CN109380146B - Automatic measurement device and method for live pigs - Google Patents
Automatic measurement device and method for live pigs Download PDFInfo
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- CN109380146B CN109380146B CN201811368956.1A CN201811368956A CN109380146B CN 109380146 B CN109380146 B CN 109380146B CN 201811368956 A CN201811368956 A CN 201811368956A CN 109380146 B CN109380146 B CN 109380146B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; 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; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/0005—Stable partitions
- A01K1/0017—Gates, doors
- A01K1/0023—Sorting gates
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/80—Food processing, e.g. use of renewable energies or variable speed drives in handling, conveying or stacking
- Y02P60/87—Re-use of by-products of food processing for fodder production
Abstract
The automatic pig splitting device comprises a rotary table and a controller, wherein a first channel is arranged on the rotary table, a plurality of pigs are arranged around the rotary table, a second channel is communicated with one side of each pig, and the rotary table drives the first channel to be communicated with the second channel; the first channel and the second channel are provided with gates; the turntable is provided with a measuring device, the measuring device transmits a detection signal to a controller, and the controller controls the turntable and each gate. In order to solve the problems, the invention can automatically measure the body length, the body height, the body width and the body weight of the live pigs, and distribute the live pigs into designated pig farms according to the data, thereby realizing the automation and the refinement of the pig raising management.
Description
Technical Field
The invention relates to an automatic measurement device and method for live pigs.
Background
In the pig raising process, the body length, the body height, the body width and the body weight are important index parameters for evaluating the growth and reproduction performance of the live pigs, in the fattening pig growing process, the scientific feeding mode is to feed different feeds according to the difference of the growth day age, the body length, the body height, the body width and the body weight of the pigs, but the pig raising field in some areas of China is limited by objective conditions and adopts a large pig farm raising mode, the pig raising sizes in the pig farm are different, the body weight is different, so that the feeding of the pigs is difficult to adjust according to the body weight of the pigs, scientific management cannot be performed, the slaughtering time of the fattening pigs is prolonged, the feeding cost of the fattening pigs is increased, the measurement work for acquiring the growth parameters is mainly in a manual mode, and tools such as a tape measure and a wagon balance are used for manually measuring and dividing the feeding, and the implementation modes need to consume a large amount of labor cost, and stress response is caused to the live pigs, so that the automation and refinement of the raising management are not facilitated.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic measurement device and an automatic measurement method for live pigs, which can automatically measure the body length, the body height, the body width and the body weight of the live pigs, and distribute the live pigs into designated pig farms according to data, thereby realizing automation and refinement of the feeding management of the live pigs.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the automatic measurement device for the live pigs comprises a rotary table and a controller, wherein a first channel is arranged on the rotary table, a plurality of pig columns are arranged around the rotary table, a second channel is communicated with one side of each pig column, and the rotary table drives the first channel to be communicated with the second channel; the first channel and the second channel are provided with gates; the turntable is provided with a measuring device, the measuring device transmits a detection signal to a controller, and the controller controls the turntable and each gate.
The measuring device comprises a door beam, a binocular camera and an RFID module are arranged on the door beam, an electronic ear tag for storing the identity information of the pig to be measured is arranged on the pig to be measured, and after the RFID module reads the related information of the pig to be measured of the electronic ear tag on the body of the pig to be measured, the information is transmitted to a computer through a controller, and the binocular camera sends a shot picture to the computer.
The turntable comprises a bottom plate, a panel and a top plate, wherein the middle part of the panel is connected with the bottom plate through a supporting shaft, a plurality of universal wheels are installed below the panel, a servo motor is installed on the bottom plate and is in transmission connection with the panel through a gear transmission mechanism, a plurality of limit switches corresponding to the second channels are arranged around the panel, contacts for triggering the limit switches are arranged at the edge of the panel, the top plate is connected with the panel through an electronic scale, the electronic scale and the limit switches transmit detected signals to a controller, and the controller controls the servo motor.
