CN112419414B - Device for obtaining three-dimensional point cloud of breast area of dairy stock - Google Patents
Device for obtaining three-dimensional point cloud of breast area of dairy stock Download PDFInfo
- Publication number
- CN112419414B CN112419414B CN202011439107.8A CN202011439107A CN112419414B CN 112419414 B CN112419414 B CN 112419414B CN 202011439107 A CN202011439107 A CN 202011439107A CN 112419414 B CN112419414 B CN 112419414B
- Authority
- CN
- China
- Prior art keywords
- breast
- shooting
- guide rail
- rack
- mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention relates to a device for acquiring three-dimensional point cloud of a breast area of a dairy animal, which comprises a frame-shaped rack and a channel for the passage of the dairy animal, wherein a shooting component comprises a left shooting device, a right shooting device and a lower shooting device, the left shooting device and the right shooting device are arranged on the rack, the lower shooting device is arranged on the lower side of the rack, the shooting devices are used for shooting the breasts of the dairy animal in the channel together to acquire the three-dimensional point cloud of the breasts of the dairy animal, and whether the sizes and the shapes of the breasts of the dairy animal are abnormal or not can be accurately judged based on the acquired three-dimensional point cloud.
Description
Technical Field
The invention relates to a device for acquiring three-dimensional point cloud of a dairy stock breast area.
Background
In the process of breeding the milking animals, various breast diseases are often accompanied, and if the breast diseases are not treated in time, the milk yield and the milk quality are reduced, even the milking animals lose the milk secretion capacity seriously, and huge economic losses are caused to breeding enterprises.
In the case of dairy cows, when a breast of a dairy cow is affected, shape characteristics of the breast are changed, for example, mastitis causes congestion and swelling of the breast, a suspensory ligament of the breast breaks off to cause breast bottom drop, a nipple shifts, and the like, so that the shape of the breast of the dairy cow can provide a direct basis for judging whether the breast is affected. During actual operation, the prior art judges whether the cow breast is pathological change through manual detection, but because manual detection is adopted, the detection result is influenced by the subjectivity of detection personnel, larger errors exist, the time for each cow to be detected is long, the detection work of a large pasture is difficult to be completed quickly, the optimal diagnosis and treatment period is easy to miss, the condition of the cow breast is deteriorated, in addition, the distance between the detection personnel and the cow is close in the manual detection process, the detected cow can be stimulated in the detection process, and certain potential safety hazards exist.
Therefore, there is a need for an apparatus that can replace manual, contactless detection of a dairy animal's breasts to obtain the shape of the dairy animal's breasts to provide a basis for subsequent diagnosis and treatment.
Disclosure of Invention
The invention aims to provide a device for acquiring three-dimensional point cloud of a dairy animal breast area, which aims to solve the technical problems of low inspection efficiency, low accuracy of inspection results and potential safety hazards caused by manual inspection of dairy animal breasts in the prior art.
The device for acquiring the three-dimensional point cloud of the breast area of the dairy stock adopts the following technical scheme:
the device comprises a frame-type rack and a channel for allowing the dairy stock to pass through, wherein a shooting component comprises a left shooting device, a right shooting device and a lower shooting device, the left shooting device and the right shooting device are arranged on the rack, the lower shooting device is arranged on the lower side of the rack, and the shooting devices shoot the breasts of the dairy stock in the channel together to obtain the three-dimensional point cloud of the breasts of the dairy stock.
The beneficial effects are that: when in detection, the milking animal enters the passage, the shooting equipment on the rack shoots and acquires point cloud of a corresponding part of the breast of the milking animal, and the left shooting equipment, the right shooting equipment and the lower shooting equipment are arranged on the rack, so that the three-dimensional point cloud of the breast of the milking animal can be obtained through the common shooting of the shooting components, whether the size and the shape of the breast of the milking animal are abnormal can be accurately judged based on the obtained three-dimensional point cloud, and then whether the breast of the milking animal is diseased or not can be accurately judged, subjective errors caused by manual examination are avoided, the labor cost is reduced, the detection efficiency is improved, meanwhile, technical personnel are prevented from being in direct contact with the milking animal, the technical problems that in the prior art, the examination efficiency is low, the accuracy of an examination result is low, and potential safety hazards exist due to the manual examination of the breast of the milking animal, and the frame structure is convenient for the technical personnel to observe whether the distances between the breast of the milking animal and the shooting equipment are proper or not, and make corresponding adjustment.
