CN107950402B - Automatic control method of milking device based on binocular vision - Google Patents
Automatic control method of milking device based on binocular vision Download PDFInfo
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- CN107950402B CN107950402B CN201711230544.7A CN201711230544A CN107950402B CN 107950402 B CN107950402 B CN 107950402B CN 201711230544 A CN201711230544 A CN 201711230544A CN 107950402 B CN107950402 B CN 107950402B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/007—Monitoring milking processes; Control or regulation of milking machines
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
The invention discloses a binocular vision-based automatic control method of a milking machine, which comprises the following steps: shooting a first plane image and a second plane image of a cow breast area through a binocular camera which is arranged in a milking area and fixed in relative position; processing the first plane image and the second plane image by using a binocular vision processing algorithm to establish a three-dimensional coordinate space of the cow breast; and outputting the position information of 4 nipples of the cow breasts in the three-dimensional coordinate space according to the specific cognitive characteristics of the cow nipples, and sleeving 4 breast cups of the milking device on the 4 nipples of the cow according to the 4 nipple position information.
Description
Technical Field
The invention belongs to the technical field of machine vision, and particularly relates to a stereoscopic cognition method based on binocular recognition.
Background
With the development of machine recognition technology, many fields are applied to machine vision cognition. Traditional machine recognition includes robotic arm positioning, smart vehicle navigation, obstacle avoidance, even face recognition, fingerprint recognition, and the like. However, all current machine recognition systems have an inevitable drawback of slow recognition and high error rate. Therefore, how to rapidly and effectively improve the performance of machine vision recognition becomes a technical problem to be solved in the field.
The method has the advantages that informatization is promoted, the traditional milking mode of the breeding industry is improved by using an image processing technology, the comprehensive competitiveness of the breeding industry is improved, the method is an important direction of economic development of the current animal husbandry, and is also one of the hot problems of research in academia and business industries. Mechanization of milk production by cows is an essential link in modern dairy farms. In the traditional milking mode, 4 cups of a milker are sleeved on 4 nipples of a cow in a manual mode, firstly, because the manual operation speed is low, the efficiency is lower because a cow farm is large in scale in actual work; secondly, the interference of manual operation easily causes fright to the cow.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the automatic control method of the milking machine based on binocular vision, which has high identification accuracy and high speed.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic control method of a milking machine based on binocular vision comprises the following steps:
shooting a first plane image and a second plane image of a cow breast area through a binocular camera which is arranged in a milking area and fixed in relative position;
processing the first plane image and the second plane image by using a binocular vision processing algorithm to establish a three-dimensional coordinate space of the cow breast;
and outputting the position information of 4 nipples of the cow breasts in the three-dimensional coordinate space according to the specific cognitive characteristics of the cow nipples, and sleeving 4 breast cups of the milking device on the 4 nipples of the cow according to the 4 nipple position information.
Further, the processing the first plane image and the second plane image by using a binocular vision processing algorithm, and establishing a three-dimensional coordinate space of the cow breast includes:
s1: preprocessing the first plane image and the second plane image;
s2: intelligently recognizing the preprocessed first plane image and the second plane image, determining generalized cognitive features before parallax calculation, and establishing a matching relation between the first plane image and the second plane image to identify cognitive attributes of the breast area;
s3: identifying one or more specific cognitive features corresponding to the cognitive attribute based on the cognitive attribute of the breast region;
s4: performing parallax calculation according to a binocular stereo imaging principle;
s5: and establishing a three-dimensional coordinate space of the cow breast by combining the specific cognitive features and the point cloud picture.
Further, the automatic control method of the milking machine further comprises the following steps:
s6: judging whether the identification degree of the three-dimensional coordinate space meets the requirements of precision and error; if yes, outputting position information of 4 nipples of the cow breast, and sleeving 4 breast cups of the milking machine on 4 nipples of the cow according to the position information of the 4 nipples; if not, go to step S7;
s7: returning to step S2, the generalized cognitive characteristics are re-determined and execution continues at steps S3-S6.
Further, the step S4 includes acquiring a point cloud image of the target object.