A method for dividing live pigs by an automatic live pig measuring device comprises the following steps:
the first step: after the gate on one of the pig pens is opened, the live pigs are driven into the first channel of the turntable, and then the gate on the first channel is closed;
and a second step of: collecting an original image of a live pig on a turntable through a binocular camera and correcting by utilizing internal and external parameters of a system;
cutting an original image, selecting an RG component for analysis, removing a fixed background, filtering, threshold segmentation, morphological processing and a self-adaptive background statistical method to realize pretreatment of a pig body image;
fourthly, extracting body ruler measuring points by using a contour analysis method;
fifthly, matching the two images by using an AD-census image matching method;
sixthly, measuring the body ruler of the breeding pig according to the information obtained by image matching and the body ruler measuring points;
seventh, obtaining weight information of the live pigs through an electronic scale;
eighth step: according to the size and weight information of the live pigs, the live pigs are distributed into designated pig fences, and the fencing method comprises the following steps: the servo motor drives the top plate to rotate through the gear transmission mechanism, the first channel is communicated with the second channel communicated with the designated pig fence, the gate is opened, and the live pigs are driven into the designated pig fence.
In the third step, the corrected original image is cut to be consistent with the size of the pig body moving area on the turntable; selecting RG component images with the most obvious characteristics according to the characteristics of the pig body and the external environment; removing a door beam fixed background on the turntable, and eliminating the influence of the door beam; average filtering is carried out on the image; threshold segmentation is carried out on the image based on an improved OSTU algorithm; removing the adhesion part of the image by adopting a combined morphological processing method; ineffective small areas are removed by an adaptive background statistics method.
In the fourth step, carrying out envelope analysis on the pig body image obtained in the third step, solving the corresponding part of the determined head and tail division points of each section of envelope line surrounding the pig body, solving the point with the maximum distance from the point on the contour line to the envelope line in the corresponding range, and determining the head and tail division points; and respectively solving the mass center of the image, connecting the mass center with head and tail division points, and solving the points with the farthest vertical distance from the connecting line on the outlines of the two sides of the pig body, namely measuring the body width and the hip width, wherein the heights of the corresponding points are high, so that the body ruler measuring points are determined.
In the sixth step, two are matched by using an AD-census method to obtain a parallax image, the distance between the camera and the back of the pig body is obtained by combining the internal and external parameters, and the distance between the camera and the back of the pig body is subtracted from the height between the camera and the ground to obtain the height of the pig body
The distance between the camera and the back of the pig body can be obtained by combining the parallax map obtained in the fifth step with the internal and external parameters, and the height of the pig body is obtained by subtracting the distance between the camera and the back of the pig body from the height of the camera from the ground; and (5) calculating the body length and the body width of the pig by combining the body size measuring points obtained in the fourth step.
The beneficial effects of the invention are as follows:
1. after various information of live pigs is acquired through the measuring device, the live pigs can be automatically distributed in the appointed pig fence by utilizing the turntable according to the measuring information, so that the live pigs with different measuring information are subjected to classified feeding, the weight of the live pigs is more uniform, and the automation and the refinement of the live pig feeding management are realized.
2. The measuring device can rapidly and accurately acquire the body length and body width information of the live pigs, and the individual growth and feeding information are recorded by utilizing the live pig ear tag and the RFID module, so that the feeding personnel can conveniently acquire an optimal feeding scheme according to the feeding information.
3. Compared with the traditional manual contact type measurement method, the measurement device adopts a binocular vision-based non-contact type body ruler measurement method, so that the stimulation to the live pigs can be reduced, the stress response of the live pigs is reduced, and the requirements of welfare cultivation are met.
Drawings
The invention is further described with reference to the accompanying drawings:
figure 1 is a schematic top view of the present invention,
figure 2 is a schematic top view of the turntable according to the present invention,
FIG. 3 is a schematic cross-sectional structure of the turntable according to the present invention,
figure 4 is a flow chart of the invention in relation to the operation of the measuring device,
figure 5 is a cut image of the invention after the binocular camera is photographed,
FIG. 6 is a diagram of R\G\B\RG components of a pig body photographed by a binocular camera,
fig. 7 is a picture of a pig body image taken by the invention after removal of a fixed background;
FIG. 8 is a graph of the image after morphological operations and background statistics processing in accordance with the present invention;
FIG. 9 is an image of a pig body after envelope analysis in accordance with the present invention;
FIG. 10 is an image of a pig body after head-to-tail segmentation in accordance with the present invention;
FIG. 11 is a schematic view of the measurement points of the body rule of the pig according to the present invention
Figure 12 is a disparity map of the present invention after matching a pig body,
fig. 13 is a schematic diagram of the connection relationship between the electric devices of the present invention.
In the figure: pig pen 1, carousel 3, measuring device 4, gate 5, first passageway 21, second passageway 22, panel 30, roof 31, limit switch 32, contact 33, servo motor 34, bottom plate 35, gear train 36, back shaft 37, electronic scale 38, universal wheel 39, door beam 41, RFID module 42, binocular camera 43.