Furthermore, the rack comprises a left side wall, a right side wall and a front door, the left shooting equipment is installed on the left side wall, the right shooting equipment is installed on the right side wall, the front door is a split door comprising two half doors, the opposite sides of the two half doors are provided with avoiding notches, and after the front door is closed, the avoiding notches on the two half doors are enclosed to form a window for avoiding and restraining the necks of the milking animals.
The beneficial effects are that: the two half doors are adopted to restrain the necks of the milking animals, so that the problem that the accuracy of the acquired data is poor due to the back-and-forth movement of the milking animals in the detection process is avoided, and the use convenience of the device for acquiring the three-dimensional point cloud of the breast areas of the milking animals and the accuracy of the acquisition results are improved.
Furthermore, the two half doors are respectively a left half door and a right half door, and the left half door and the right half door can move in a left-right direction and in a back-to-back direction, so that the front door can be opened and closed.
The beneficial effects are that: the two half doors are folded from the left side and the right side, so that the two half doors are convenient to arrange and install.
Further, at least one shooting device is installed on the rack through a mounting frame, and a device installation position for installing the shooting device is arranged on the mounting frame and can be adjusted in position relative to the rack.
The beneficial effects are that: the position of the corresponding shooting equipment can be adaptively adjusted according to the actual body type of the milking animal by moving the installation position, so that the shooting equipment can be aligned to the breast of the milking animal as far as possible to shoot, and the accuracy of data acquisition of the device for acquiring the three-dimensional point cloud of the breast area of the milking animal is improved.
Further, the mounting bracket includes fixed guide, slider and movable guide, fixed guide fixes in the frame, is connected through the slider between movable guide and the fixed guide and is "ten" style of calligraphy and arranges, the slider respectively with fixed guide and movable guide sliding fit, the equipment fixing position is located movable guide.
The beneficial effects are that: the vertical and horizontal positions of the shooting equipment can be adjusted through the cross-shaped mounting frame, the horizontal distance between the shooting equipment and the breast of the dairy stock is prevented from changing in the position adjusting process, and the accuracy of data acquisition of the device for acquiring the three-dimensional point cloud of the breast area of the dairy stock is improved.
Furthermore, the left shooting device and/or the right shooting device are installed on the rack through the installation rack, the fixed guide rail for installing the installation rack of the left shooting device and/or the right shooting device is transversely fixed on the rack, the movable guide rail is vertically arranged, and the left shooting device and/or the right shooting device are installed in the middle of the corresponding movable guide rail.
The beneficial effects are that: the shooting equipment positioned in the middle of the movable guide rail can be adjusted in position up and down, so that the use convenience of the device for acquiring the three-dimensional point cloud of the breast area of the dairy stock is improved.
Further, shoot equipment and pass through the mounting bracket and install in the frame bottom down, the removal guide rail of mounting bracket extends the passageway along the left and right sides in, shoot equipment and install the tip that extends in the passageway at the removal guide rail down.
The beneficial effects are that: when the milking animal passes through the channel, the shooting equipment can be moved to the side part by moving the movable guide rail, so that the milking animal is prevented from trampling the shooting equipment.
Further, the frame still has the back side wall and installs the back shooting equipment on the back side wall, the back side wall is the rectangle frame structure, and the middle part space constitutes the entry that supplies in the passageway of milk animal entering frame, and the back shooting equipment passes through the mounting bracket to be installed in the frame, have the equipment fixing position that is used for installing shooting equipment on the mounting bracket, the equipment fixing position can carry out position control for the frame.
The beneficial effects are that: the rear shooting equipment is arranged to be cooperated with the left shooting equipment, the right shooting equipment and the lower shooting equipment to shoot the breasts of the milking animals from more angles, so that the integrity of data acquired by the device for acquiring the three-dimensional point cloud of the breast areas of the milking animals is improved.
