CN114403044A - Sow oestrus searching method and oestrus searching robot - Google Patents
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- 230000012173 estrus Effects 0.000 title claims abstract description 143
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000036760 body temperature Effects 0.000 claims abstract description 19
- 238000013527 convolutional neural network Methods 0.000 claims abstract description 6
- 238000000611 regression analysis Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 42
- 230000001939 inductive effect Effects 0.000 claims description 26
- 230000008451 emotion Effects 0.000 claims description 18
- 239000011664 nicotinic acid Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 210000003905 vulva Anatomy 0.000 claims description 8
- 210000000436 anus Anatomy 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000010801 machine learning Methods 0.000 claims description 3
- 238000009529 body temperature measurement Methods 0.000 claims 1
- 230000008569 process Effects 0.000 description 6
- 241000282887 Suidae Species 0.000 description 3
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 229940088597 hormone Drugs 0.000 description 2
- 239000005556 hormone Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
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- 210000005069 ears Anatomy 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
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- 230000035935 pregnancy Effects 0.000 description 1
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- A—HUMAN NECESSITIES
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Abstract
The invention discloses a sow oestrus checking method and a oestrus checking robot, wherein the method applies a sow oestrus checking robot which comprises an image collector and a body temperature measurer, and the method comprises the following steps: collecting a sow image through an image collector, introducing the collected sow image into a pre-trained convolutional neural network for convolution operation, and identifying an oestrus characteristic part image of the sow; enabling a body temperature measurer to position the position of the oestrus characteristic part image, and acquiring the temperature information of the oestrus characteristic part of the sow through the body temperature measurer; predicting and identifying the oestrus key state of the sow by regression analysis on the oestrus feature position image of the sow to obtain oestrus key state information of the sow; and carrying out normalized data processing on the temperature information of the characteristic parts of the sows and the oestrus key state information, and introducing a classifier for classification and identification so as to identify the oestrus state of the sows. The invention realizes automatic sow oestrus checking and judges whether the sow is in an oestrus state.
Description
Technical Field
The invention relates to the technical field of sow oestrus searching methods and devices, in particular to a sow oestrus searching method and a sow oestrus searching robot.
Background
One oestrus cycle of the sow generally comprises an early oestrus period, an oestrus period, a late oestrus period and a rest period, the oestrus condition of the sow is timely checked and mastered in the breeding process, the sow is guaranteed to finish fertilization in a reasonable time, the pregnancy and the farrowing efficiency of the sow can be effectively improved, and the pig raising benefit is maximized.
The current sow oestrus checking work mainly depends on manual experience judgment and analysis, in the large-scale breeding process, a plurality of sows are generally kept in a pigsty, a breeder checks the oestrus of the sows one by one, and the work load of mastering the oestrus conditions of all sows in the pigsty is large and difficult;
if artificial estrus induction is carried out on the sows before the estrus is checked, the sows can be promoted to estrus more effectively, and the estrus condition of the sows can be judged more effectively during the estrus checking.
Disclosure of Invention
The invention aims to provide a sow oestrus checking method and a sow oestrus checking robot, which overcome the defects and realize automatic oestrus checking of sows to judge whether the sows are in oestrus.
In order to achieve the above purpose, the solution of the invention is: a sow oestrus checking method applies a sow oestrus checking robot, the sow oestrus checking robot comprises an oestrus checking device, the oestrus checking device comprises an image collector and a body temperature measurer, and the method comprises the following steps:
s1, collecting the sow image through the image collector, introducing the collected sow image into a pre-trained convolutional neural network for convolution operation, and identifying the oestrus characteristic part image of the sow;
s2, enabling the body temperature measurer to locate the position of the oestrus characteristic part image, and acquiring oestrus characteristic part temperature information of the sow through the body temperature measurer;
s3, predicting and identifying the key oestrus state of the sow by regression analysis on the oestrus feature position image of the sow to obtain the key oestrus state information of the sow;
and S4, carrying out normalized data processing on the characteristic part temperature information and the oestrus key state information of the sow, and introducing a classifier for classification and identification so as to identify the oestrus state of the sow.
