CN111504433A - Method and device for evaluating weight of animal during movement - Google Patents
Method and device for evaluating weight of animal during movement Download PDFInfo
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Abstract
The invention provides a method and equipment for evaluating the weight of an animal during movement, wherein the method comprises the following steps: connecting a sensor to the foot of the animal, monitoring a resting value when the animal is at rest, and estimating the resting weight of the animal; monitoring the movement force as the animal moves; processing the movement force measurements during a first step line cycle of the animal to determine a reference peak lp; determining a reference acceleration of a centroid of the animal from the static body weight; determining a reference acceleration of the center of mass according to the following formula: [ a parameter is lp/Wstatic-g ], wherein the a parameter is the reference acceleration of the mass center, lp is the reference peak value, W static is the static body weight, and g is the gravity constant; in the subsequent walking cycle of the animals: processing the movement force measurement to determine a peak value of the measurement, determining a force peak value ratio between the peak value of the movement force measurement and the reference peak value lp; determining the acceleration of the center of mass of the animal by the force peak ratio; the weight of the animal at locomotion is calculated from the peak of the locomotion force measurement and the centroid acceleration. Reducing complexity accurately measures body weight during animal movement.
Description
Technical Field
The invention relates to the field of animal health monitoring, in particular to a method and a device for evaluating the weight of an animal during movement.
Background
In assessing the physical health of mammals in zoos, especially wildlife parks, or animals in wilderness or certain livestock in animal husbandry, it is often necessary to continually assess the weight of the animals during their daily routine.
For example, continuously assessing the weight change pattern of an animal may be useful in the diagnosis of certain medical conditions (e.g., congestive heart failure, liver disease).
Furthermore, such an analysis may be useful for rehabilitation of injured or disabled individuals. Analysis of the weight change pattern may be useful not only for mammals but also for certain avian animals, as it may help assess animal performance for competitive applications or diagnosis or otherwise help the animal recover.
In order to be able to continuously assess the change in weight of a target animal, it is first necessary to determine the weight situation of the animal as it moves.
Traditionally, determining the weight of an animal while moving is very complex and error prone.
To measure the weight of an animal as it moves, conventional methods have used force sensors to measure the force applied by each foot (paw). Fig. 1 shows an exemplary graph showing the force detected by each foot (paw) throughout the animal's walking cycle. Clearly, the force detected by these force sensors is not directly related to the weight of the animal. Rather, as shown, the force detected by the sensor under each foot (paw) experiences peaks and valleys that fluctuate throughout the walking cycle due to the animal's motion. This is due to the change in the centre of mass of the animal during the walking cycle and the acceleration between these changes.
In view of this, conventional methods use an acceleration sensor to determine the best measurement point (BPM) to measure the force exerted by each foot (paw) to obtain the most accurate weight of the animal when moving.
In particular, the acceleration sensor is used to determine when the vertical acceleration of the animal is close to zero, at which point the force sensor of each foot (claw) will accurately reflect the weight of the animal.
However, this method is prone to errors because it requires very precise placement of the acceleration sensor and synchronization between the acceleration sensor and the force sensor of each foot (jaw).
In addition, a sensor commonly used in the conventional method uses a motion sensor based on a micro-electromechanical design principle of an Inertial Motion Unit (IMU). It is known that such IMU sensors are prone to significant measurement errors due to the repeated impact of the foot (claw) on the walking surface.
Therefore, there is a need for an apparatus and method for accurately measuring the weight of an animal with reduced complexity.
Disclosure of Invention
In order to solve at least one of the above technical problems, it is an object of the present invention to provide a device and a method for accurately measuring the weight of an animal with reduced complexity, in particular the weight of the animal can be monitored also during movement.
In all embodiments of the present application, the animal's locomotor force is equivalent to the animal's locomotor force.
In one embodiment, a method for assessing the weight of an animal while moving, the method comprising:
s1, attaching one or more force sensors to the animal' S feet such that the force sensors measure the force applied between each foot of the animal and the surface on which the animal is located;
s2, monitoring the one or more force sensors while the animal is at rest to obtain a resting force measurement; estimating a body weight of the animal based on the static measurements to obtain a static body weight;
s3, monitoring one or more force sensors as the animal moves to obtain a movement force measurement;
s4, during the first step line cycle of animals: processing the movement force measurement to determine a reference peak lp of the movement force measurement;
determining a reference acceleration of a centroid of the animal as a function of the dead weight; determining a reference acceleration of the center of mass according to the following formula: [ a parameter is lp/Wstatic-g ], wherein the a parameter is the reference acceleration of the mass center, lp is the reference peak value, W static is the static body weight, and g is the gravity constant;
s5, in a subsequent walking cycle of the animal: processing the movement force measurement to determine a peak value of the movement force measurement, determining a force peak value ratio between the peak value of the movement force measurement and the reference peak value lp;
determining the acceleration of the center of mass of the animal by the force peak ratio;
s6, calculating the weight of the animal during moving through the peak value and the centroid acceleration measured by the moving force:
[ Lpr/(g-a mass) ] where W is the animal's weight while moving, lpr is the peak of the movement force measurement, g is the gravitational constant, and a mass is the acceleration of the animal's center of mass.
