CN113317215B - Variable-structure intelligent obstetric table for pigs - Google Patents
Variable-structure intelligent obstetric table for pigs Download PDFInfo
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- 241000282887 Suidae Species 0.000 title claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 29
- 230000006651 lactation Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000032696 parturition Effects 0.000 claims description 9
- 230000006399 behavior Effects 0.000 claims description 8
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
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Abstract
The invention discloses an intelligent obstetric table for pigs with variable structures, wherein a piglet incubator is arranged outside a sow movable hurdle frame area, two ends of a left side position-adjustable hurdle frame and a right side position-adjustable hurdle frame are respectively welded with two groups of pulleys, each group of pulleys are arranged in a slide rail, when a sow just turns into the obstetric table, left side adjustable hurdle and right side adjustable hurdle of position fix respectively by left side fence and the right side fence of obstetric table, the sow can be free activity on the obstetric table before the delivery, extract its activity time series change characteristic and judge whether the sow closes on the delivery from sow action video, if judge for, left side electric putter promotes left side adjustable hurdle and fixes under the left side crossbeam, right side electric putter promotes right side adjustable hurdle and fixes under the right side crossbeam, it is spacing to realize the sow, reduce sow activity space, reduce the piglet probability that the lactation period is died by the sow.
Description
Technical Field
The invention belongs to the technical field of pig breeding, and particularly relates to a machine vision and automatic control technology-based obstetric table with an intelligently adjustable sow activity space.
Background
The positioning fence obstetric table is a breeding machine for breeding sows in perinatal period in a commercial pig farm, and mainly comprises a sow positioning fence, a piglet incubator, a feces leaking floor, a sow trough, a sow waterer, a piglet waterer and the like. The positioning fence is composed of two fence frames which are fixed on two sides of the feeding trough and are consistent with the body length direction of the sow, and has the function of limiting the sow in a narrow space and reducing the probability of the sow killing newborn piglets. However, during the period from the birth bed of the sow on the positioning fence to the delivery, no newborn piglet exists on the birth bed, the sow is still limited in the positioning fence with narrow space, the activity is insufficient, the smooth delivery of the sow is not facilitated, and the sow enters the lactation period in a healthy state.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent obstetric table for pigs with variable structures based on machine vision and automatic control technology, and in order to achieve the aim, the invention provides the following scheme:
the utility model provides a variable structure pig is with intelligent obstetric table, it includes main part and automatic push rod system, and the main part includes:
-an obstetric table;
-a left side adjustable position hurdle and a right side adjustable position hurdle located on either side of the obstetric table;
the left side position adjustable hurdle frame and the right side position adjustable hurdle frame move/limit under the action of the automatic push rod system, so that the activity space of the sow is reduced, and the probability that the piglet in the lactation period is dead pressed by the sow is reduced;
the automatic push rod system includes:
-a camera;
-an embedded control terminal;
the camera collects sow behavior videos on a obstetric table and transmits the videos to the embedded control end in real time, and the embedded control end analyzes video data and judges whether movement/limiting of the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame is executed or not.
The obstetric table comprises:
-left and right side rails fixed to the left and right sides of the obstetric table;
-left and right side beams fixed to both sides above the obstetric table;
preferably, the fixed positions of the left side rail and the right side rail limit the farthest distance between the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame; the fixed positions of the left side cross beam and the right side cross beam limit the shortest distance between the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame.
Pulleys are welded on the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame; the obstetric table is fixedly provided with a slide rail matched with the pulley; the lateral movement of the hurdle with the adjustable left side position and the hurdle with the adjustable right side position is realized based on the cooperation of the pulleys and the slide rails.
The pulley sets up in two sides of adjustable hurdle in left side position and the adjustable hurdle in right side position.
The electric push rod realizes the movement of the hurdle with the adjustable left side position and the hurdle with the adjustable right side position.
Preferably, the left position-adjustable hurdle frame is fixed at one end of the left electric push rod, and the right position-adjustable hurdle frame is fixed at one end of the right electric push rod; the other ends of the left electric push rod and the right electric push rod are fixed on the electric push rod fixing plate.
Preferably, the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame are limited through the matching of the limiting holes and the bolts.
Preferably, the embedded control end analyzes the video data to judge whether the sow is close to parturition, and if the judgment result is yes, the embedded control end executes the movement of the left side position-adjustable hurdle frame and the right side position-adjustable hurdle frame so as to limit the moving range of the sow.