Detailed Description
As shown in fig. 1 to 4, the automatic measurement device for live pigs comprises a rotary table 3 and a controller, wherein a first channel 21 is arranged on the rotary table 3, a plurality of pig columns 1 are arranged around the rotary table 3, a second channel 22 is communicated with one side of each pig column 1, and the rotary table 3 drives the first channel 21 to be communicated with the second channel 22; the two ends of the first channel 21 and one end of each second channel 22 are respectively provided with a gate 5, the lengths of the first channel 21 and the second channels 22 can only enter a pig at each time, the turntable 3 is provided with a measuring device 4, the measuring device 4 transmits detected signals to the ARM controller, and the singlechip controller controls the turntable 3 and each gate 5. The gate 5 can use a lifting door of a pig house with the patent number of CN20711453U and the name of CN20711453U, and the PLC controls the lifting of a cylinder in the lifting door through an electromagnetic valve or controls the lifting of the lifting door manually;
the measuring device 4 comprises a door beam 41, a binocular camera 43 and an RFID module 42 are arranged on the door beam 41, an electronic ear tag for storing the identity information of the pig to be measured is arranged on the pig to be measured, the RFID module 42 reads the related information of the pig to be measured of the electronic ear tag on the body of the pig to be measured, the information is transmitted to a computer through a PLC, the binocular camera 43 transmits a shot picture to the computer, and the computer processes the picture.
The turntable 3 comprises a bottom plate 35, a panel 30 and a top plate 31, the middle part of the panel 30 is connected with the bottom plate 35 through a supporting shaft, a plurality of universal wheels 39 are installed below the panel 30, a servo motor 34 is installed on the bottom plate 35, the servo motor 34 is in transmission connection with the panel 30 through a gear transmission mechanism 36, a plurality of limit switches 32 corresponding to the second channels 22 are arranged around the panel 30, contacts 33 for triggering the limit switches 32 are arranged at the edge of the panel 30, the top plate 31 is connected with the panel 30 through an electronic scale 38, the electronic scale 38 and the limit switches 32 transmit detected signals to a PLC controller, the PLC controller controls the servo motor 34 to rotate positively and negatively through a relay, and the PLC controller is in communication with a computer through an RS323 bus. In the process that the servo motor 34 drives the panel 30 to rotate through the gear transmission mechanism 36, the contacts 33 on the panel 30 trigger the limit switches 32, when the designated limit switches 32 obtain trigger signals, the second channel 22 corresponding to the indicated limit switches 32 representing the first channel 21 is connected, at the moment, the live pigs can be driven into the designated pig pen 1 by controlling the gates 5 on the first channel 21 and the second channel 22, so that the live pigs can be automatically sorted, and the movement of the live pigs can be limited, so that the measurement device 4 can measure the body size of the live pigs.
A method for dividing live pigs by an automatic live pig measuring device comprises the following steps:
the first step: after opening the gate 5 on the second channel 22 communicating with the left pig pen 1 as in fig. 1, the live pigs are driven into the second channel 22 and the gate 5 on the second channel 22 is closed, then the live pigs enter the first channel 21 of the turntable 3, and the gate 5 on the first channel 21 is closed, at this time, the live pigs are confined in the first channel 21.
And a second step of: the original image of the live pig on the turntable 3 is collected through the binocular camera 43 and is corrected by utilizing the internal and external parameters of the camera, meanwhile, the RFID module 42 reads the electronic ear tag on the pig to be detected in the first channel 21, the ear tag information is fed back to the controller, the controller transmits the information to the computer, the computer controls the binocular camera 43 to take a picture after receiving the identity information of the pig to be detected, the picture is transmitted back to the computer, the preprocessing of the image, the extraction of the body ruler measuring point and the three-dimensional matching operation are carried out in the computer, and simultaneously, the body ruler measuring result is displayed on the computer screen in real time.
And thirdly, cutting the original image into the size shown in fig. 5 by a computer, selecting an RG component diagram for subsequent processing according to a R, G, B, RG component diagram of the pig body image shown in fig. 6.