Further, the oestrus characteristic part image is an anus and/or vulva and/or ear image of the sow, and the oestrus characteristic part temperature information is anus and/or vulva and/or ear temperature of the sow.
Further, the key oestrus state is vulvar color and/or vulvar morphology and/or binaural posture of the sow when oestrus occurs.
Further, the classifier is a classifier based on a machine learning algorithm.
Further, the sow estrus-searching robot also comprises an estrus-inducing device, wherein the estrus-inducing device comprises a bionic execution mechanism which at least simulates one inducing characteristic of a boar;
before the step S1 is started, at least one attraction characteristic of the boar is firstly simulated through the bionic actuating mechanism so as to induce the oestrus of the sow.
Further, the attraction characteristic is at least one of a boar smell characteristic and a boar sound characteristic.
Furthermore, the sow emotion checking robot also comprises a walking mechanism, the walking mechanism comprises a chassis, a controller, a navigation obstacle avoidance sensor and a walking driving mechanism, the controller is arranged on the chassis, map information is stored in the controller, the controller is in communication connection with the navigation obstacle avoidance sensor and the walking driving mechanism, and the emotion checking device and the emotion inducing device are arranged on the chassis;
before the sow is induced to estrus, the navigation obstacle avoidance sensor is used for acquiring the position of the current walking mechanism and the topographic information of the current position, and the position and the topographic information of the current position are transmitted to the controller, and the controller is used for controlling the walking driving mechanism to drive the chassis to drive the estrus searching device and the estrus inducing device to move to the preset pigsty position of the sow with the pre-searched estrus according to the position, the topographic information of the current position and the stored map information of the position and the topographic information of the current position.
Further, after the chassis drives the emotion checking device and the emotion inducing device to move to a pigsty preset position of the sow with the emotion pre-checking, the navigation obstacle avoidance sensor collects position information of the sow with the emotion pre-checking, and the controller controls the walking driving mechanism to drive the chassis to drive the emotion checking device and the emotion inducing device to move to a preset relative position between the sow and the emotion inducing device.
The utility model provides a sow looks into feelings robot, includes running gear, looks into the feelings device, running gear includes the chassis, sets up controller, navigation on the chassis keep away barrier sensor, travel driving mechanism, look into the feelings device and install on the chassis, the controller communication is connected navigation keeps away barrier sensor, travel driving mechanism, looks into the feelings device, look into the feelings device for image acquisition ware, body temperature caliber, radio in at least one.
Further, still install on the chassis and lure the feelings device, it connects to lure the feelings device communication the controller, it includes the bionic actuating mechanism that an at least simulation boar lures the characteristic to lure the feelings device.
After the scheme is adopted, the invention has the beneficial effects that:
(1) collecting a sow image through the image collector, introducing the collected sow image into a pre-trained convolutional neural network for convolution operation, and identifying an oestrus characteristic part image of the sow, so that the automatic identification of the oestrus characteristic part of the sow is realized by utilizing the image collector and the convolutional neural network;
(2) the body temperature measurer is enabled to position the position of the oestrus characteristic part image, and the body temperature measurer is used for collecting the temperature information of the oestrus characteristic part of the sow, so that the body temperature measurer is automatically positioned to the premeasured sow oestrus characteristic part, and the temperature of the oestrus characteristic part of the sow is automatically measured;
(3) predicting and identifying the oestrus key state of the sow by regression analysis on the oestrus feature position image of the sow to obtain oestrus key state information of the sow, so that the acquired oestrus feature position image of the sow is automatically compared with the due state of the feature position when the sow oestrus occurs, and the oestrus state of the sow is preliminarily obtained;
(4) the feature part temperature information and the oestrus key state information of the sow are subjected to normalized data processing, and are guided into a classifier for classification and identification so as to identify the oestrus state of the sow, so that the feature part temperature and the oestrus key state of the sow are automatically combined to comprehensively obtain the oestrus condition of the sow, and the result is more reasonable and accurate.