Further, the mounting bracket includes fixed guide, slider and movable guide, fixed guide fixes in the frame, is connected through the slider between movable guide and the fixed guide and is "ten" style of calligraphy and arranges, the slider respectively with fixed guide and movable guide sliding fit, the equipment fixing position is located movable guide, the fixed guide of mounting bracket transversely fixes on the entablature of back side wall, movable guide vertically arranges, and the lower extreme at movable guide is installed to the back shooting equipment.
The beneficial effects are that: the rear shooting equipment is arranged at the lower end of the movable guide rail, and when the shooting equipment is lifted to the highest position, the lower end of the detection equipment does not have the guide rail to interfere the milk animal entering the channel, so that the milk animal can conveniently enter the channel from the rear side.
Drawings
FIG. 1 is a schematic diagram of an embodiment 1 of the apparatus for obtaining a three-dimensional point cloud of a breast area of a dairy animal according to the present invention;
FIG. 2 is a flow chart of the operation of embodiment 1 of the apparatus for obtaining a three-dimensional point cloud of a breast area of a dairy animal according to the present invention;
names of components corresponding to corresponding reference numerals in the drawings are:
1-left side wall; 2-right side wall; 3-rear side wall; 4-left camera; 5-right shooting device; 6-post shooting equipment; 7-lower shooting device; 8-rear fixed guide rail; 9-moving the guide rail backwards; 10-a rear slider; 11-left half door; 12-right half door; 13-arc avoidance structure; 14-a controller; 15-right fixed guide rail; 16-right slider; 17-right moving guide; 18-right mounting cross beam; 19-left slider; 20-left moving guide; 21-left mounting of the cross beam; 22-bottom cross beam; 23-lower fixed guide rails; 24-a lower slide; 25-move the guide rail down.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present in the embodiments of the present invention, are 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, the element defined by the phrases "comprising a" \8230; "8230;" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above-mentioned terms in the present invention can be understood by those skilled in the art through specific situations.
In the description of the present invention, unless otherwise specifically stated or limited, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be detachable or non-detachable. The specific meanings of the above-mentioned terms in the present invention can be understood by those skilled in the art through specific situations.
The present invention will be described in further detail with reference to examples.
In embodiment 1 of the apparatus for acquiring a three-dimensional point cloud of a breast area of a dairy cow in the present invention, the structure and the using method of the apparatus for acquiring a three-dimensional point cloud of a breast area of a dairy cow in the present invention are described as follows:
as shown in fig. 1, the cow-keeping device comprises a rack and a shooting assembly mounted on the rack, wherein the rack is provided with a passage for a cow to pass through. The rack comprises a left side wall 1, a right side wall 2 and a rear side wall 3, the shooting assembly comprises a left shooting device 4, a right shooting device 5, a rear shooting device 6 and a lower shooting device 7, and the shooting devices shoot breasts of the dairy cow from different directions, so that three-dimensional point cloud of the breasts of the dairy cow can be obtained.
The frame is the frame type structure that forms by the section bar welding, and the centre is the passageway that supplies the milk cow to pass through, and each shooting equipment is enclosed on the side that corresponds the side through corresponding mounting bracket installation. Specifically, the left shooting equipment 4 is installed on the left side wall 1 through a left installation frame, the right shooting equipment 5 is installed on the right side wall 2 through a right installation frame, the rear shooting equipment 6 is installed on the rear side wall 3 through a rear installation frame, and the lower shooting equipment 7 is installed at the bottom of the rack through a lower installation frame, and is specifically installed on a bottom cross beam 22 of the left side wall 1.
In this embodiment, each mounting bracket is structurally the same, all includes corresponding fixed guide, slider and removal guide, and the slider is two-sided slider, sets up the difference of the mounting bracket in different positions to lie in the difference in size. For example, as shown in fig. 1, the rear side mounting bracket includes a rear fixed rail 8, a rear movable rail 9 and a rear slider 10, the rear movable rail 9 and the rear fixed rail 8 are connected by the rear slider 10 to be arranged in a cross shape, and the rear slider 10 is in sliding fit with the rear fixed rail 8 and the rear fixed rail 9, so that the rear slider 10 and the rear movable rail 9 can be guided to slide along the rear fixed rail 8 as a whole, and meanwhile, the rear movable rail 9 can be guided to move and adjusted relative to the rear slider 10. One side of the rear moving guide rail 9, which is far away from the rear fixed guide rail 8, is provided with an equipment installation position for installing the rear shooting equipment 6, so that the position of the equipment installation position relative to the rack can be adjusted.