Fourthly, extracting body ruler measuring points by using a contour analysis method; as shown in fig. 7, after removing the background, the image is subjected to mean filtering, where the mean filtering method is to select a template for the current pixel to be processed, where the template is composed of a plurality of pixels adjacent to the current pixel, and replace the value of the original pixel with the mean value of the template. The calculation formula is as follows:
and (5) obtaining a threshold value by adopting an OSTU method and dividing the filtered image. For an image, when the segmentation threshold value of the foreground and the background is set as t, the proportion of the foreground points to the image is w0, the average value is u0, the proportion of the background points to the image is w1, and the average value is u1. The average value of the whole image is u=w0×u0+w1×u1. Establishing an objective function g (t) =w0 (u 0-u)/(2+w1 (u 1-u)/(2), and g (t) is an inter-class variance expression when the segmentation threshold is t. The OTSU algorithm takes g (t) to a global maximum, and the corresponding t when g (t) is maximum is called the optimal threshold.
The threshold segmentation method can not completely segment the pig body, and some parts can be adhered, as shown in fig. 8, and the combined morphological operation is used for processing. And the ineffective small areas are filtered out by using a background statistic method.
Fig. 9 shows an image of a pig body after envelope analysis, the pig body being divided into three regions due to the influence of a fixed background. And analyzing the region 1 and the region 2 respectively, and obtaining points, near the tail and the head, which are farthest from the corresponding envelope curve, namely head-tail division points. Fig. 10 is an image after segmentation.
And (3) calculating the mass centers of the three parts, forming a group of connecting lines by connecting the mass centers with the midpoints of the head and tail dividing points, and calculating points which are farthest from the connecting lines in the vertical distance on the contour lines on two sides of the pig body, wherein the points are measuring points of body width and hip width, and the height of the body width measuring points is high. The actual distance between the measured body length and the connecting line is shown in fig. 11.
And fifthly, performing parallax calculation on the binocular image by adopting an AD-census method, wherein the parallax calculation comprises four steps: initializing cost, energy aggregation, parallax calculation, parallax improvement (isolated point detection, iterative region voting, interpolation, discontinuous depth value adjustment and subpixel value improvement), and fig. 12 is a calculated parallax map.
And step six, a three-dimensional coordinate system can be established in the visual field range according to the parallax image and the internal and external parameters of the camera, and the actual body length and body width can be obtained according to the three-dimensional coordinates of each point.
Seventh, the weight information of the live pigs is obtained through the electronic scale 38;
eighth step: according to the size and weight information of the live pigs, the live pigs are distributed into designated pig fences 1, and the fencing method comprises the following steps: as shown in fig. 1, the servo motor 34 drives the top plate 31 to rotate through the gear transmission mechanism 36, after the specified limit switch 32 obtains a signal, the signal is transmitted to the computer through the controller, the computer controls the servo motor 34 to stop, the first channel 21 is communicated with the second channel 22 of the specified pig farm 1, the gate 5 is opened, and the live pigs are driven into the specified pig farm 1, so that the separate-farm feeding of different kinds of live pigs is realized.
Claims (8)
1. Automatic measurement device for live pigs, which is characterized in that: the pig feed device comprises a rotary table (3) and a controller, wherein a first channel (21) is arranged on the rotary table (3), a plurality of pig columns (1) are arranged around the rotary table (3), a second channel (22) is communicated with one side of each pig column (1), and the rotary table (3) drives the first channel (21) to be communicated with the second channel (22); the first channel (21) and the second channel (22) are provided with a gate (5); a measuring device (4) is arranged on the turntable (3), the measuring device (4) transmits a detection signal to a controller, and the controller controls the turntable (3) and each gate (5).
2. The automatic measurement device for live pigs according to claim 1, characterized in that: the measuring device (4) comprises a door beam (41), a binocular camera (43) and an RFID module (42) are arranged on the door beam (41), an electronic ear tag for storing the identity information of the pig to be measured is arranged on the pig to be measured, the RFID module (42) reads the related information of the pig to be measured of the electronic ear tag on the body of the pig to be measured, the information is transmitted to a computer through a controller, and the binocular camera (43) transmits the shot picture to the computer.
3. The automatic measurement device for live pigs according to claim 2, characterized in that: carousel (3) are including bottom plate (35), panel (30) and roof (31), panel (30) middle part is connected with bottom plate (35) through the back shaft, install a plurality of universal wheels (39) under panel (30), install servo motor (34) on bottom plate (35), servo motor (34) are connected with panel (30) transmission through gear drive (36), be equipped with a plurality of limit switches (32) corresponding with each second passageway (22) around panel (30), be equipped with at panel (30) edge and be used for triggering contact (33) of limit switch (32), roof (31) are connected panel (30) through electronic scale (38), electronic scale (38) and limit switch (32) are with the signal transmission who detects for the controller, controller control servo motor (34).
