CN110772260A - Non-contact milk cow body size measuring device and method - Google Patents
Non-contact milk cow body size measuring device and method Download PDFInfo
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- 230000005611 electricity Effects 0.000 claims abstract description 5
- 238000005303 weighing Methods 0.000 claims description 33
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
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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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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/08—Apparatus for or methods of weighing material of special form or property for weighing livestock
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Abstract
The application discloses non-contact milk cow body size measuring device and method relates to milk cow breeding technical field, and the device includes: the device frame, the device frame is provided with gathers the passageway, gather the passageway and once only can hold a milk cow to pass through, gather one side of passageway intermediate position and directly over respectively fixed first camera and the second camera of being provided with, first camera with the second camera all is connected with the collection processing equipment electricity. Because the collection passageway can only hold one milk cow once, consequently after the milk cow enters into the collection passageway, gather the processing apparatus and control first camera and second camera and take a picture from the milk cow directly over and the side respectively to the milk cow. And the cow image obtained by photographing is transmitted to the acquisition and processing equipment, and the acquisition and processing equipment determines the body size data of the cow according to the acquired cow image. Because only the image of one cow is processed at a time, the accuracy of acquiring the body size data of the cow is improved.
Description
Technical Field
The application relates to the technical field of cow breeding, in particular to a non-contact type cow body size measuring device and method.
Background
The cow body ruler is a special method for evaluating the body fat deposition amount of cows, is an important index for evaluating the production capacity of cow groups, checking and evaluating the feeding level of a cow farm, and is an indispensable part in the feeding management of the cow farm at present. The body size of a cow refers to the amount of fat or the reserve level of energy that the cow has. The purpose of body condition scoring is to keep the cow in a good weight state, and to clarify the problems of cows in different growth and production stages and the influence factors which may be brought to the cow by the fluctuation of body conditions. The feed ratio of the dairy cow can also be reasonably adjusted according to the body size data of the dairy cow. Therefore, the body size of the cow is an important data index of the cow.
At this stage, the body ruler acquisition of cows still stays on the most primitive manual measurement. Not only causes stimulation to the dairy cows, but also causes waste of a large amount of manpower and material resources. And the traditional body ruler measurement means cannot monitor and measure in real time. Conventional measurement methods have errors in both readings and instrumentation. In addition, some cattle farms take photographs of cows by using a camera and perform analysis and scoring by using computer software, but the cows are mostly a whole body with mixed black and white colors. The multiple cows are mixed together, the cow body color is difficult to obtain the whole area of the cows, the workload is high, and the accuracy is not high.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, an embodiment of the present application provides a non-contact milk cow body size measuring device, including: the device frame, the device frame is provided with gathers the passageway, gather the passageway and once only can hold a milk cow to pass through, gather one side of passageway intermediate position and directly over respectively fixed first camera and the second camera of being provided with, first camera with the second camera all is connected with the collection processing equipment electricity.
Adopt above-mentioned implementation, because the collection passageway can only hold a milk cow once, consequently after the milk cow enters into the collection passageway, gather the processing apparatus and control first camera and second camera and take a picture from the milk cow directly over and the side respectively to the milk cow. And the cow image obtained by photographing is transmitted to the acquisition and processing equipment, and the acquisition and processing equipment determines the body size data of the cow according to the acquired cow image. Because only the image of one cow is processed at a time, the accuracy of acquiring the body size data of the cow is improved.
With reference to the first aspect, in a first possible implementation manner of the first aspect, a three-coordinate linear module is disposed right above a middle position of the device frame corresponding to the acquisition channel, and the first camera is fixedly disposed on the three-coordinate linear module. The three-coordinate linear module is installed above the acquisition channel, and the movement of the first camera at the top can be driven to move in three directions so as to facilitate the adjustment of the position of the first camera at the top.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, an infrared pair tube sensor is disposed at a position, close to the channel outlet, of the acquisition channel, and the infrared pair tube sensor is electrically connected with the acquisition processing device. The infrared pair tube sensor is arranged at a position 0.5-0.6 m in front of the outlet of the acquisition channel and 1 m away from the ground, and is used for judging whether the cow is at the best shooting position.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, a first photoelectric conversion pair group and a second photoelectric conversion pair group are disposed on the collection channel, the first photoelectric conversion pair group is fixedly disposed at a position close to an entrance of the collection channel, and the second photoelectric conversion pair group is fixedly disposed at a middle position of the collection channel.