Preferably, the step of judging whether the sow is close to parturition comprises the following steps:
step S1: initializing the number d of days as 1, and the number m of time periods as 1;
step S2: the embedded control terminal takes out the sow behavior video in the mth time period on the day d from the memory and operates according to the following substeps:
step S2-1: extracting a frame of image f from the video every 1 secondkWherein K is the interval [1, K]Where K is 3600 × T, for fkPerforming image graying preprocessing operation to obtain grayed image and recording the grayed image as grayk(ii) a T-24/M represents the number of hours of M time periods, M time periods being used to divide 24 hours, M being an integer divisible by 24;
step S2-2: using Otsu method to treat each graykPerforming binarization operation to obtain a binary image and marking as Bk；
Step S2-3: calculating f using equation (1)kAnd fk+1The amount of sow activity in the two frame image interval:
wherein, i and j are binary images B respectivelykThe abscissa and the ordinate of the middle pixel, I being BkThe number of columns of the medium pixel matrix, J being BkThe number of rows of the middle pixel matrix;
step S2-4: calculating the activity intensity of the sow in the mth time period on the d day by using the formula (2):
step S2-5: if d is equal to 1 and M < M, step S2 is followed by adding 1 to M, if d is equal to 1 and M is equal to M, step S2 is followed by adding 1 to d, and M is set to 1, and step S2-6 is followed if d > 1;
step S2-6: the method comprises the following steps:
step S2-6-1: calculating the average activity intensity of the sows in the mth time period of the previous d-1 days by using the formula (3):
step S2-6-2: calculating act _ tensed,mAnd
if diff is greater than the preset threshold value alpha, judging that the activity intensity of the sow is abnormal compared with the normal state, the sow is close to delivery, turning to step S3, if diff is not greater than the preset threshold value alpha and m is less than the preset threshold value alpha<M, adding 1 to M and then turning to step S2, and if diff does not exceed a preset threshold value alpha and M is equal to M, adding 1 to d and setting M to 1 and then turning to step S2, wherein alpha is a threshold value set according to experience of a pig breeding expert;
step S3: and judging that the sow is close to parturition.
The invention has the advantages of
In order to increase the activity of the antenatal sow on the premise of limiting the activity space of the postpartum sow, the sow positioning fence is changed into a sow positioning fence which is composed of two position-adjustable fence frames, two groups of pulleys are respectively welded at two ends of each position-adjustable fence frame, each group of pulleys is placed in a sliding rail, and the position-adjustable fence frames are pushed to slide on the sliding rails by the extension of an electric push rod so as to change the space on an obstetric table for the sow to move. When the sow just turns into the obstetric table, the two position-adjustable hurdles are respectively placed at the side fence positions of the sow obstetric table, and the whole obstetric table space can be used for free movement of the sow before delivery. The method comprises the steps of collecting prenatal sow behavior videos by utilizing a camera installed on an obstetric table, analyzing the change characteristics of the activity of the sow before parturition by adopting a machine vision technology to judge whether the sow is close to parturition or not, if the judgment is yes, utilizing an electric push rod to push a position-adjustable hurdle frame and fix the hurdle frame to the two sides of a sow trough, realizing sow positioning, reducing the activity space of the sow frame and reducing the probability that a piglet in a lactation period is killed.
Drawings
Fig. 1 is a side view of the structure-variable intelligent obstetric table for pigs near one end of a camera.
Fig. 2 is a side view of the structure-variable intelligent obstetric table for pigs, which is far away from the camera.
FIG. 3 is a schematic view of a mounting structure of a left electric push rod and a left position-adjustable hurdle in an intelligent obstetric table for pigs with a variable structure.
Fig. 4 is a schematic view of a connection structure of a pulley of the left position-adjustable hurdle and a corresponding track.
Fig. 5 is a schematic overall top view of the variable-structure intelligent obstetric table for pigs when the position-adjustable hurdle frame is positioned at the side hurdle position.