4. A method for staging live pigs using the automatic live pig measurement apparatus of claim 3, comprising the steps of:
the first step: after the gate (5) on one pig fence (1) is opened, the live pigs are driven into the first channel (21) of the turntable (3), and then the gate (5) on the first channel (21) is closed;
and a second step of: the original image of the live pig on the rotary table (3) is collected through the binocular camera (43) and is corrected by utilizing the internal and external parameters of the system;
cutting an original image, selecting an RG component for analysis, removing a fixed background, filtering, threshold segmentation, morphological processing and a self-adaptive background statistical method to realize pretreatment of a pig body image;
fourthly, extracting body ruler measuring points by using a contour analysis method;
fifthly, matching the two images by using an AD-census image matching method;
sixthly, measuring the body ruler of the breeding pig according to the information obtained by image matching and the body ruler measuring points;
seventh, weight information of the live pigs is obtained through an electronic scale (38);
eighth step: according to the size and weight information of the live pigs, the live pigs are distributed into designated pigs (1), and the method for dividing the pigs comprises the following steps: the servo motor (34) drives the top plate (31) to rotate through the gear transmission mechanism (36), the first channel (21) is communicated with the second channel (22) communicated with the designated pig fence (1), the gate (5) is opened, and the live pigs are driven into the designated pig fence (1).
5. The method for sorting live pigs by the automatic live pig measuring device according to claim 4, wherein in the third step, the corrected original image is cut to be consistent with the size of the active area of the pig body on the turntable (3); selecting RG component images with the most obvious characteristics according to the characteristics of the pig body and the external environment; removing a fixed background of a door beam (41) on the turntable (3), and eliminating the influence of the door beam (41); average filtering is carried out on the image; threshold segmentation is carried out on the image based on an improved OSTU algorithm; removing the adhesion part of the image by adopting a combined morphological processing method; ineffective small areas are removed by an adaptive background statistics method.
6. The method for sorting live pigs by using the automatic live pig measuring device according to claim 4, wherein in the fourth step, envelope analysis is performed on the pig body image obtained in the third step, the respective parts of the envelope lines surrounding the pig body, from which the distance between the head and the tail are determined, and the point on the contour line to the point with the maximum distance between the envelope lines are determined within the respective ranges, so as to determine the head and the tail division points; and respectively solving the mass center of the image, connecting the mass center with head and tail division points, and solving the points with the farthest vertical distance from the connecting line on the outlines of the two sides of the pig body, namely measuring the body width and the hip width, wherein the heights of the corresponding points are high, so that the body ruler measuring points are determined.
7. The method for sorting live pigs by using the automatic live pig measuring device according to claim 4, wherein in the sixth step, two of the live pigs are matched by using an AD-census method to obtain a parallax map, the distance between the camera and the back of the pig body is obtained by combining internal and external parameters, and the height of the pig body is obtained by subtracting the distance between the camera and the back of the pig body from the height of the camera from the ground.
8. The method for sorting live pigs by automatic live pig measuring device according to claim 4, wherein: the distance between the camera and the back of the pig body can be obtained by combining the parallax map obtained in the fifth step with the internal and external parameters, and the height of the pig body is obtained by subtracting the distance between the camera and the back of the pig body from the height of the camera from the ground; and (5) calculating the body length and the body width of the pig by combining the body size measuring points obtained in the fourth step.
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| WO2021045034A1 (en) * | 2019-09-06 | 2021-03-11 | 日本ハム株式会社 | Growth evaluation device, growth evaluation method, and growth evaluation program |
| CN111696114A (en) * | 2020-04-13 | 2020-09-22 | 浙江大学 | Method and device for identifying hunger degree of penaeus vannamei based on underwater imaging analysis |
| CN112200003B (en) * | 2020-09-14 | 2024-02-20 | 浙江大华技术股份有限公司 | Method and device for determining feed feeding amount in pig farm |
| CN114080994A (en) * | 2022-01-20 | 2022-02-25 | 北京探感科技股份有限公司 | Method and system for realizing intelligent animal column division based on visual weight estimation |
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| EP2440039A2 (en) * | 2009-06-08 | 2012-04-18 | Purdue Research Foundation | System for automating animal testing protocols |
| CN203206894U (en) * | 2013-04-07 | 2013-09-25 | 北京京鹏环宇畜牧科技股份有限公司 | Pig raising device |
| CN104026030B (en) * | 2014-06-18 | 2015-10-21 | 中国农业科学院北京畜牧兽医研究所 | Feeding station |
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