In this embodiment, the rear side wall 3 is a rectangular frame, an inlet for a cow to enter the channel is formed in the middle of the rectangular frame, a rear fixed guide rail 8 of the rear mounting rack is transversely fixed on an upper cross beam of the rear side wall 3, a rear moving guide rail 9 is vertically arranged, a circular cushion block is fixed at the lower end of the rear moving guide rail 9, the rear shooting device 6 is fixed on the circular cushion block through a cika glue and is located at the lower end of the rear moving guide rail 9, when the cow enters the channel, the rear moving guide rail 9 moves upwards relative to the rear sliding block 10, and the rear moving guide rail 9 is prevented from blocking the cow from entering the channel. The rear photographing device 6 is vertically arranged with a wide angle of view. The round cushion block is arranged to provide a larger mounting surface for the shooting equipment, and in other embodiments, the rear shooting equipment can be fixed on the round cushion block through screws or directly fixed on the rear moving guide rail.
In order to facilitate the milk cows to be driven out of the channel after detection is finished, the front side of the rack is an outlet for the milk cows to walk out of the channel. In order to avoid the milk cow to walk about in the testing process, set up the qianmen in the exit, the qianmen is the automatically-controlled door, and is specific, and the automatically-controlled door includes half door 11 on the left side and half door 12 on the right side, and half door 11 on the left side and half door 12 on the right side all horizontal slip, and the two can slide in opposite directions and realize closing the door, slides mutually the back of the body and realizes opening the door. In this embodiment, the opposite sides of the left half door 11 and the right half door 12 are both provided with arc avoidance structures 13, and when the two doors are closed, the two arc avoidance structures 13 are folded to form a window for avoiding the neck of the cow. In order to facilitate the opening and closing of the door, the device for acquiring the three-dimensional point cloud of the breast area of the dairy stock is also provided with a driving device for driving the left half door and the right half door to open and close and a corresponding controller 14, and the controller 14 controls the driving device to drive the left half door and the right half door to open and close. How to mount the two side doors on the rack in a manner of moving left and right and to arrange corresponding driving devices and controllers to control the two side doors to open and close automatically belongs to the prior art, and will not be described again.
The left shooting device 4 and the right shooting device 5 are correspondingly installed on the left side wall 1 and the right side wall 2 through a left installation rack and a right installation rack respectively, the structures of the left installation rack and the right installation rack are the same, the installation mode and the installation height of the left installation rack and the right installation rack on the side wall of the corresponding side are the same, and the right installation rack is taken as an example to be introduced. As shown in fig. 1, the right mounting rack comprises a right fixed guide rail 15, a right slider 16 and a right movable guide rail 17, the right side wall 2 is provided with a right mounting beam 18 for mounting the right mounting rack, the height of the right mounting beam 18 is consistent with the average height of the middle part of a cow breast from the ground, the right fixed guide rail 15 is transversely fixed on the right mounting beam 18, the right movable guide rail 17 is vertically arranged, the right shooting equipment 5 is mounted in the middle part of the right movable guide rail, and the mounting mode is consistent with that of the rear shooting equipment 6. The left mounting rack is the same as the left mounting rack and comprises a left fixed guide rail, a left slide block 19 and a left movable guide rail 20, and a corresponding left mounting cross beam 21 is correspondingly arranged on the left side wall 1. The fields of view of the left photographing apparatus 4 and the right photographing apparatus 5 are horizontally arranged in a wide angle.
The lower shooting device 7 is mounted on the bottom cross beam 22 of the left side wall 1 through a lower mounting frame, as shown in fig. 1, the lower mounting frame comprises a lower fixed guide rail 23, a lower slide block 24 and a lower movable guide rail 25, the length of the lower fixed guide rail 23 is consistent with the length extending direction of the bottom cross beam 22 of the lower left side wall and is fixed on the bottom cross beam 22, the lower movable guide rail 25 extends left and right to extend into the channel, and the lower shooting device 7 is fixed at one end of the lower movable guide rail 25 extending into the channel. The arrangement direction of the wide angle of the field of view of the lower photographing device 7 coincides with the lengthwise extending direction of the base beam 22.