Drawings
FIG. 1 is a schematic perspective view of a robot for examining emotion according to the present invention;
fig. 2 is a schematic view of the sectional structure of the bottom view of the emotion-checking robot.
Description of reference numerals: description of reference numerals: the system comprises a walking mechanism, a 2-emotion inducing device, a 3-chassis, a 4-driving motor, a 5-navigation obstacle avoidance sensor, a 6-walking driving mechanism, a 7-driving wheel, an 8-emotion checking device, a 9-laser radar and a 10-3D camera.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a sow emotion checking robot, as shown in figures 1 and 2, which comprises a walking mechanism 1, an emotion inducing device 2 and an emotion checking device 8, wherein the walking mechanism 1 comprises a chassis 3, a controller arranged on the chassis 3, a navigation obstacle avoidance sensor 5 and a walking driving mechanism 6, the controller is in communication connection with the navigation obstacle avoidance sensor 5 and the walking driving mechanism 6 and stores map information, the navigation obstacle avoidance sensor 5 is at least one of a laser radar 9 and a 3D camera 10, the navigation obstacle avoidance sensor 5 faces the advancing direction of the walking mechanism 1, in the embodiment, the navigation obstacle avoidance sensor 5 simultaneously comprises the laser radar 9 and the 3D camera 10, the navigation obstacle avoidance sensor 5 acquires the position of the current walking mechanism 1 and the topographic information of the current position, the position and the topographic information of the current position are processed by the controller to form a control signal for the walking driving mechanism 6, to control the walking driving mechanism 6 to make corresponding actions, the specific process is described in detail later; the walking driving mechanism 6 comprises four driving wheels 7 which are respectively rotatably arranged at four corners of the bottom of the chassis 3 and four driving motors 4 which are arranged on the chassis 3, the four driving motors 4 are respectively and electrically connected with the controller, each driving motor 4 is in driving connection with one driving wheel 7, the driving connection form between each driving motor 4 and each driving wheel 7 is not limited, when turning is needed, the controller controls the four driving wheels 7 to rotate in a differential speed manner to drive the chassis 3 to turn, when straight going is needed, the controller controls the four driving wheels 7 to synchronously rotate to drive the chassis 3 to go straight, and compared with a steering manner adopting steering wheels, the turning radius in a narrow pigsty passageway is smaller, and the turning is more flexible;
the estrus inducing device 2 is installed on the chassis 3, the estrus inducing device 2 is in communication connection with the controller, the controller controls the estrus inducing device 2 to act, the estrus inducing device 2 comprises a bionic execution mechanism which at least simulates one characteristic of a boar, the bionic execution mechanism is at least one of a smell device, a sound device and a vision device, specifically, the bionic execution mechanism is at least one of a sprayer, a loudspeaker and a display to respectively simulate the smell, the sound and the appearance of the boar, the bionic execution mechanism in the embodiment comprises a sprayer and a loudspeaker, gas with boar hormone or smell is sprayed out through the sprayer, the sound of the boar is played through the loudspeaker, and the sow is induced to estrus;
the estrus detecting device 8 is mounted on the chassis 3, the estrus detecting device 8 is in communication connection with the controller and is used for detecting the oestrus state of the sow, the estrus detecting device 8 is at least one of an image collector, a body temperature measurer and a radio, in the embodiment, the estrus detecting device 8 comprises an image collector and a body temperature measurer, the image collector is used for collecting characteristic part images of the sow, the body temperature measurer is used for measuring the temperature of the characteristic part of the sow, the body temperature measurer is an infrared thermometer, the controller is used for judging whether the sow is oestrous or not according to the characteristic part images of the sow and the temperature of the characteristic part of the sow, and the specific judging process is described in detail later.