Fig. 6 is a schematic overall top view of the structure-variable intelligent obstetric table for pigs when the position-adjustable hurdle is positioned below the cross beam.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Fig. 1 and 2 are schematic diagrams of the overall structure of the structure-variable intelligent obstetric table for pigs, which mainly comprise a main body part and an automatic push rod system part of a sow obstetric table, wherein (1) in fig. 1 and 2 is a left position-adjustable hurdle, (2) is a right position-adjustable hurdle, (3) is a left electric push rod, (4) is a right electric push rod, (5) is a left side hurdle of the obstetric table, and (6) is a right side hurdle of the obstetric table; (20) is a front door-shaped member vertical to the obstetric table floor, (21) is a rear door-shaped member vertical to the obstetric table floor, (23) is a left side beam parallel to the obstetric table floor, (22) is a right side beam parallel to the obstetric table floor; (24) is an electric push rod fixing plate; (25) is an embedded control end; (26) is a camera; (12) is a right front upper slide rail fixed on a right front baffle (8), (13) is a right front lower slide rail fixed on the right front baffle (8), (18) is a right rear upper slide rail fixed on a right rear baffle (10), (19) is a right rear lower slide rail fixed on a right rear baffle (10), (14) is a left front upper slide rail fixed on the left front baffle (9), (15) is a left front lower slide rail fixed on the left front baffle (9), (16) is a left rear upper slide rail fixed on the left rear baffle (11), (17) is a left rear lower slide rail fixed on the left rear baffle (11), both ends of the right front upper slide rail (12), the right front lower slide rail (13), the left front upper slide rail (14), the left front lower slide rail (15), the left rear upper slide rail (16), the left rear lower slide rail (17), the right rear upper slide rail (18) and the right rear lower slide rail (19) are provided with positioning holes, two ends of the left position-adjustable hurdle frame (1) are respectively provided with two groups of pulleys, and the pulleys of the left position-adjustable hurdle frame (1) can slide in a left front upper slide rail (14), a left front lower slide rail (15), a left rear upper slide rail (16) and a left rear lower slide rail (17); two ends of the right position-adjustable hurdle frame (2) are respectively provided with two groups of pulleys, and the pulleys of the right position-adjustable hurdle frame (2) can slide in a right front upper slide rail (12), a right front lower slide rail (13), a right rear upper slide rail (18) and a right rear lower slide rail (19); electric putter fixed plate (24) are fixed on right side crossbeam (22) and left side crossbeam (23), the one end of left side electric putter (3) is fixed on fixed plate (24), one end is fixed with left side position adjustable hurdle (1) in addition, the one end of right side electric putter (4) is fixed on fixed plate (24), one end is fixed with right side position adjustable hurdle (2) in addition, embedded control end (25) are installed on front door type component (20), piglet insulation can (27) are located the regional outside of sow activity hurdle.
The connection mode of the electric push rod and the position-adjustable hurdle of the invention is illustrated by taking the connection of the left electric push rod (3) and the left position-adjustable hurdle (1) as an example, fig. 3 is a schematic view of the installation and connection of the left electric push rod (3) and the left position-adjustable hurdle (1), and preferably, one end of the left electric push rod (3) is fixed below the electric push rod fixing plate (24), and the other end is fixedly connected with the left position-adjustable hurdle (1).
Taking the left position-adjustable hurdle (1) as an example to explain the specific moving mode of the position-adjustable hurdle of the invention during working, as shown in fig. 4, one end of the left position-adjustable hurdle (1) close to a left front baffle (9) is welded with a left front upper pulley block (28) and a left front lower pulley block (29), one end of the left position-adjustable hurdle (1) close to a left rear baffle (11) is welded with a left rear upper pulley block (30) and a left rear lower pulley block (31), the left front upper pulley block (28) is arranged in a left front upper slide rail (14), the left front lower pulley block (29) is arranged in a left front lower slide rail (15), the left rear upper pulley block (30) is arranged in a left rear upper slide rail (16), the left rear lower pulley block (31) is arranged in a left rear lower slide rail (17), when the left position-adjustable hurdle (1) is subjected to the pulling force or pushing force of a left electric push rod (3), the left front upper pulley block (28), the left front lower pulley block (29), the left rear upper pulley block (30) and the left rear lower pulley block (31) respectively roll in the left front upper slide rail (14), the left front lower slide rail (15), the left rear upper slide rail (16) and the left rear lower slide rail (17) and drive the left side position-adjustable hurdle frame (1) to stably move.