Monitoring the one or more force sensors to obtain the movement force measurements while the animal is moving;
processing the movement force measurements to determine a peak value of the movement force measurements,
continuously taking moving force measurements, determining a force peak ratio between a plurality of said peaks;
the acceleration of the center of mass of the animal is determined by the force peak ratio,
and calculating the weight of the animal when moving through the acceleration of the peak value and the centroid.
In one embodiment, there is provided a mobile animal weight monitoring device, the device comprising: one or more force measuring sensors configured to be attached to an animal's foot such that the force sensors measure a force applied between each foot of the animal and a contact surface;
also included are processing circuitry and a memory storing instructions,
when executed by the processing circuitry, the instructions cause the weight monitoring device to: monitoring one or more force sensors as the animal moves to obtain a movement force measurement; and processing the movement force measurements to determine a peak value of the movement force measurements, the peak value being a maximum value of the movement force measurements over a given time period;
and measuring a valley of the movement force, which is a minimum value of the movement force measurement;
measuring a force range of the moving force over a given time period, the range being a difference between a peak value and a valley value; determining an acceleration of a center of mass of the animal through the force range;
and estimating the weight of the animal based on the valley bottom level and the centroid acceleration.
Wherein determining the acceleration of the center of mass of the animal through the force range comprises using an experimental model showing a relationship between the force range and the acceleration of the center of mass, wherein the experimental model is obtained using actual measurements of the acceleration of the center of mass relative to the force range.
The memory and processing circuitry perform the method for assessing the weight of an animal while moving as previously described.
In another embodiment, a method for assessing the weight of an animal while moving includes attaching one or more force sensors to the animal's foot such that the force sensors measure the force applied between each foot (claw) of the animal and the surface on which the animal is positioned, monitoring the one or more force sensors while the animal is in motion to obtain motion force measurements, processing the motion force measurements to determine a peak value of the motion force measurements, the peak value being the maximum value of the motion force measurements over a given time period, determining a minimum value of the motion force measurements over the given time period, i.e., a trough value of the motion force measurements, and a motion force being the difference between the peak value and the trough value. The force range of the measurements determines an estimate of the center of mass of the object within the acceleration force range and estimates the weight of the object and the acceleration mass of the center of the object as it moves through the valleys.
By estimating the weight of the animal as it moves based on the force range, the weight of the animal can be estimated using only the force sensor without using an additional mass acceleration sensor or an IMU sensor attached to the foot (claw), thereby significantly reducing the complexity of the process.
In one embodiment, a method for assessing the weight of an animal while moving comprises: attaching one or more force sensors to the animal's foot such that the force sensors measure the force applied between each foot (paw) of the animal and the surface on which the animal is located, monitoring the one or more force sensors while the animal is at rest to obtain a resting force measurement, estimating the animal's body weight based on the resting force measurement to obtain a resting weight.
Monitoring one or more force sensors while the animal is in motion, obtaining a motion force measurement during a first step row cycle of the animal: the motion force measurements are processed to determine a reference peak value for the motion force measurement that is the maximum value of the motion force measurement over a given time period, and similarly, a reference valley value may be measured that is the minimum value of the movement force measurement over a given time period. And obtaining a reference force range, which is the difference between the reference peak and the reference trough, and which is the process of determining a reference acceleration of the center of mass of the animal by the resting weight during subsequent walking of the animal.
The movement force measurements are processed to determine a peak value of the movement force measurement, which is a maximum value of the movement force measurement over a given time period, and a valley value of the movement force measurement, which is a minimum value of the movement force measurement over a given time period. Setting the force range of the moving force measurement in the period, namely the difference between the peak value and the valley value, the force range ratio between the force range and the reference force range can be determined, the acceleration of the center of mass of the measured animal is determined through the force range ratio, and the weight of the measured animal is estimated through the peak value and the centroid acceleration.
