start image collecting device, image acquisition device image transfer is to industrial computer, and industrial computer receives after pig enters the signal of feeding in passage, controls mechanical isolating door close locking by electromagnetic relay, prevent other pig from again entering, impact has entered feeding and causing interference to infomation detection collection of pig.
Concrete, image acquisition device 31 comprises two video cameras, and two positions for video camera are in the top of passage 1 of feeding, and two video cameras become binocular vision model structure to arrange.Utilize being oppositely arranged of twin camera, set up the external structure of binocular vision model, the image gathered, after industrial computer analyzing and processing, can obtain the three-dimensional coordinate point of the characteristic point of pig, and then asks for the condition dimension information of the physical length of pig, width and height.
Wherein, drawing-in device 2 also comprises hopper 22, feeding screw 23 and hopper 24, hopper 24 is connected with ground, the charging aperture of feeding screw 23 is connected with hopper 22, and the discharging opening of feeding screw 23 is connected with hopper 24, is provided with blanking trigger in hopper 24, blanking trigger is connected with controller 21 of feeding, to control the blanking number of times of drawing-in device 2, hopper 24 is also provided with auxiliary drinking bowl, auxiliary drinking bowl is connected with controller 21 of feeding.Controller of feeding receives the signal of ear tag card reader, according to ear tag information-driven feeding screw, feed in hopper is delivered in hopper, for the pig blanking of correspondence, controller of feeding controls the switch of auxiliary drinking bowl by electromagnetic relay, be the feed moisturizing in hopper, blanking is carried out several times, as scale of feeding does not exceed restriction total amount, then realize repeatedly blanking by pig by the blanking trigger arched in hopper, maximum feeding amount determined by the one-tenth long duration of every pig and body weight.
Wherein, passage 1 of feeding also comprises isolated column 12, isolated column 12 is positioned at the both sides of passage 1 of feeding, side isolated column 12 is provided with escape door 15, and opposite side isolated column is provided with exit passageway, and exit passageway is near drawing-in device 2, and exit passageway both sides are provided with guiding fence 13 and unilateral gate 14, unilateral gate 14 side is provided with photoelectric sensor, and photoelectric sensor is connected with industrial computer, to start locking and the unblock that industrial computer controls mechanical isolating door.Both sides isolated columns limits post and to feed the space of passage, prevent other pigs from affecting the feed and the information gathering that enter the pig fed in passage, after having fed, pig can enter exit passageway, leave along guiding fence to unilateral gate, unilateral gate is opened, trigger the photoelectric sensor of side, photoelectric sensor sends a signal to industrial computer, complete after industrial computer Received signal strength and once gather, control the unblock of mechanical isolating door by electromagnetic relay to open, wait for that next pig enters passage of feeding, continue control information collection and feed.
Embodiment two
As shown in Figure 3, the embodiment of the present invention two provides the detection method of feeding based on above-mentioned detection system of feeding, and comprises the following steps:
S1, industrial computer have judged whether that pig enters passage of feeding;
S2, pig are positioned at passage of feeding, and image acquisition device obtains the shape size image of pig;
The shape size image of the pig obtained in step S1 is sent to industrial computer and processes by S3, image acquisition device, obtains the shape size information of pig;
S4, LOAD CELLS obtain the body weight information of pig, and the body weight information of the pig of acquisition is sent to industrial computer;
S5, pig arrive after near drawing-in device, and ear tag card reader obtains the ear tag information of pig, and the ear tag information of the pig of acquisition is sent to controller of feeding;
The ear tag information of the pig obtained in step S4 is sent to industrial computer, and controls drawing-in device blanking by S6, controller of feeding;
S7, industrial computer are according to the body weight information of pig in the shape size information of pig in the ear tag information storage recording step S2 of the pig obtained in step S5 and step S3.
Detection method of feeding of the present invention, adopt image acquisition device, LOAD CELLS carries out the acquisition of the information such as automatic shape size and body weight to pig, by information collecting device and industrial computer connected applications in pig feeding equipment in, read the ear tag information of pig in ear tag card reader after, industrial computer is to the shape size of the pig obtained before, body weight stores, achieve the shape size to pig under unmanned condition of intervening, the object of the automatic information collecting records such as body weight, controller of simultaneously feeding also can carry out control and management accurately to the scale of feeding of pig and coordinate with ear tag card reader and industrial computer the storing information showing pig, while minimizing manpower and materials, avoid due to the stress reaction of pig to producing the loss brought, real-time monitoring record is carried out to the growth of pig, for boar provides seed selection foundation, have important practical significance in the science feeding and management of boar and meet the intellectuality on pig farm and the requirement of digital management.