When the sow just changes over into variable structure pig and uses intelligent obstetric table, left side position adjustable hurdle (1), right side position adjustable hurdle (2) are berthhed respectively by left side fence (5) and right side fence (6), obstetric table structure top view is shown in fig. 5 this moment, the sow before delivery possesses sufficient free activity space, the action video of the free activity sow is gathered in camera (26) and real-time transport to embedded control end (25), embedded control end (25) are deposited the video of receiving in its memory, embedded control end (25) are handled sow activity video and are judged whether the sow closes on delivery and are adjusted the realization step of obstetric table structure as follows:
from the time zero when the sow is shifted to the first day of the obstetric table, the camera (26) collects the behavior video of the sow on the obstetric table and transmits the behavior video to the embedded control end (25) in real time, the embedded control end stores the received video in a memory of the embedded control end, the embedded control end (25) divides 24 hours a day into M time periods, wherein T is 24/M and represents the hours of the M time periods, M is an integer divisible by 24, and whether the sow is close to delivery is judged by the following steps:
step S1: initializing the number d of days as 1, and the number m of time periods as 1;
step S2: the embedded control end (25) takes out the sow behavior video in the mth time period on the day d from the memory and operates according to the following sub-steps:
step S2-1: extracting a frame of image f from the video every 1 secondkWherein K is the interval [1, K]Where K is 3600 × T, for fkPerforming image graying preprocessing operation to obtain grayed image and recording the grayed image as grayk；
Step S2-2: using Otsu method to treat each graykPerforming two-valuedPerforming conversion operation to obtain a binary image and marking the binary image as Bk；
Step S2-3: calculating f using equation (1)kAnd fk+1The amount of sow activity in the two frame image interval:
wherein, i and j are binary images B respectivelykThe abscissa and the ordinate of the middle pixel, I being BkThe number of columns of the medium pixel matrix, J being BkThe number of rows of the middle pixel matrix;
step S2-4: calculating the activity intensity of the sow in the mth time period on the d day by using the formula (2):
step S2-5: if d is equal to 1 and M < M, step S2 is followed by adding 1 to M, if d is equal to 1 and M is equal to M, step S2 is followed by adding 1 to d, and M is set to 1, and step S2-6 is followed if d > 1;
step S2-6: the method comprises the following steps:
step S2-6-1: calculating the average activity intensity of the sows in the mth time period of the previous d-1 days by using the formula (3):
step S2-6-2: calculating act _ tensed,mAnd
if diff is greater than the preset threshold value alpha, judging that the activity intensity of the sow is abnormal compared with the normal state, the sow is close to delivery, turning to step S3, if diff is not greater than the preset threshold value alpha and m is less than the preset threshold value alpha<M, adding 1 to M and then turning to step S2, if diff does not exceed a preset threshold value alpha and M is equal to M, adding 1 to d, and setting M to 1 and then turning to step S2, wherein alpha isA threshold value is set according to the experience of a pig breeding expert;
step S3: and judging that the sow is close to parturition.
In the preferred embodiment, the movement of the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2) is realized by controlling the electric push rod to stretch and retract. The embedded control end sends an instruction to controllers of the left electric push rod (3) and the right electric push rod (4) to control the left electric push rod (3) and the right electric push rod (4) to reduce the stroke, the left position-adjustable hurdle frame (1) slides to the position below a left cross beam (23) from the position beside a left side rail (5), the right position-adjustable hurdle frame (2) slides to the position below a right cross beam (22) from the position beside a right side rail (6), after the left position-adjustable hurdle frame (1) and the right position-adjustable hurdle frame (2) reach a preset position, the left electric push rod (3) and the right electric push rod (4) stop working, and the inserted pins are automatically or manually inserted into limiting holes on two sides of four groups of pulleys close to the left position-adjustable hurdle frame (1) on a left front upper sliding rail (14), a left front lower sliding rail (15), a left rear upper sliding rail (16) and a left rear lower sliding rail (17), the position of fixed left side position adjustable hurdle (1), automatically or artificially insert the bolt in the spacing hole of four group's pulley both sides that lie in right side position adjustable hurdle (2) on right front top slide rail (12), right front below slide rail (13), right back top slide rail (18), right back below slide rail (19), the position of fixed right side position adjustable hurdle (2).
The structure of the obstetric table top view when adjustable hurdle in left side position (1) is located left side crossbeam (23), adjustable hurdle in right side position (2) is located right side crossbeam (22) crossbeam below of structure-variable pig intelligent obstetric table is shown in fig. 6, and adjustable hurdle in left side position (1) and adjustable hurdle in right side position (2) are injectd the sow in a comparatively narrow space this moment, have reduced the probability of the piglet of dying postpartum sow.
In conclusion, the variable-structure intelligent obstetric table for pigs, disclosed by the invention, utilizes the machine vision technology to automatically analyze the change characteristics of the activity of the sows before delivery, judges whether the sows are close to delivery or not based on the change characteristics, and automatically controls the adjustable hurdle to move according to whether the sows are close to delivery or not so as to automatically adjust the structure of the obstetric table. On the premise of not increasing the probability of the piglets killed by the sows, the goal of providing sufficient activity space for the antenatal sows is achieved, the health level of the sows is improved, the probability of the piglets killed by the postpartum sows is also reduced, and the requirement of healthy feeding of the sows and the newborn piglets in the obstetric table is fully met.