By estimating the weight of the animal as it moves based on the force range, the weight of the animal can be estimated using only the force sensor without using an additional center of mass acceleration sensor or an additional Inertial Motion Unit (IMU) foot (paw) sensor, thereby significantly reducing the complexity of the process.
In one embodiment, a method for assessing the weight of an animal while in motion includes attaching one or more force sensors to the feet of the animal such that the force sensors measure the force applied between each foot (paw) of the animal and the surface on which the animal is located, monitoring the one or more force sensors while the animal is stationary to obtain stationary force measurements, estimating the weight of the animal based on the stationary force measurements to obtain a stationary weight, monitoring the one or more force sensors while the animal is moving to motion.
Locomotor force measurements were obtained in the first step row cycle of the animal: processing the movement force measurements to determine a reference peak value of the movement force measurements, the reference peak value being the maximum value of the movement force measurements over a given period of time, and to determine a reference acceleration of the animal's center of mass relative to a resting weight during a subsequent animal's walk;
a motion force measurement to determine a peak value of the motion force measurement that is a maximum value of the motion force measurement over a given time period, a force peak ratio between the peak value of the motion force measurement and a reference peak value, and an acceleration of a center of mass of the animal from the force peak ratio, and a weight of the animal while moving from the peak value and the acceleration of the center of mass.
By estimating the weight of the animal as it moves based on the force range, the weight of the animal can be estimated using only the force sensor and not using an additional acceleration sensor or an additional IMU foot (claw) sensor, thereby significantly reducing the complexity of the process.
Those skilled in the art will appreciate the scope of the present disclosure and realize additional aspects thereof after reading the following detailed description of the preferred embodiments in association with the accompanying drawing figures.
Drawings
The accompanying drawings incorporated in and forming a part of the specification illustrate several aspects of the present disclosure, and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a graph showing the force applied between an animal's foot (paw) and the surface on which the animal is located
FIG. 2 is a schematic diagram showing the shift of the center of mass of an animal in a walking cycle
FIG. 3 is a detail graph showing the variation of force applied between the animal's foot (paw) and the surface on which the animal is located
FIG. 4 is a graph illustrating a relationship between a force range and an acceleration of a center of mass of an animal according to one embodiment of the present disclosure
FIG. 5 is a block diagram showing the main components of an apparatus for evaluating the weight of an animal while moving according to one embodiment of the present disclosure
FIG. 6 is a block diagram illustrating a method for assessing the weight of an animal while moving according to one embodiment of the present disclosure
Detailed Description
The embodiments set forth below represent the necessary information to enable those skilled in the art to practice the embodiments and illustrate the best mode of practicing the embodiments.
Upon reading the following description in light of the accompanying drawing figures, those skilled in the art will understand the concepts of the disclosure and will recognize applications of these concepts not particularly addressed herein.
It should be understood that these concepts and applications fall within the scope of the disclosure and the accompanying claims.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms.
These terms are only used to distinguish one element from another.
For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood that when an element such as a layer, region or substrate is referred to as being "on" or extending "onto" another element, it can be directly on or extend directly onto the other element or intervening elements may also be present.
In contrast, when an element is referred to as being "directly on" or extending "directly onto" another element, there are no intervening elements present.
Also, it will be understood that when an element such as a layer, region or substrate is referred to as extending "on" or "over" another element, it can extend directly on or directly over the other element or intermediate element. May also be present.
In contrast, when an element is referred to as being "directly over" or "directly extending over" another element, there are no intervening elements present.
It will also be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present.
In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.
Relative terms, such as "below" or "above", "above" or "below" or "vertical" may be used herein to describe one element, layer or region's relationship to another element, layer or structure. As shown in the figure. It will be understood that these terms, and those discussed above, are intended to encompass different orientations of the device in addition to the orientation depicted in the figures.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As described above, there is a need for an apparatus and method for accurately measuring an animal or the weight of an animal with reduced complexity. Further as noted above, the main sources of complexity of the conventional approach are the additional centroid () acceleration sensor and the additional Inertial Motion Unit (IMU) foot (claw) sensor required. The inventive animal of the present disclosure finds that a force waveform from a force sensor configured to measure the force applied between the animal's feet (paws) and the surface on which the animal is located can be used without any additional sensors to estimate the weight of the animal. A moving theme. Fig. 3 shows the same graph 1 as fig. 2 showing the force applied between each foot (paw) of the animal and the surface (e.g., ground) on which the animal is located, but with certain features of the graphics highlighted therein. In particular, figures 2, 3 highlight the complete walking cycle of the animal, including the peak (lp) and the valley (lv) of each foot (paw) when it is in contact with the ground.