Further, the generalized cognitive features comprise one or more of textures, outlines and colors; the specific cognitive features are contained within the generalized cognitive features; specific categories of the cognitive attributes include color, contour, surface texture, and geometry of the contour.
Further, the preprocessing in step S1 includes filtering, noise reduction, white balance, warping, and radial variation.
Further, the method for determining the generalized cognitive features before parallax calculation in step S3 includes: the method comprises the following steps of drawing type, geometric length of lines forming the drawing, colors of different characteristic regions forming the drawing, connection relation of the lines forming the drawing, geometric relation of the drawing and other generalized drawings, and length proportion relation of outlines forming the drawing.
The automatic control method of the milking machine based on binocular vision is a very advanced machine cognition method, can distinguish the generalization characteristics of the breasts of the dairy cow, can further determine the specific characteristics of the breasts of the dairy cow according to the generalization characteristics, can identify and position 4 nipples of the breasts of the dairy cow by using the most accurate and efficient characteristic identification technology, is suitable for a large-scale breeding mode in a breeding park, reduces the labor cost, effectively improves the working efficiency, and has very wide application prospect.
Drawings
FIG. 1 is a schematic view of an automatic control usage scenario of a binocular vision based milking machine in an embodiment of the present invention;
FIG. 2 is a schematic view of an automatic control usage scenario of the binocular vision-based milking machine according to another aspect of the present invention;
fig. 3 is a schematic view of an automatic control use scene of the milking machine based on binocular vision from another view angle.
Description of reference numerals: 10-binocular camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1 to 3, an automatic control method of a milking machine based on binocular vision according to an embodiment of the present invention includes the following steps:
shooting a first plane image and a second plane image of a cow breast area through a binocular camera 10 which is arranged in a milking area and fixed in relative position;
processing the first plane image and the second plane image by using a binocular vision processing algorithm to establish a three-dimensional coordinate space of the cow breast;
and outputting the position information of 4 nipples of the cow breasts in the three-dimensional coordinate space according to the specific cognitive characteristics of the cow nipples, and sleeving 4 breast cups of the milking device on the 4 nipples of the cow according to the 4 nipple position information.
In a preferred embodiment, the processing the first planar image and the second planar image by using a binocular vision processing algorithm to establish a three-dimensional coordinate space of the cow breast includes:
s1: preprocessing the first plane image and the second plane image;
s2: intelligently recognizing the preprocessed first plane image and the second plane image, determining generalized cognitive features before parallax calculation, and establishing a matching relation between the first plane image and the second plane image to identify cognitive attributes of the breast area;
s3: identifying one or more specific cognitive features corresponding to the cognitive attribute based on the cognitive attribute of the breast region;
s4: performing parallax calculation according to a binocular stereo imaging principle;
s5: and establishing a three-dimensional coordinate space of the cow breast by combining the specific cognitive features and the point cloud picture.
Further, the automatic control method of the milking machine further comprises the following steps:
s6: judging whether the identification degree of the three-dimensional coordinate space meets the requirements of precision and error; if yes, outputting position information of 4 nipples of the cow breast, and sleeving 4 breast cups of the milking machine on 4 nipples of the cow according to the position information of the 4 nipples; if not, go to step S7;
s7: returning to step S2, the generalized cognitive characteristics are re-determined and execution continues at steps S3-S6.
Further, the step S4 includes acquiring a point cloud image of the target object.
Further, the generalized cognitive features comprise one or more of textures, outlines and colors; the specific cognitive features are contained within the generalized cognitive features; specific categories of the cognitive attributes include color, contour, surface texture, and geometry of the contour.
Further, the preprocessing in step S1 includes filtering, noise reduction, white balance, warping, and radial variation.
Further, the method for determining the generalized cognitive features before parallax calculation in step S3 includes: the method comprises the following steps of drawing type, geometric length of lines forming the drawing, colors of different characteristic regions forming the drawing, connection relation of the lines forming the drawing, geometric relation of the drawing and other generalized drawings, and length proportion relation of outlines forming the drawing.