The invention provides a sow oestrus checking method which comprises the following steps:
before the estrus is searched, firstly, the navigation obstacle avoidance sensor 5 acquires the position of the current walking mechanism 1 in the pigsty and the topographic information of the current position, and transmits the position and the topographic information of the current position to the controller, the controller controls the walking driving mechanism 6 to drive the chassis 3 to drive the estrus searching device 8 and the estrus inducing device 2 to move to the preset position of the pigsty of the sow with the pre-searched estrus according to the position, the topographic information of the current position and the map information stored in the controller, and then, the navigation obstacle avoidance sensor 5 acquires the position information of the sow with the pre-searched estrus, so that the walking controller controls the walking driving mechanism 6 to drive the chassis 3 to drive the estrus searching device 8 and the estrus inducing device 2 to move to a preset relative position with the sow so as to compensate according to the current actual pose of the pig, ensuring the subsequent luring and checking of the emotion to be carried out smoothly;
in the embodiment, the gas with boar hormone or smell is sprayed out through a sprayer of the bionic execution mechanism, boar sound is played through a loudspeaker, the function of inducing the oestrus of the sows is achieved, and in the inducing process, a controller judges the currently induced pigs according to the current position and map information stored in the controller, so that the purpose of accurately setting the types, duration and other oestrus factors of the induced oestrus for sows of different pig types and types in a targeted manner is achieved, and the inducing situation of the pigs is recorded;
then, the situation is checked, and the situation checking process comprises the following steps:
s1, acquiring images of sows (induced pigs) through the image acquisition device, introducing the acquired images of the sows into a pre-trained convolutional neural network for convolution operation, and identifying oestrus characteristic part images of the sows, wherein the oestrus characteristic part images are anus and/or vulva and/or ear images of the sows;
s2, positioning the position of the oestrus characteristic part image by the body temperature measurer, and acquiring the temperature information of the oestrus characteristic part of the sow by the body temperature measurer, wherein the temperature information of the oestrus characteristic part is the temperature of the anus and/or the vulva and/or the ears of the sow;
s3, predicting and identifying the key oestrus state of the sow by regression analysis on the oestrus feature position image of the sow, wherein the key oestrus state is the vulva color and/or vulva shape and/or binaural posture of the sow during oestrus, namely, the consistency degree of the currently acquired oestrus feature position image and the feature position image of the sow during oestrus is judged to obtain the key oestrus state information of the sow;
s4, carrying out normalized data processing on the feature part temperature information and the oestrus key state information of the sow, and introducing a classifier for classification and identification, wherein the classifier is a classifier based on a machine learning algorithm, an SVM classifier is preferably adopted in the embodiment, and the classifier can be other classifiers as well and is not particularly limited so as to identify the oestrus state of the sow;
when the heat checking device 8 identifies that the current pig is oestrous, or when the heat checking device 2 identifies that the heat checking device is not oestrous for the current pig, the controller records the heat checking condition of the pig and controls the walking mechanism 1 to move to the next pig to be heat checked, so that the heat checking and heat checking work of all heat checking sows in the pigsty is completed.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the design of the present invention, and all equivalent changes made in the design key point of the present invention fall within the protection scope of the present invention.
Claims (10)
1. A sow oestrus checking method is characterized by comprising the following steps: the method applies a sow oestrus searching robot, the sow oestrus searching robot comprises an oestrus searching device (8), the oestrus searching device (8) comprises an image collector and a body temperature measurer, and the method comprises the following steps:
s1, collecting the sow image through the image collector, introducing the collected sow image into a pre-trained convolutional neural network for convolution operation, and identifying the oestrus characteristic part image of the sow;
s2, enabling the body temperature measurer to locate the position of the oestrus characteristic part image, and acquiring oestrus characteristic part temperature information of the sow through the body temperature measurer;
s3, predicting and identifying the key oestrus state of the sow by regression analysis on the oestrus feature position image of the sow to obtain the key oestrus state information of the sow;
and S4, carrying out normalized data processing on the characteristic part temperature information and the oestrus key state information of the sow, and introducing a classifier for classification and identification so as to identify the oestrus state of the sow.