Concrete, as shown in Figure 3 and Figure 4, step S1 specifically comprises the following steps:
S11, above feeder connection section of feeding, using binocular vision model structure, two video cameras are set as image acquisition device;
S12, demarcate video camera, determine camera interior and exterior parameter, concrete scaling method can adopt black and white lattice plane reference template, carries out solving of concrete calibrating parameters by Zhang Zhengyou or Tsai two-step method;
The photoelectric sensor of S13, mechanical isolation door side triggers, and sends a signal to industrial computer, and industrial computer controls video camera and starts;
S14, camera acquisition image, be sent to industrial computer, industrial computer has judged whether that pig enters and has fed in passage, video camera gathered an image every 2 seconds, the determination methods of industrial computer adopts image to make difference method, owing to there is motion change when pig enters and feeds passage, therefore will there is the difference of dynamic object in the image at different time interval, and profit can judge whether that pig enters and obtains the locus of pig in feeding station in this way;
Feed in passage if S15 has pig to enter, then carry out step 2, feed in passage if do not have pig to enter, then return step S14.
In addition, between step S15 and step S2, further comprising the steps of:
S151, industrial computer send signal to mechanical isolation door, control mechanical isolating door and close locking.Enter after in passage of feeding pig, close the mechanical isolating door of locking in time, prevent entering interfere information collection and feeding of other pigs.
Further, further comprising the steps of:
The photoelectric sensor of S8, unilateral gate side triggers and starts, and sends a signal to industrial computer;
S9, industrial computer send signal to mechanical isolation door, control the unblock of mechanical isolating door and open.
Feed complete, pig leaves by unilateral gate passage of feeding, the motion triggers photoelectric sensor of unilateral gate, after industrial computer receives signal, unlocks and opens mechanical isolation door, complete the information gathering of a pig and feed.
Wherein, step S3 specifically comprises the following steps:
S31, industrial computer by camera acquisition to image carry out gradation conversion and separation, extract the complete image of pig, segregation method adopt maximum variance between clusters;
S32, eliminate tiny noise spot, obtain the form bianry image of pig;
S33, the number of the area pixel point of image collected according to step S31 and position judge whether the image gathered meets the requirements;
If the image that S34 gathers meets the requirements, then obtain the length of pig and the extreme point of width and flex point as characteristic point according to the form bianry image in step S32, if the image gathered is undesirable, then repeat step S2;
S35, determine the correspondence image coordinate of the characteristic point of the image that two video cameras gather in step S34;
Adopt matching algorithm to get the correspondence image coordinate of the characteristic point of the image of fixed two camera acquisitions, be specially correlation coefficient process, computing formula is:
Wherein: covariance C
ft(u, v) is determined by formula (2).
C
ttdetermined by formula (3):
C
ff(u, v) is determined by formula (4):
For improving the accuracy in matching process, the condition such as epipolar-line constraint, sequence constraint of introducing carries out matching operation.
Two correspondence image coordinates that S36, basis match, try to achieve the three-dimensional coordinate point of each characteristic point;
As shown in Figure 5, according to the binocular vision model that two video cameras are set up, according to following formulae discovery three-dimensional coordinate:
X in formula
l, Y
l, Z
lfor the three-dimensional coordinate being world coordinate system with left video camera, x1, y1, x2, y2 are left and right cameras imager coordinate, r
i, t
ifor rotating the corresponding element value of translation matrix r and t in calibrating parameters.
S37, obtain the shape size information of pig according to three-dimensional coordinate point.
In sum, detection system of feeding of the present invention adopts information detection processing method boar to be carried out to the acquisition of the information such as automatic shape size and body weight with detection method of feeding, by information collecting device and industrial computer connected applications in pig feeding equipment in, achieve the shape size to pig under unmanned condition of intervening, the object of the automatic information collecting records such as body weight, controller of simultaneously feeding also can control accurately the scale of feeding of pig and manage, while minimizing manpower and materials, avoid making the stress reaction of generation pig and to producing the loss that brings owing to manually dropping into and measuring, real-time monitoring record is carried out to the growth of pig, the feed unusual condition of pig is found in time by the change of scale of feeding, thus sick pig is prevented and treated in time, for boar provides seed selection foundation, have important practical significance in the science feeding and management of boar and meet the intellectuality on pig farm and the requirement of digital management.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a detection system of feeding, it is characterized in that: comprise passage of feeding, drawing-in device, information collecting device and industrial computer, the port of export of described passage of feeding is provided with described drawing-in device, described information collecting device comprises the image acquisition device of the shape size image obtaining pig, the ear tag card reader of the LOAD CELLS obtaining the body weight information of pig and the ear tag information reading pig, to feed described in described image acquisition device and described LOAD CELLS are all arranged at the arrival end of passage, described ear tag card reader is arranged at the side near passage of feeding described in described drawing-in device, described drawing-in device comprises the controller of feeding controlling described drawing-in device blanking, described ear tag card reader is connected with described controller of feeding, described drawing-in device blanking is controlled with controller of feeding described in starting, described image acquisition device, described LOAD CELLS and described in controller of feeding all be connected with described industrial computer.