Compared with the prior art, the method has the greatest innovation point that a technical means for identifying and positioning the nipples of the breasts of the dairy cattle is adopted in a mode of combining generalized cognitive features and specific cognitive features. Firstly, the generalized cognitive features comprise one or more of textures, outlines and colors; and the specific cognitive features are included within the generalized cognitive features. Specific categories of the cognitive attributes include color, contour, surface texture, and geometry of the contour. The specific cognitive features are deep learning cognitive features based on the images, and the nipple and the position of the nipple are recognized.
In conclusion, the binocular vision-based automatic control method for the milking machine is a very advanced machine recognition method, can distinguish the generalization characteristics of the breasts of the dairy cow, can further determine the specific characteristics of the breasts of the dairy cow according to the generalization characteristics, can identify and position 4 nipples of the breasts of the dairy cow by using the most accurate and efficient characteristic identification technology, is suitable for a large-scale breeding mode in a breeding park, reduces the labor cost, effectively improves the working efficiency, and has very wide application prospects.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (2)
1. An automatic control method of a milking machine based on binocular vision is characterized by comprising the following steps:
shooting a first plane image and a second plane image of a cow breast area through a binocular camera which is arranged in a milking area and fixed in relative position;
processing the first plane image and the second plane image by using a binocular vision processing algorithm to establish a three-dimensional coordinate space of the cow breast;
outputting position information of 4 nipples of the cow breast in the three-dimensional coordinate space according to the specific cognitive characteristics of the cow nipple, and sleeving 4 breast cups of the milking machine on 4 nipples of the cow according to the position information of the 4 nipples;
the processing the first plane image and the second plane image by using a binocular vision processing algorithm, and the establishing of the three-dimensional coordinate space of the cow breast comprises the following steps:
s1: preprocessing the first plane image and the second plane image;
s2: intelligently recognizing the preprocessed first plane image and the preprocessed second plane image, determining generalized cognitive features before parallax calculation, and establishing a matching relation between the first plane image and the second plane image to identify cognitive attributes of the cow breast areas;
the method for determining the generalized cognitive features before parallax calculation comprises the following steps: the method comprises the following steps of (1) determining the type of a graph, the geometric length of lines forming the graph, the color of different characteristic regions forming the graph, the connection relation of the lines forming the graph, the geometric relation of the graph and other generalized graphs, and the length proportional relation of outlines forming the graph;
s3: identifying one or more specific cognitive features corresponding to cognitive attributes of the breast areas of the milk cow according to the cognitive attributes;
s4: performing parallax calculation according to a binocular stereo imaging principle;
step S4 also includes acquiring a cloud point map of the cow breast area;
s5: establishing a three-dimensional coordinate space of the cow breast by combining the specific cognitive features and the point cloud picture;
wherein, the generalized cognitive features comprise one or more of texture, contour and color; the specific cognitive features are contained within the generalized cognitive features; the specific types of cognitive attributes include color, contour, surface texture, and geometry of the contour;
s6: judging whether the identification degree of the three-dimensional coordinate space meets the requirements of precision and error; if yes, outputting position information of 4 nipples of the cow breast, and sleeving 4 breast cups of the milking machine on 4 nipples of the cow according to the position information of the 4 nipples; if not, go to step S7;
s7: returning to step S2, the generalized cognitive characteristics are re-determined and execution continues at steps S3-S6.
2. The binocular vision based automatic control method of a milker of claim 1, wherein the preprocessing in the step S1 includes filtering, noise reduction, white balance, warping, radial variation.
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| CA3118049A1 (en) * | 2018-11-01 | 2020-05-07 | Delaval Holding Ab | Tool-positioning system and method, rotary milking platform, computer program and non-volatile data carrier |
| CN109588320A (en) * | 2019-01-21 | 2019-04-09 | 河南埃尔森智能科技有限公司 | A kind of unmanned milk cow milking system based on 3D vision guide |
| CN110969156A (en) * | 2019-05-17 | 2020-04-07 | 丰疆智能科技股份有限公司 | Convolutional neural network model for detecting milk cow nipple and construction method thereof |
| CN115281095B (en) * | 2022-05-30 | 2024-03-29 | 北京工业大学 | Milking device and method based on laser image recognition |
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