In this embodiment, the shooting device is a RealSense L515 lidar camera, the depth field parameters are (70 ° × 55 °), the range of measurement is (0.25-9 m), the size of the breast of the cow to be measured is (L × W × H), where L is the limit length of the cow breast, W is the limit width of the cow breast, and H is the limit height of the cow breast, and L, W, and H can be determined according to experience or the actual body type of the cow in a farm, and the setting position of each shooting device is calculated according to the following formula:
for the rear shooting device, the horizontal field angle of the camera is theta according to the width W and the height H of the cow breast 1 Vertical field angle of theta 2 And the following formula can be solved for the value of the minimum horizontal distance X between the post-capture device 6 and the cow's breast.
X 1 Shortest distance, X, for a camera horizontal field of view to take a complete image of a cow breast area 2 The shortest distance to take a complete image of the area of the cow's breast for the vertical field of view of the camera.
For the left and right shooting devices, the horizontal field angle of the camera is theta according to the length L and the height H of the cow breast 1 Angle of vertical field of view theta 2 And the following formula can be solved to obtain the value of the minimum horizontal distance X between the left and right photographing devices and the cow's breast.
X 1 Shortest distance, X, for taking a complete image of the cow's breast area for the camera's horizontal field of view 2 The shortest distance to take a complete image of the area of the cow's breast for the vertical field of view of the camera.
For the lower photographing apparatus 7, the horizontal angle of view of the camera is θ according to the length L and width W of the cow breast 1 Angle of vertical field of view theta 2 And the following formula can be solved for the value of the minimum vertical distance X between the lower photographing apparatus and the cow's breast.
X 1 Shortest distance, X, for a camera horizontal field of view to take a complete image of a cow breast area 2 The shortest distance for the camera vertical field of view to take a complete image of the cow's breast area.
According to the body type parameters of the dairy cows in the farm and the corresponding calculation results, the length of the rack is finally determined to be 2.58m, the width is 1.87m, the height is 1.64m, the height distance between the left and right installation cross beams and the bottom of the rack is 0.6m, the lengths of the rear fixed guide rail 8, the left fixed guide rail, the right fixed guide rail 15 and the lower fixed guide rail 23 are all 0.42m, the left fixed guide rail and the right fixed guide rail 15 are all arranged at a distance of 0.83m from the rear end of the rack, the distance between the lower fixed guide rail 23 and the rear side of the rack is 0.79m, the sliding stroke of the corresponding slide block in the fixed guide rail is 0.4m, the length of the rear moving guide rail 9 is 1.2m, the sliding stroke of the rear slide block 10 on the rear moving guide rail 9 is 1.1m, the lengths of the left moving guide rail 20 and the right moving guide rail 17 are 0.42m, the sliding stroke of the corresponding slide block on the left moving guide rail 20 and the right moving guide rail 17 is 0.4m, the length of the lower moving guide rail 25 is 1.0m, and the maximum sliding range is 0.9m. In other embodiments, the device for acquiring a three-dimensional point cloud of a breast area of a milking animal according to the present invention may also be used for acquiring a three-dimensional point cloud of a breast of other types of milking animals, such as sheep, deer, etc., and the above dimensions may be adaptively changed according to actual situations.
A workflow diagram of an embodiment 1 of the apparatus for acquiring a three-dimensional point cloud of a breast area of a dairy animal using the present invention is shown in fig. 2. It is specific, during the use, move guide rail 9 after earlier to the top, this is initial position, pull the milk cow and advance into the passageway through the frame rear side, with the nape restraint of milk cow in the window that the structure formed is dodged on the left and right side that closes up, then adjust each shooting equipment to suitable position according to the body type of the milk cow that examines in reality, the breast to the milk cow shoot acquire the point cloud can, to suitable position's judgement to can shoot the milk cow breast complete picture, the trunk is given first place to the minimize shines. After shooting is finished, the automatic door is opened, and the dairy cow is pulled out from the front side outlet. The device can accurately acquire the three-dimensional point cloud of the breast of the dairy stock, so that technicians can accurately know the shape and the size of the breast of the dairy stock, and reliable basis is provided for subsequent diagnosis of breast diseases of the dairy stock and optimization of varieties of the dairy stock.