With reference to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, a cut-off device is disposed between the first paired photoelectric switch groups and the entrance of the collecting channel, the cut-off device includes a motor and a rail, a rotation output shaft of the motor is fixedly connected to the rail, and a controller of the motor is electrically connected to the first paired photoelectric switch groups and the second paired photoelectric switch groups, respectively.
When the cow milked and returned to the cowshed in-process through returning the fence passageway, the cow sheltered from the infrared light of two photoelectric switch correlation in the first photoelectric switch group, cut off the motor of device and trigger the start, and the rotation output shaft clockwise rotation of motor drives the railing and lifts up. The milk cow continues to move ahead, shelters from the infrared light of two photoelectric switch correlation in the second correlation photoelectric switch group when the milk cow, triggers the motor start once more, and the rotation output shaft anticlockwise rotation of motor drives the railing and descends. And the second is to firing photoelectric switch group and is restrained first to firing photoelectric switch group, as long as the cow health does not leave the correlation region of second to firing photoelectric switch group, even there is another cow in first pair of photoelectric switch group correlation region, the motor can not triggered the start yet, until the preceding cow leaves the correlation region of second to firing photoelectric switch group, the infrared light to two photoelectric switches correlation in the photoelectric switch group of correlation is not blockking, just can enter next circulation, allows the second cow to enter into the collection passageway.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, a single-row cow advancing channel is disposed near the inlet end of the collecting channel, the single-row cow advancing channel is provided with an ear tag reader, and the ear tag reader is electrically connected with the collecting and processing device. The ear tag is arranged on the ear of each cow and serves as a cow identity mark, when the ear tag on the cow ear is close to the ear mark reader, the ear tag signal is uploaded to the acquisition and processing equipment through the ear mark reader, and the cow identity is recognized. Therefore, the subsequently acquired milk cow body size data can be corresponding to the milk cow identity.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, a weighing plate is disposed at the bottom of the collection channel, a weighing sensor is disposed at the bottom of the weighing plate, and the weighing sensor is electrically connected to the collection processing device. The weighing plate is arranged at the bottom of the acquisition channel, and is used for assisting the weighing sensor to measure the weight of the milk cow when the milk cow passes through the channel.
With reference to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the plurality of weighing sensors are uniformly arranged at the bottom of the weighing plate. The accuracy that milk cow weighing was weighed has been guaranteed to a plurality of sensors.
With reference to the first aspect, in an eighth possible implementation manner of the first aspect, the first camera and the second camera are Kinect V2.0 cameras.
The Kinect V2.0 camera is used as an acquisition device of the image and the point cloud, and the acquired depth image is provided with a coordinate system, so that the processing difficulty is greatly saved, and the milk cow image processing difficulty of the milk cow color is avoided.
In a second aspect, an embodiment of the present application provides a non-contact milk cow body size measuring method, where the non-contact milk cow body size measuring device according to the first aspect or any one of the possible implementations of the first aspect is adopted, and the method includes: after the dairy cow enters the acquisition channel, triggering acquisition processing equipment to send a photographing instruction to a first camera and a second camera through an infrared geminate transistor sensor arranged on the acquisition channel; after receiving the photographing instruction, the first camera and the second camera respectively photograph the cow images from the right above and the side of the cow and send the images to the acquisition and processing equipment; and the acquisition and processing equipment receives the milk cow images from the first camera and the second camera and processes the milk cow images to obtain milk cow body size data.