2. The sow oestrus detecting method as claimed in claim 1, wherein: the oestrus characteristic part image is an anus and/or vulva and/or ear image of the sow, and the oestrus characteristic part temperature information is the anus and/or vulva and/or ear temperature of the sow.
3. The sow oestrus detecting method as claimed in claim 1, wherein: the key oestrus state is vulvar color and/or vulvar morphology and/or binaural posture of the sow when oestrus occurs.
4. The sow oestrus detecting method as claimed in claim 1, wherein: the classifier is based on a machine learning algorithm.
5. The sow oestrus detecting method as claimed in claim 1, wherein: the sow estrus-searching robot further comprises an estrus-inducing device (2), wherein the estrus-inducing device (2) comprises a bionic execution mechanism which at least simulates one inducing characteristic of a boar;
before the step S1 is started, at least one attraction characteristic of the boar is firstly simulated through the bionic actuating mechanism so as to induce the oestrus of the sow.
6. The sow oestrus detecting method as claimed in claim 5, wherein: the attraction characteristic is at least one of a boar odor characteristic and a boar sound characteristic.
7. The sow oestrus detecting method as claimed in claim 5, wherein: the sow emotion checking robot further comprises a walking mechanism (1), the walking mechanism (1) comprises a chassis (3), a controller, a navigation obstacle avoidance sensor (5) and a walking driving mechanism (6), the controller is arranged on the chassis (3), map information is stored in the controller, the controller is in communication connection with the navigation obstacle avoidance sensor (5) and the walking driving mechanism (6), and the emotion checking device (8) and the emotion inducing device (2) are installed on the chassis (3);
before the sow is induced to estrus, the navigation obstacle avoidance sensor (5) is used for collecting the position of the current walking mechanism (1) and the topographic information of the current position, and the position and the topographic information of the current position are transmitted to the controller, and the controller is used for controlling the walking driving mechanism (6) to drive the chassis (3) to drive the estrus searching device (8) and the estrus inducing device (2) to move to the pigsty preset position of the sow with the pre-searched estrus according to the position, the topographic information of the current position and the stored map information.
8. The sow oestrus detecting method as claimed in claim 7, wherein: the device is characterized in that the chassis (3) drives the heat checking device (8) and the heat inducing device (2) to move to a pigsty of a pre-heat sow in a preset position, the navigation obstacle avoidance sensor (5) collects the position information of the pre-heat sow, so that the controller controls the walking driving mechanism (6) to drive the chassis (3) to drive the heat checking device (8) and the heat inducing device (2) to move to a preset relative position between the heat checking device and the sow.
9. A sow emotion-seeking robot is characterized in that: including running gear (1), look into feelings device (8), running gear (1) is in including chassis (3), setting controller, navigation on chassis (3) are kept away barrier sensor (5), running gear (6), look into feelings device (8) and install on chassis (3), the controller communication is connected the navigation is kept away barrier sensor (5), running gear (6), is looked into feelings device (8), it is at least one in image acquisition ware, body temperature measurement ware, the radio to look into feelings device (8).
10. The sow heat-checking robot as claimed in claim 9, wherein: still install on chassis (3) and lure feelings device (2), lure feelings device (2) communication connection the controller, lure feelings device (2) including the bionic actuating mechanism who simulates boar a kind of luring the characteristic at least.
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| CN115943908A (en) * | 2022-12-05 | 2023-04-11 | 中国农业科学院北京畜牧兽医研究所 | Sow oestrus detection method based on adaptive navigation and related equipment |
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Application publication date: 20220429 |