The embodiment 2 of the apparatus for acquiring three-dimensional point cloud of breast areas of milking animals in the present invention is different from the embodiment 1 in that the photographing apparatuses in the embodiment 1 are all installed on the rack through the mounting rack, in this embodiment, some photographing devices may be installed on the rack through the mounting rack, for example, only the rear photographing device is installed on the rack through the mounting rack, and other photographing devices are directly installed on the rack.
In embodiment 3 of the device for acquiring a three-dimensional point cloud of a breast area of a dairy animal, the difference between the embodiment and embodiment 1 is that the mounting frame in embodiment 1 comprises a fixed rail, a slide block and a movable rail, in this embodiment, a nozzle of a cooling liquid pipe on a reference machine tool can be adjusted at will and fixed in position after adjustment, a mounting frame main body is arranged into a universal bamboo joint coiled pipe or other deformable support rods which can provide certain support and shape maintenance after deformation, one end of the main body is connected with a clamp, the mounting frame is mounted on a rack through the clamp, and the other end of the main body is connected with a shooting device fixing structure so as to mount a shooting device on the mounting frame.
Embodiment 4 of the apparatus for acquiring a three-dimensional point cloud of a breast area of a dairy animal in the present invention is different from embodiment 1 in that the capturing device is a depth camera in this embodiment.
The embodiment 5 of the device for acquiring the three-dimensional point cloud of the breast area of the dairy cattle of the invention is different from the embodiment 1 in that the rack is composed of a left side wall, a right side wall, a connecting beam for connecting the left side wall and the right side wall and a front door, and meanwhile, on the premise that the left shooting device and the right shooting device can completely shoot the side part of the breast of the dairy cattle, the rear shooting device is not arranged.
The difference between the embodiment 6 of the apparatus for acquiring three-dimensional point cloud of breast areas of milking animals and the embodiment 1 is that the frame is a box structure surrounded by plates in this embodiment.
The difference between the embodiment 7 of the apparatus for acquiring three-dimensional point cloud of breast areas of dairy animals and the embodiment 1 is that in the embodiment, two half doors of a front door are an upper half door and a lower half door respectively, a moving track of the lower half door extends to the underground, and when the doors are opened, the upper half door slides upwards, and the lower half door slides downwards to the ground.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (7)
1. An apparatus for obtaining a three-dimensional point cloud of a breast area of a dairy animal, comprising:
a frame, which is a frame type and is provided with a channel for the milking animals to pass through;
the shooting assembly comprises a left shooting device (4) and a right shooting device (5) which are arranged on the rack and a lower shooting device (7) which is arranged on the lower side of the rack, and the shooting devices shoot the breasts of the milking animals in the channel together to obtain three-dimensional point clouds of the breasts of the milking animals;
the rack is also provided with a rear side wall (3) and rear shooting equipment (6) arranged on the rear side wall, the rear side wall is of a rectangular frame structure, a middle space forms an inlet for allowing the milking animals to enter a channel of the rack, the rear shooting equipment (6) is arranged on the rack through a mounting frame, an equipment mounting position for mounting the shooting equipment is arranged on the mounting frame, and the equipment mounting position can be adjusted in position relative to the rack;
obtaining the minimum horizontal distance between the rear shooting device (6) and the breast of the milking animal according to the width and the height of the breast of the milking animal and the horizontal angle of view and the vertical angle of view of the rear shooting device (6);
obtaining the minimum horizontal distance between the left shooting device (4), the right shooting device (5) and the breast of the milking animal according to the length and the height of the breast of the milking animal and the horizontal angle and the vertical angle of view of the left shooting device (4) and the right shooting device (5);
obtaining the minimum vertical distance between the lower shooting device (7) and the breast of the milking animal according to the length and the width of the breast of the milking animal and the horizontal angle of view and the vertical angle of view of the lower shooting device (7);
determining the setting position of each shooting device according to the minimum horizontal distance between the rear shooting device (6) and the breast of the milking animal, the minimum horizontal distance between the left shooting device (4), the right shooting device (5) and the breast of the milking animal and the minimum vertical distance between the lower shooting device (7) and the breast of the milking animal;
the length, width and height of the breast of the milking animal are determined according to experience or actual body type of the milking animal;
the frame includes left side wall (1), right side wall (2) and qianmen, left side shooting equipment (4) is installed on left side wall (1), and right side shooting equipment (5) is installed on right side wall (2), the qianmen is for including the two halves of door to the door, and the opposite side of two halves of door all has the arc and dodges the breach, and after closing, the arc on two halves of door is dodged the breach and is closed and is enclosed and become the window that is used for dodging and restraint milk animal neck, adjusts each shooting equipment to suitable position according to milk animal's size again to shoot milk animal breast complete appearance.