Drawings
Fig. 1 is a schematic structural diagram of a non-contact cow body size measuring device provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a non-contact cow body size measuring method provided in an embodiment of the present application;
in fig. 1-2, the symbols are represented as:
1-device frame, 2-acquisition channel, 3-first camera, 4-second camera, 5-acquisition processing equipment, 6-three-coordinate linear module, 7-infrared pair transistor sensor, 8-first photoelectric switch group, 9-second photoelectric switch group, 10-cut-off device, 11-motor, 12-railing, 13-single row of cow advancing channel, 14-ear identifier reader, 15-scale plate and 16-weighing sensor.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic structural diagram of a non-contact cow body size measuring device provided in an embodiment of the present application, and referring to fig. 1, the non-contact cow body size measuring device includes: the device frame, the device frame is provided with gathers the passageway, gather the passageway and once only can hold a milk cow to pass through, gather one side of passageway intermediate position and directly over respectively fixed first camera and the second camera of being provided with, first camera with the second camera all is connected with the collection processing equipment electricity.
In the embodiment of the application, the first camera and the second camera are Kinect V2.0 cameras. The Kinect V2.0 camera is used as an acquisition device of the image and the point cloud, the acquired depth image is provided with a coordinate system, the processing difficulty is greatly saved, the milk cow image processing difficulty of milk cow color is avoided, and the acquisition and processing equipment is a PC with image processing capability.
A three-coordinate linear module is arranged right above the middle position of the corresponding acquisition channel of the device frame, and the first camera is fixedly arranged on the three-coordinate linear module. The three-coordinate linear module is installed above the acquisition channel, and the movement of the first camera at the top can be driven to move in three directions so as to facilitate the adjustment of the position of the first camera at the top.
The position of the acquisition channel close to the channel outlet is provided with an infrared geminate transistor sensor which is electrically connected with the acquisition processing equipment. The infrared pair tube sensor is arranged at a position 0.5-0.6 m in front of the outlet of the acquisition channel and 1 m away from the ground, and is used for judging whether the cow is at the best shooting position.
The collecting channel is provided with a first counter photoelectric switch group and a second counter photoelectric switch group, the first counter photoelectric switch group is fixedly arranged at a position close to the inlet of the collecting channel, and the second counter photoelectric switch group is fixedly arranged at the middle position of the collecting channel.
First photoelectric switch group with it cuts the device to be provided with between the collection passageway entry position, cut the device and include motor and railing, the rotation output shaft of motor with railing fixed connection, the controller of motor respectively with first photoelectric switch group with the second photoelectric switch group electricity is connected.
When the cow milked and returned to the cowshed in-process through returning the fence passageway, the cow sheltered from the infrared light of two photoelectric switch correlation in the first photoelectric switch group, cut off the motor of device and trigger the start, and the rotation output shaft clockwise rotation of motor drives the railing and lifts up. The milk cow continues to move ahead, shelters from the infrared light of two photoelectric switch correlation in the second correlation photoelectric switch group when the milk cow, triggers the motor start once more, and the rotation output shaft anticlockwise rotation of motor drives the railing and descends. And the second is to firing photoelectric switch group and is restrained first to firing photoelectric switch group, as long as the cow health does not leave the correlation region of second to firing photoelectric switch group, even there is another cow in first pair of photoelectric switch group correlation region, the motor can not triggered the start yet, until the preceding cow leaves the correlation region of second to firing photoelectric switch group, the infrared light to two photoelectric switches correlation in the photoelectric switch group of correlation is not blockking, just can enter next circulation, allows the second cow to enter into the collection passageway.
And a single-row advancing channel of the dairy cows is arranged close to the inlet end of the acquisition channel, and is provided with an ear tag reader which is electrically connected with the acquisition processing equipment. The ear tag is arranged on the ear of each cow and serves as a cow identity mark, when the ear tag on the cow ear is close to the ear mark reader, the ear tag signal is uploaded to the acquisition and processing equipment through the ear mark reader, and the cow identity is recognized. Therefore, the subsequently acquired milk cow body size data can be corresponding to the milk cow identity.
The bottom of the collecting channel is provided with a weighing plate, and the bottom of the weighing plate is provided with a weighing sensor. The weighing plate is arranged at the bottom of the acquisition channel, and is used for assisting the weighing sensor to measure the weight of the milk cow when the milk cow passes through the channel. The weighing sensors are arranged in a plurality of numbers and are uniformly arranged at the bottom of the weighing plate. The accuracy that milk cow weighing was weighed has been guaranteed to a plurality of sensors.