Claims (7)
1. The utility model provides a variable structure pig is with intelligent obstetric table which characterized in that it includes main part and automatic push rod system, and the main part includes:
-an obstetric table;
-a left adjustable hurdle (1) and a right adjustable hurdle (2) on either side of the obstetric table;
the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2) move/limit under the action of an automatic push rod system, so that the activity space of sows is reduced, and the probability that piglets in the lactation period are pressed to death by the sows is reduced;
the automatic push rod system includes:
-a camera (26);
-an embedded control terminal (25);
the camera (26) collects the sow behavior video on the obstetric table and transmits the video to the embedded control end (25) in real time, the embedded control end (25) analyzes video data to judge whether the sow is close to parturition, if the video data are judged to be 'yes', the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2) are moved to limit the moving range of the sow, and the step of judging whether the sow is close to parturition is as follows:
step S1: initializing the number d of days as 1, and the number m of time periods as 1;
step S2: the embedded control end (25) takes out the sow behavior video in the mth time period on the day d from the memory and operates according to the following sub-steps:
step S2-1: extracting a frame of image f from the video every 1 secondkWherein K is the interval [1, K]Where K is 3600 × T, for fkPerforming image graying preprocessing operation to obtain grayed image and recording the grayed image as grayk(ii) a T-24/M represents the number of hours of M time periods, M time periods being used to divide 24 hours, M being an integer divisible by 24;
step S2-2: using Otsu method to treat each graykPerforming binarization operation to obtainBinary image and notation Bk；
Step S2-3: calculating f using equation (1)kAnd fk+1The amount of sow activity in the two frame image interval:
wherein, i and j are binary images B respectivelykThe abscissa and the ordinate of the middle pixel, I being BkThe number of columns of the medium pixel matrix, J being BkThe number of rows of the middle pixel matrix;
step S2-4: calculating the activity intensity of the sow in the mth time period on the d day by using the formula (2):
step S2-5: if d is equal to 1 and M < M, step S2 is followed by adding 1 to M, if d is equal to 1 and M is equal to M, step S2 is followed by adding 1 to d, and M is set to 1, and step S2-6 is followed if d > 1;
step S2-6: the method comprises the following steps:
step S2-6-1: calculating the average activity intensity of the sows in the mth time period of the previous d-1 days by using the formula (3):
step S2-6-2: calculating act _ tensed,mAnd
if diff is greater than the preset threshold value alpha, judging that the activity intensity of the sow is abnormal compared with the normal state, the sow is close to delivery, turning to step S3, if diff is not greater than the preset threshold value alpha and m is less than the preset threshold value alpha<M, adding M by 1 and then turning to step S2, if diff does not exceed the preset threshold value alpha and M is equal to M, adding d by 1,Turning to step S2 after m is set to 1, wherein alpha is a threshold value set according to experience of pig breeding experts;
step S3: and judging that the sow is close to parturition.
2. The intelligent obstetric table for pigs of variable structure of claim 1, characterized in that said obstetric table comprises:
-a left side rail (5) and a right side rail (6) fixed to the left and right sides of the obstetric table;
-a left side cross member (23) and a right side cross member (22) secured to both sides above the obstetric table;
the fixed positions of the left side fence (5) and the right side fence (6) limit the farthest distance between the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2); the fixed positions of the left side cross beam (23) and the right side cross beam (22) limit the nearest distance between the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2).
3. The structure-variable intelligent obstetric table for pigs as claimed in claim 1, wherein pulleys are welded on the left side position-adjustable hurdle frame (1) and the right side position-adjustable hurdle frame (2); the obstetric table is fixedly provided with a slide rail matched with the pulley; the lateral movement of the hurdle frame (1) with the adjustable left side position and the hurdle frame (2) with the adjustable right side position is realized based on the cooperation of the pulleys and the slide rails.
4. The variable-structure intelligent obstetric table for pigs as claimed in claim 3, wherein the pulleys are arranged on two side edges of the left position-adjustable hurdle frame (1) and the right position-adjustable hurdle frame (2).
5. The structure-variable intelligent obstetric table for pigs as claimed in claim 1, characterized in that the movement of the left position-adjustable hurdle frame (1) and the right position-adjustable hurdle frame (2) is realized by an electric push rod.
6. The structure-variable intelligent obstetric table for pigs as claimed in claim 5, wherein the left position-adjustable hurdle frame (1) is fixed at one end of the left electric push rod (3), and the right position-adjustable hurdle frame (2) is fixed at one end of the right electric push rod (4); the other ends of the left electric push rod (3) and the right electric push rod (4) are fixed on an electric push rod fixing plate (24).
7. The variable-structure intelligent obstetric table for pigs as claimed in claim 1, wherein the left position-adjustable hurdle frame (1) and the right position-adjustable hurdle frame (2) are limited by the cooperation of a limiting hole and a bolt.
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