It is worth noting that when one foot (claw) is in contact with the ground and therefore exerts a force on the ground, the other foot (claw) is lifted and therefore does not exert any force on the ground.
When a foot (claw) is in contact with the ground, the peak is the maximum force applied during the contact, and the valley is the minimum force applied during the contact. The force range (d) is the difference between the peak (lp) and the valley (lv). As shown, the amount of time the foot (claw) is in contact with the ground indicates the stride length of the animal.
Of particular importance, the present disclosure indicates the relationship between the force range and the acceleration of the animal. Fig. 4 shows this relationship.
As shown, the force range is related to the acceleration of an animal having a non-linear relationship. Such a relationship may be obtained experimentally or by mathematical derivation as described below. Where the relationship is obtained experimentally, this may be achieved by measuring the force range and acceleration to derive a relationship for a particular animal or group of animals. These metrics can be used alone to derive the best fit estimate, or with AI algorithm tools such as neural networks, machine learning, and the like to achieve a more accurate estimate.
Fig. 5 is a schematic diagram illustrating an apparatus for assessing the weight of an animal while moving according to one embodiment of the present disclosure, the apparatus 10 including one or more force measurement sensors 12, processing circuitry 14 and memory 16. The one or more force measuring sensors 12 are configured to measure a force applied between the animal and a surface on which the animal is positioned. The force measuring sensor 12 may be a chip structure.
For example, these force measuring sensors can be built into the skin in the middle of the animal's sole, or positioned in a pad thereon (carried internally or externally). Both the processing circuitry 14 and the memory 16 may be externally mounted, bound, sleeved, etc. to the animal foot. The processing circuit 14 is coupled to both the force measurement sensor 12 and the memory 16, and is configured to execute instructions stored in the memory 16 to estimate the weight of the animal while moving based on measurements from the force measurement sensor 12.
The specific instructions stored in memory 16 to achieve this are discussed below with respect to a method for assessing the weight of an animal while moving.
Fig. 6 is a flowchart illustrating a method for evaluating the weight of an animal while moving according to one embodiment of the present disclosure, first, measuring a force sensor to obtain a movement force (fm) while the animal is moving (step 100). The movement force (fm) is then processed to determine a peak (lp), a valley (lv), and a force range (d) (step 102). This may be done using signal processing techniques to detect maxima, minima, and differences between them over a period of time for each foot (paw) as discussed above with respect to fig. 3. The acceleration a determined by the force range (d) is then used (step 104).
In this embodiment, this is done using an experimental model that provides, for example, a look-up table in which force ranges (d) may be provided to obtain experimentally related accelerations for a particular animal or generally for a set of subjects. The weight (wm) of the animal while moving is then estimated according to equation (1) (step 106):
in some embodiments, steps 100 to 106 may be performed continuously for each walking cycle of the animal, or steps 100 to 106 may be performed continuously for half a walking cycle (monopod) of the animal.
In most cases, according to the solution disclosed in the present application, it may be advantageous, and indeed preferable, to estimate the weight of an animal while moving without reference to a previously obtained experimental model.
Another embodiment of the disclosure, a method for assessing the weight of an animal while exercising. First, the force sensor is measured while the animal is stationary to obtain a stationary force (fs). The weight of the animal is then estimated using the resting force (fs) to obtain a resting weight (ws) of the animal. Since the animal is stationary when the stationary force (fs) is obtained, the stationary weight (ws) of the animal is easily obtained by direct correlation. The force sensor is then measured while the animal is moving to obtain the movement force (fm). The movement force (fm) is processed to determine a peak (lp), a valley (lv) and a force range (d), which may be achieved using signal processing techniques. It is then determined whether the force sensor measurements were made during the first step row cycle (i.e., the first step) of the animal.
In case of a first step row cycle of the animal, the force range (d) determined in the preceding step in the first step row cycle is stored as a reference force range (dr), wherein the reference acceleration (ar) is determined according to equation (2):
the reference acceleration ar is then stored for later use.
If not the first step line cycle of the animal, determining the force range ratio (R) according to equation (3):
the acceleration is then determined according to equation (4):
a＝R×ar (4)
finally, the weight (wm) of the animal while moving is determined according to equation (5):
according to another embodiment of the present disclosure, a method for assessing the weight of an animal while moving is similar to the method discussed in fig. 3.
Referring to the previous embodiment, the force sensor is measured while the animal is at rest to obtain the resting force (fs).