2. The device for capturing a three-dimensional point cloud of a dairy cow breast area as claimed in claim 1, wherein the two half doors are a left half door (11) and a right half door (12), respectively, and the left half door (11) and the right half door (12) can be guided to move left and right and back to each other to open and close the front door.
3. The apparatus according to claim 1 or 2, wherein the at least one camera is mounted on the frame by means of a mounting frame, the mounting frame having a device mounting location for mounting the camera, the device mounting location being adjustable in position relative to the frame.
4. The apparatus according to claim 3, wherein the mounting frame comprises a fixed rail, a sliding block and a movable rail, the fixed rail is fixed on the frame, the movable rail is connected with the fixed rail through the sliding block to form a cross-shaped arrangement, the sliding block is respectively in sliding fit with the fixed rail and the movable rail, and the apparatus mounting position is located on the movable rail.
5. The device for obtaining three-dimensional point cloud of breast areas of milking animals according to claim 4, wherein said left photographing apparatus (4) and/or right photographing apparatus (5) are mounted on the rack by said mounting frame, the fixed guide rail for mounting the mounting frame of the left photographing apparatus (4) and/or right photographing apparatus (5) is fixed on the rack transversely, the movable guide rail is arranged vertically, and said left photographing apparatus (4) and/or right photographing apparatus (5) are mounted in the middle of the corresponding movable guide rail.
6. The device for capturing a three-dimensional point cloud of a breast area of a milking animal according to claim 4, wherein said lower capturing device (7) is mounted at the bottom of the frame by means of a mounting frame, a moving guide of said mounting frame extends into the passage in a left-right direction, and the lower capturing device (7) is mounted at the end of the moving guide extending into the passage.
7. The device for obtaining the three-dimensional point cloud of the breast area of the dairy animal as claimed in claim 1 or 2, wherein the mounting rack comprises a fixed guide rail, a slide block and a movable guide rail, the fixed guide rail is fixed on the rack, the movable guide rail is connected with the fixed guide rail through the slide block and arranged in a cross shape, the slide block is respectively matched with the fixed guide rail and the movable guide rail in a sliding manner, the equipment mounting position is located on the movable guide rail, the fixed guide rail of the mounting rack is transversely fixed on an upper cross beam of a rear side wall, the movable guide rail is vertically arranged, and the rear shooting equipment (6) is mounted at the lower end of the movable guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439107.8A CN112419414B (en) | 2020-12-07 | 2020-12-07 | Device for obtaining three-dimensional point cloud of breast area of dairy stock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439107.8A CN112419414B (en) | 2020-12-07 | 2020-12-07 | Device for obtaining three-dimensional point cloud of breast area of dairy stock |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112419414A CN112419414A (en) | 2021-02-26 |
| CN112419414B true CN112419414B (en) | 2023-03-07 |
Family
ID=74776088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011439107.8A Active CN112419414B (en) | 2020-12-07 | 2020-12-07 | Device for obtaining three-dimensional point cloud of breast area of dairy stock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112419414B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919556A (en) * | 2013-12-09 | 2014-07-16 | 天津天视科技有限公司 | Cow body shape trait index data collecting method based on three-dimensional measuring |
| CN106200248A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of automatic shooting system of 3D digitized video |