2. detection system of feeding according to claim 1, it is characterized in that: described in passage of feeding comprise mechanical isolation door, to feed described in described mechanical isolation door is arranged at the arrival end of passage, described mechanical isolation door is connected with described industrial computer, passage of feeding described in described mechanical isolation door side is provided with photoelectric sensor, described photoelectric sensor is connected with described industrial computer, controls the operation of described image collecting device to start described industrial computer.
3. detection system of feeding according to claim 2, is characterized in that: described image acquisition device comprises two video cameras, and two described positions for video camera are in the top of described passage of feeding, and two described video cameras become binocular vision model structure to arrange.
4. detection system of feeding according to claim 3, it is characterized in that: described drawing-in device also comprises hopper, feeding screw and hopper, described hopper is connected with ground, the charging aperture of described feeding screw is connected with described hopper, the discharging opening of described feeding screw is connected with described hopper, blanking trigger is provided with in described hopper, described blanking trigger is connected with described controller of feeding, to control the blanking number of times of described drawing-in device, described hopper is also provided with auxiliary drinking bowl, and described auxiliary drinking bowl is connected with described controller of feeding.
5. detection system of feeding according to claim 4, it is characterized in that: described in passage of feeding also comprise isolated column, to feed described in described isolated column is positioned at the both sides of passage, described in side, isolated column is provided with escape door, described in opposite side, isolated column is provided with exit passageway, described exit passageway is near described drawing-in device, and described exit passageway both sides are provided with guiding fence and unilateral gate, described unilateral gate side is provided with photoelectric sensor, described photoelectric sensor is connected with described industrial computer, to start locking and the unblock that described industrial computer controls described mechanical isolation door.
6., based on a detection method of feeding for the system described in the claims 1-5 any one, it is characterized in that: comprise the following steps:
S1, industrial computer have judged whether that pig enters passage of feeding;
S2, pig are positioned at passage of feeding, and image acquisition device obtains the shape size image of pig;
The shape size image of the pig obtained in step S1 is sent to industrial computer and processes by S3, image acquisition device, obtains the shape size information of pig;
S4, LOAD CELLS obtain the body weight information of pig, and the body weight information of the pig of acquisition is sent to industrial computer;
S5, pig arrive after near drawing-in device, and ear tag card reader obtains the ear tag information of pig, and the ear tag information of the pig of acquisition is sent to controller of feeding;
The ear tag information of the pig obtained in step S4 is sent to industrial computer, and controls drawing-in device blanking by S6, controller of feeding;
S7, industrial computer are according to the body weight information of pig in the shape size information of pig in the ear tag information storage recording step S2 of the pig obtained in step S5 and step S3.
7. detection method of feeding according to claim 6, is characterized in that: step S1 specifically comprises the following steps:
S11, above feeder connection section of feeding, using binocular vision model structure, two video cameras are set as image acquisition device;
S12, video camera to be demarcated, determine camera interior and exterior parameter;
The photoelectric sensor of S13, mechanical isolation door side triggers, and sends a signal to industrial computer, and industrial computer controls video camera and starts;
S14, camera acquisition image, be sent to industrial computer, and industrial computer has judged whether that pig enters and fed in passage;
Feed in passage if S15 has pig to enter, then carry out step 2, feed in passage if do not have pig to enter, then return step S14.
8. detection method of feeding according to claim 7, is characterized in that: step S3 specifically comprises the following steps:
S31, industrial computer by camera acquisition to image carry out gradation conversion and separation, extract the complete image of pig;
S32, eliminate tiny noise spot, obtain the form bianry image of pig;
S33, the number of the area pixel point of image collected according to step S31 and position judge whether the image gathered meets the requirements;
If the image that S34 gathers meets the requirements, then obtain the length of pig and the extreme point of width and flex point as characteristic point according to the form bianry image in step S32, if the image gathered is undesirable, then repeat step S2;
S35, determine the correspondence image coordinate of the characteristic point of the image that two video cameras gather in step S34;
Two correspondence image coordinates that S36, basis match try to achieve the three-dimensional coordinate point of each characteristic point;
S37, obtain the shape size information of pig according to three-dimensional coordinate point.
9. detection method of feeding according to claim 8, is characterized in that: between step S15 and step S2, further comprising the steps of:
S151, industrial computer send signal to mechanical isolation door, control mechanical isolating door and close locking.
10. detection method of feeding according to claim 9, is characterized in that: further comprising the steps of:
The photoelectric sensor of S8, unilateral gate side triggers and starts, and sends a signal to industrial computer;
S9, industrial computer send signal to mechanical isolation door, control the unblock of mechanical isolating door and open.
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