The weight of the animal is estimated using the resting force (fs) to obtain the resting weight (ws) of the animal. The force sensor is then measured while the animal is moving to obtain the movement force (fm). The movement force (fm) is processed to determine the peak value (lp), which may be achieved using signal processing techniques as described above. It is then determined whether the force sensor measurements were made during the first step row cycle (i.e., the first step) of the animal.
In case of the first step line cycle of the animal, the peak value (lp) obtained in the previous step during the first step line cycle is stored as a reference peak value (lpr), and the reference acceleration (ar) can be determined according to equation (2) above. If not the first step line cycle of the animal, the force peak ratio (R') is determined according to equation (6):
the acceleration is then determined according to equation (4) above.
Finally, the weight (wm) of the animal while moving is determined according to equation (5) above.
Suitable instructions may be stored in the memory 16 discussed above with respect to fig. 1.
Referring to fig. 5, the apparatus 10 can accurately and efficiently estimate the weight of an animal while moving without an acceleration sensor.
These methods and the apparatus 10 in which they can be implemented enable the body weight of an animal to be measured while moving with significantly less complexity than conventional methods, while still maintaining high accuracy.
Those skilled in the art will recognize improvements and modifications to the preferred embodiments of the present disclosure.
All such improvements and modifications are considered within the scope of the concepts disclosed herein and the claims that follow.
Claims (7)
1. A method of monitoring body weight of a moving object, the method comprising:
s1, attaching one or more force sensors to the animal' S feet such that the force sensors measure the force applied between each foot of the animal and the surface on which the animal is located;
s2, monitoring the one or more force sensors while the animal is at rest to obtain a resting force measurement; estimating a body weight of the animal based on the static measurements to obtain a static body weight;
s3, monitoring one or more force sensors as the animal moves to obtain a movement force measurement;
s4, during the first step line cycle of animals: processing the movement force measurement to determine a reference peak lp of the movement force measurement;
determining a reference acceleration of a centroid of the animal as a function of the dead weight; determining a reference acceleration of the center of mass according to the following formula: [ a parameter ═ lp/wtih-g ],
wherein, a is the reference acceleration of the centroid, lp is the reference peak value, w is the static body weight, and g is the gravity constant;
s5, in a subsequent walking cycle of the animal: processing the movement force measurement to determine a peak value of the movement force measurement, determining a force peak value ratio between the peak value of the movement force measurement and the reference peak value lp;
determining the acceleration of the center of mass of the animal by the force peak ratio;
s6, calculating the weight of the animal during moving through the peak value and the centroid acceleration measured by the moving force:
[ Lpr/(g-a mass) ] where W is the animal's weight while moving, lpr is the peak of the movement force measurement, g is the gravitational constant, and a mass is the acceleration of the animal's center of mass.
2. The method of claim 1, monitoring the one or more force sensors while the animal is moving to obtain the moving force measurements as the animal moves;
processing the movement force measurements to determine a peak value of the movement force measurements,
continuously taking moving force measurements, determining a force peak ratio between a plurality of said peaks;
the acceleration of the center of mass of the animal is determined by the force peak ratio,
and calculating the weight of the animal when moving through the acceleration of the peak value and the centroid.
3. The method of claim 1, wherein the acceleration is obtained from the force peak ratio as the animal moves, and the reference acceleration is combined to determine the weight of the animal as it moves.
4. The method of claim 1, wherein the acceleration is obtained from the force range ratio as the animal moves, and the reference acceleration is combined to determine the weight of the animal as it moves.
5. An animal weight monitoring device while in motion, the device comprising: one or more force measuring sensors configured to be attached to an animal's foot such that the force sensors measure a force applied between each foot of the animal and a contact surface;
also included are processing circuitry and a memory storing instructions,
when executed by the processing circuitry, the instructions cause the weight monitoring device to: monitoring one or more force sensors as the animal moves to obtain a movement force measurement; and processing the movement force measurements to determine a peak value of the movement force measurements, the peak value being a maximum value of the movement force measurements over a given time period;
and measuring a valley of the movement force, which is a minimum value of the movement force measurement;
measuring a force range of the moving force over a given time period, the range being a difference between a peak value and a valley value; determining an acceleration of a center of mass of the animal through the force range;
and estimating the weight of the animal based on the valley bottom level and the centroid acceleration.
6. The apparatus of claim 5, wherein determining the acceleration of the center of mass of the animal through the force range comprises using an experimental model showing a relationship between the force range and the acceleration of the center of mass, wherein the experimental model is obtained using actual measurements of the acceleration of the center of mass relative to the force range.
7. The apparatus of claim 5, wherein the memory and processing circuitry perform the method of one of claims 1-4.
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