A section of 4.5 meters long is taken at an outlet dairy cow returning passageway of a milking parlor, and the non-contact type dairy cow body size measuring device provided by the embodiment of the application is installed. The single-row advancing channel of the dairy cow is 1.1 meter high and 2 meters long, and the rear collecting channel is 3 meters high and 2.5 meters long. The cut-off device is installed between the single-row advancing channel and the collecting channel of the dairy cows. An ear tag reader is arranged at the position 0.3 m away from the ground at the front end of the cutting device and 1 m away from the ground. The first and second photoelectric switch sets are respectively arranged 0.2 m in front of the automatic cut-off device, 1 m away from the ground and 1.5 m behind the automatic cut-off device, and 1 m away from the ground. And an infrared pair tube sensor is arranged on a railing of which the distance from the acquisition channel to the outlet is 0.5 m and the distance from the acquisition channel to the ground is 1 m. Two Kinect cameras, one is installed and is being gathered the passageway and apart from the 3 meters rectangle of ground and call board's diagonal point of intersect top, and another is installed and is being called the side of the crossing point of the diagonal of board and the passageway plane vertical position of 1 meter rectangle of ground distance. And a weighing sensor is arranged at the bottommost part of the acquisition channel, and a weighing plate is arranged on the weighing sensor. And a PC is arranged on the operating table and is respectively and electrically connected with the ear tag reader, the infrared pair tube sensor, the Kinect camera and the weighing sensor.
According to the embodiment, the embodiment provides a non-contact milk cow body size measuring device, because the collection passageway can only hold a milk cow once, consequently when the milk cow enters into the collection passageway after, infrared geminate transistors sensor triggers first camera of collection processing apparatus control and second camera is taken a picture from the milk cow directly over and the side respectively. And the cow image obtained by photographing is transmitted to the acquisition and processing equipment, and the acquisition and processing equipment determines the body size data of the cow according to the acquired cow image. Because only the image of one cow is processed at a time, the accuracy of acquiring the body size data of the cow is improved.
Corresponding to the non-contact milk cow body size measuring device provided by the embodiment, the application also provides an embodiment of a non-contact milk cow body size measuring method. Referring to fig. 2, the method includes:
s101, after the dairy cow enters the acquisition channel, triggering acquisition processing equipment to send a photographing instruction to the first camera and the second camera through the infrared pair tube sensor arranged on the acquisition channel.
In the process that the dairy cows return to the cowshed through the returning passage after milking, when the ear tags on the ears of the cows are close to the ear tag reader, the ear tag signals are uploaded to the acquisition and processing equipment through the ear tag reader, and the identities of the dairy cows are identified. The milk cow continues to move ahead, and when the milk cow sheltered from the infrared light of first photoelectric switch group, the motor of cut-off device rotated, raised the railing. The cow continues to move ahead, and when the cow sheltered from the infrared light of second to photoelectric switch group, automatic cut-off device's motor counter-rotation dropped the guide bar to restrain first to photoelectric switch group. The milk cow enters into the collection region and triggers infrared geminate transistors sensor, and the sensor sends the signal for gathering the treatment facility, gathers the treatment facility and assigns the instruction of shooing to first camera and second camera respectively after receiving the signal that comes from infrared geminate transistors sensor, assigns the instruction of weighing to weighing sensor simultaneously.
And S102, after receiving the photographing instruction, the first camera and the second camera respectively photograph the cow image from the right above and the side of the cow and send the cow image to the acquisition and processing equipment.
When the acquisition and processing equipment issues commands to the first camera and the second camera, the acquiescent cow is in the best shooting state. And after receiving the shooting instruction from the acquisition and processing equipment, the first camera and the second camera are started to shoot the milk cow image, and the milk cow image is uploaded to the PC.
S103, after receiving the milk cow images from the first camera and the second camera, the acquisition processing equipment processes the milk cow images to obtain milk cow body size data.
And when the acquisition processing equipment receives the images from the first camera and the second camera, automatically running a preset cow image processing program to process the cow depth image. And finally, outputting the deep body ruler data of the dairy cow. The weighing sensor receives an instruction from the acquisition processing equipment, defaults to the condition that the cow is in the optimal weighing state, and starts and measures the weight of the cow to upload to the acquisition processing equipment. And finishing the whole process of acquiring the body weight and the body size of the dairy cattle. And after the cow continues to move forward and the infrared light of the second pair of photoelectric switching groups is not shielded, the inhibition on the first pair of photoelectric switching groups is released, and the cow enters the next cycle.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
Claims (10)
1. The utility model provides a non-contact milk cow body size measuring device which characterized in that includes: the device frame, the device frame is provided with gathers the passageway, gather the passageway and once only can hold a milk cow to pass through, gather one side of passageway intermediate position and directly over respectively fixed first camera and the second camera of being provided with, first camera with the second camera all is connected with the collection processing equipment electricity.
2. The non-contact cow body size measuring device of claim 1, wherein said device frame is provided with a three-dimensional linear module directly above the middle position of the collecting channel, and said first camera is fixedly arranged on said three-dimensional linear module.
3. The non-contact cow body size measuring device according to claim 2, wherein the position of the collecting channel near the channel outlet is provided with an infrared pair tube sensor, and the infrared pair tube sensor is electrically connected with the collecting and processing device.
4. The non-contact cow body size measuring device of claim 3, wherein a first pair of photoelectric switch sets and a second pair of photoelectric switch sets are disposed on the collecting channel, the first pair of photoelectric switch sets is fixedly disposed near the inlet of the collecting channel, and the second pair of photoelectric switch sets is fixedly disposed at the middle of the collecting channel.
5. The non-contact cow body size measuring device of claim 4, wherein a cut-off device is arranged between the first photoelectric switch set and the entrance of the collecting channel, the cut-off device comprises a motor and a rail, a rotation output shaft of the motor is fixedly connected with the rail, and a controller of the motor is electrically connected with the first photoelectric switch set and the second photoelectric switch set respectively.
6. The non-contact cow body size measuring device according to claim 1, wherein a cow single row advancing channel is provided near the inlet end of the collecting channel, and an ear tag reader is provided on the cow single row advancing channel and electrically connected with the collecting and processing device.
7. The non-contact milk cow body size measuring device according to claim 1, wherein a weighing plate is arranged at the bottom of the collecting channel, a weighing sensor is arranged at the bottom of the weighing plate, and the weighing sensor is electrically connected with the collecting and processing equipment.
8. The non-contact cow body size measuring device according to claim 7, wherein said weighing sensors are provided in plurality, and said weighing sensors are uniformly arranged at the bottom of said weighing plate.
9. The non-contact cow body size measuring device of claim 1, wherein the first camera and the second camera are Kinect V2.0 cameras.
10. A non-contact milk cow body size measuring method, characterized in that the non-contact milk cow body size measuring device according to any one of claims 1-9 is used, the method comprising:
after the dairy cow enters the acquisition channel, triggering acquisition processing equipment to send a photographing instruction to a first camera and a second camera through an infrared geminate transistor sensor arranged on the acquisition channel;
after receiving the photographing instruction, the first camera and the second camera respectively photograph the cow images from the right above and the side of the cow and send the images to the acquisition and processing equipment;
and the acquisition and processing equipment receives the milk cow images from the first camera and the second camera and processes the milk cow images to obtain milk cow body size data.
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| CN201911145112.5A CN110772260A (en) | 2019-11-21 | 2019-11-21 | Non-contact milk cow body size measuring device and method |
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| CN201911145112.5A CN110772260A (en) | 2019-11-21 | 2019-11-21 | Non-contact milk cow body size measuring device and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112907546A (en) * | 2021-02-25 | 2021-06-04 | 北京农业信息技术研究中心 | Beef body ruler non-contact measuring device and method |
| CN113180640A (en) * | 2021-04-30 | 2021-07-30 | 山东大学 | Size measuring method and system for livestock breeding |
| CN113449638A (en) * | 2021-06-29 | 2021-09-28 | 西藏新好科技有限公司 | Pig image ideal frame screening method based on machine vision technology |
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| CN115633955A (en) * | 2022-11-02 | 2023-01-24 | 安徽农业大学 | Milk cow body chi survey system |
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