| CN108064711A (en) * | 2017-11-23 | 2018-05-25 | 江苏凯键金属制品科技有限公司 | A kind of ox sensing chamber |
| CN109784200A (en) * | 2018-12-24 | 2019-05-21 | 中国科学院合肥物质科学研究院 | Milk cow behavior image based on binocular vision obtains and body condition intelligent monitor system |
| CN111353416A (en) * | 2020-02-26 | 2020-06-30 | 广东温氏种猪科技有限公司 | Posture detection method, system and storage medium based on livestock three-dimensional measurement |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103908258A (en) * | 2013-12-09 | 2014-07-09 | 天津天视科技有限公司 | Method for measuring volume of dairy cow mammary tissue |
| CN108765487B (en) * | 2018-06-04 | 2022-07-22 | 百度在线网络技术（北京）有限公司 | Method, device, equipment and computer readable storage medium for reconstructing three-dimensional scene |
-
2020
- 2020-12-07 CN CN202011439107.8A patent/CN112419414B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919556A (en) * | 2013-12-09 | 2014-07-16 | 天津天视科技有限公司 | Cow body shape trait index data collecting method based on three-dimensional measuring |
| CN106200248A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of automatic shooting system of 3D digitized video |
| CN108064711A (en) * | 2017-11-23 | 2018-05-25 | 江苏凯键金属制品科技有限公司 | A kind of ox sensing chamber |
| CN109784200A (en) * | 2018-12-24 | 2019-05-21 | 中国科学院合肥物质科学研究院 | Milk cow behavior image based on binocular vision obtains and body condition intelligent monitor system |
| CN111353416A (en) * | 2020-02-26 | 2020-06-30 | 广东温氏种猪科技有限公司 | Posture detection method, system and storage medium based on livestock three-dimensional measurement |
Non-Patent Citations (1)
| Title |
|---|
| 多视角深度相机的猪体三维点云重构及体尺测量;尹令等;《农业工程学报》;20191231;第35卷(第23期);第201-208页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112419414A (en) | 2021-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE69734549T3 (en) | Method for automatically attaching milking cups to the teats of a milking animal | |
| DE69330356T2 (en) | Milking machine for automatic milking of animals | |
| US20160262336A1 (en) | Milking box with robotic attacher | |
| US9706745B2 (en) | Vision system for robotic attacher | |
| EP2615978B1 (en) | Device for detecting gestation | |
| CA2711388A1 (en) | Arrangement and method for determining the position of an animal | |
| CN213482938U (en) | Device for acquiring three-dimensional point cloud of breast area of dairy stock | |
| DE69433781T2 (en) | Device for automatic milking of animals | |
| CN110772260A (en) | Non-contact milk cow body size measuring device and method | |
| CN110447562B (en) | Lameness cow identification and automatic grouping method and system thereof | |
| EP3202257B1 (en) | Milking box with multiple holders for teat or cleaning cups | |
| CN112419414B (en) | Device for obtaining three-dimensional point cloud of breast area of dairy stock | |
| CN107374641B (en) | 3D scanning system for dynamically identifying cow body shape | |
| WO2017016887A1 (en) | Method and device for automatically placing teat cups onto teats of a milk-producing animal | |
| CN114220478A (en) | Full-digital intelligent acquisition system for animal signs in pasture | |
| CN210641940U (en) | Lame cattle recognition and automatic grouping system | |
| CN218736577U (en) | Pig body chi weight integration survey equipment | |
| CN104739537B (en) | A kind of animal spinal cord injury beating device | |
| RU2668674C1 (en) | Mechanized installation for contactless thermal imaging video-digital diagnostics of animal diseases | |
| CN112856170B (en) | Automatic device of grading of milk cow body condition | |
| CN211534419U (en) | Non-contact milk cow body size measuring device | |
| WO2018007242A1 (en) | Method and device for automatically placing milking cups onto the teats of a milk-producing animal | |
| CN210981150U (en) | Intelligent sheep body ruler measuring device that breeds | |
| CN208971695U (en) | A kind of image collecting device for milk cow behavioural analysis | |
| CN218723889U (en) | Intelligent measurement system for sheep breeding body size |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |