CN116687386A - Radar detection system and method for comprehensive calibration of cattle body shape data - Google Patents
Radar detection system and method for comprehensive calibration of cattle body shape data Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
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- A—HUMAN NECESSITIES
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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Abstract
The invention relates to the technical field of wireless detection devices, in particular to a radar detection system and a radar detection method for comprehensively calibrating cattle body shape data. The device comprises a radar calibration driving mechanism, a distance adjustment driving mechanism and a point cloud calibration driving mechanism, wherein the radar calibration driving mechanism comprises a radar I and a radar II; the interval adjustment driving mechanism comprises a telescopic shaft arranged between the radar I and the radar II; the point cloud calibration driving mechanism comprises a point cloud camera I arranged on a radar I; the point cloud camera I is fixedly arranged on the outer side of the antenna I through a cantilever; the radar shield is also internally provided with a controller, and the controller comprises a group scanning module, a contour calibration module and a body shape prediction module. According to the invention, radar detection is performed through transverse coordinate adjustment, longitudinal coordinate adjustment and relative interval adjustment; and the point cloud camera I and the point cloud camera II are comprehensively calibrated, so that the effect that the radar and the point cloud camera are combined and can be used at daytime and nighttime is realized.
Description
Technical Field
The invention relates to the technical field of wireless detection devices, in particular to a radar detection system and a radar detection method for comprehensively calibrating cattle body shape data.
Background
As technology advances, the technology of combining radar and point cloud cameras has been widely accepted and is increasingly used by industry to detect scenes. In detection scenes such as cultivation, for example, group body shape scanning detection and the like, a single camera is still adopted for scanning, the scanning detection efficiency is low, and the body shape measurement still needs to be manually participated. In order to adapt to technical progress, a person skilled in the art improves the principle of detection scanning, for example, a Chinese patent with the application date of 2022, 9 months and 5 days and the publication number of CN115331064A, provides a method and a device for classifying point clouds of a farm scene for body ruler measurement, and utilizes the point cloud scene to perform cluster classification on complete pigs and incomplete pigs, so that body ruler measurement is performed on the clustered and classified pigs by utilizing a related algorithm, and the efficiency of body ruler measurement is improved.
However, the method only discloses the algorithm principle of body ruler measurement, and is not analyzed by combining specific radar and point cloud detection product structures. A detection system capable of realizing combination of a radar and a point cloud camera and being used at daytime and nighttime is not yet available.
Disclosure of Invention
The invention aims to solve the technical problems that: the radar detection system and the radar detection method for comprehensively calibrating the cattle body shape data are provided, wherein the bilateral radar detection system controls transverse coordinate adjustment through a driving motor I and a driving motor II, controls longitudinal coordinate adjustment through a rotating shaft, and adjusts relative distance through a telescopic electric cylinder; the point cloud camera I is driven by a cantilever with a larger diameter to comprehensively calibrate all cattle shapes in the outline image at one time; and the point cloud camera II is driven by the annular track with smaller diameter to randomly calibrate individual single cow body shapes in the outline image.
The technical scheme of the invention is as follows:
the utility model provides a radar detection system of ox figure data integrated calibration, includes radar calibration actuating mechanism, interval adjustment actuating mechanism and point cloud calibration actuating mechanism, wherein:
the radar calibration driving mechanism comprises a radar I and a radar II, wherein an antenna I is arranged on the outer side of the radar I in a rotating manner, an antenna II is arranged on the outer side of the radar II in a rotating manner, and the antenna I and the antenna II are used for remotely detecting the environment of a farm and calibrating the position of a cow body;
the distance adjustment driving mechanism comprises a telescopic shaft arranged between a radar I and a radar II, a heat dissipation motor is arranged on the telescopic shaft, a radar shield is arranged on the upper half part of the radar I, the heat dissipation motor is used for exhausting air towards the left side and the right side when being contracted in the radar shield, and heat emitted by the radar I and the radar II is blocked by the radar shield to be exhausted downwards, leftwards and rightwards; the telescopic shaft is used for adjusting the distance between the radar I and the radar II;
the point cloud calibration driving mechanism comprises a point cloud camera I arranged on a radar I and a point cloud camera II arranged on a radar II; the point cloud camera I is fixedly arranged on the outer side of the antenna I through a cantilever, the point cloud camera II is movably arranged in an annular track on the periphery of the antenna II, a plurality of light supplementing lamps are arranged around the point cloud camera II, and the rotation radius of the point cloud camera I is larger than that of the point cloud camera II;
the radar shield is also built-in with a controller, the controller comprises a group scanning module, a contour calibration module and a body shape prediction module, wherein:
the group scanning module is respectively connected with the driving motor I, the driving motor II and the telescopic electric cylinder, and performs group scanning on the farm by changing the angle and the interval between the antenna I and the antenna II;
the contour calibration module is used for calibrating the cow body shape by changing the swing range of the point cloud camera I on the cantilever or the rotation range of the point cloud camera II on the annular track after the group scanning is finished, so as to obtain a precise contour graph;
and the body shape prediction module is used for extracting characteristics of the data of the cattle body shape and bringing the characteristics into a body shape prediction model.
Preferably, the profile calibration module starts the point cloud camera I in the daytime, and the cattle groups are relatively concentrated in distribution due to the fixed feeding area in the daytime; the point cloud camera I is driven by a cantilever with a larger diameter to collect all single cattle body shapes in the outline image, so that the probability of one-time overall calibration of the cattle body shapes is improved;
the profile calibration module starts a point cloud camera II at night, and at night, the groups of cattle are distributed and dispersed due to a large moving area; and the point cloud camera II is driven by the annular track with smaller diameter to randomly calibrate individual single cow body shapes in the outline image.
Preferably, the point cloud camera I is fixed on the outer side of the lower part of the antenna I through a cantilever, and the diameter of the cantilever is larger than that of the whole radar I; the swing range of the point cloud camera I along the cantilever is +/-60 degrees; the diameter of the antenna I is smaller than the whole diameter of the radar I.
Preferably, the rotation range of the point cloud camera II along the annular track is +/-60 degrees; the radar guard shield below is provided with the breach, and when the perpendicular setting down of point cloud camera I, telescopic shaft shrink, point cloud camera II, light filling lamp shrink in the inboard of breach place radar guard shield.
Preferably, the radar calibration driving mechanism further comprises a driving motor I, a driving motor II and a telescopic electric cylinder, wherein the driving motor I is connected with the antenna I through a rotating shaft, the driving motor II is connected with the antenna II through the rotating shaft, the cylinder body end of the telescopic electric cylinder is connected to the radar I, and the piston end of the telescopic electric cylinder is connected to the radar II through a telescopic shaft.
Preferably, an angle sensor is arranged on the outer side of the radar I and is located on one side of the rotating shaft where the antenna I is located, and the angle sensor is used for detecting the rotating angle of the antenna I.
Preferably, the side part of the rotating shaft where the antenna I is positioned is provided with a zero degree scale, and the zero degree scale is used for calibrating the resetting of the antenna I; the end of the antenna I is provided with an indicator lamp, and the indicator lamp flashes into a white lamp during standby, a green lamp during running and a red lamp during fault.
The technical scheme of the invention is as follows:
a radar detection method for comprehensively calibrating cattle body shape data comprises the following steps:
s1, a group scanning module controls transverse coordinate adjustment through a driving motor I and a driving motor II, controls longitudinal coordinate adjustment through a rotating shaft, and adjusts relative distance through a telescopic electric cylinder, wherein an antenna I and an antenna II are collected once along 120 DEG, 0 DEG and-120 DEG;
s2, after the group scanning is finished, the profile calibration module identifies the cattle group profile patterns detected by the antenna I and the antenna II, and carries out profile detection again through the point cloud camera I or the point cloud camera II, so that the single cattle body shape appearing in the profile patterns is acquired successively and accurately; the point cloud camera I or the point cloud camera II freely rotates along +/-60 degrees;
s3, after the profile calibration is finished, the profile prediction module performs feature extraction on the data of the cattle profile, and substitutes all feature points into a profile prediction model, the profile prediction model generates a three-dimensional point cloud space of the cattle profile from detection results, and the detection results are automatically matched with the cattle numbers;
s4, after the three-dimensional point cloud space is obtained by the body shape prediction model, resetting the group scanning module and the contour calibration module, and waiting for restarting detection.
Compared with the prior art, the invention has the following beneficial effects:
the swinging range of the point cloud camera I on the cantilever or the rotating range of the point cloud camera II on the annular track is changed, so that the cattle body shape is calibrated, and a precise outline graph is obtained; the point cloud camera I is driven by a cantilever with a larger diameter to comprehensively calibrate all cattle shapes in the outline image at one time; the point cloud camera II is driven by the annular track with smaller diameter to randomly calibrate individual single cow body shapes in the outline image;
the bilateral radar detection system controls transverse coordinate adjustment through a driving motor I and a driving motor II, controls longitudinal coordinate adjustment through a rotating shaft, adjusts relative spacing through a telescopic electric cylinder, and performs group scanning on a farm by changing the angle and spacing of an antenna I and an antenna II;
extracting characteristics of the cattle body shape data, bringing the characteristics into a body shape prediction model, generating a three-dimensional point cloud space of the cattle body shape by the body shape prediction model according to the detection result, and automatically matching the detection result with the cattle number; therefore, the purposes of carrying out group scanning on the double-sided radar and calibrating the outline of the double-point cloud camera and accurately improving the detection efficiency of the cattle body shape are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flow chart of the present invention.
Fig. 2 is one of the structural schematic diagrams of the present invention.
Fig. 3 is one of the structural schematic diagrams of the present invention.
Fig. 4 is a schematic structural diagram of the radar ii.
Fig. 5 is a schematic diagram of the detection of the present invention.
In the figure: 1. a radar I; 11. an antenna I; 12. an angle sensor; 13. a point cloud camera I; 14. an indicator light; 15. a radar shroud; 2. a radar II; 21. an antenna II; 22. an endless track; 23. a point cloud camera II; 24. a light supplementing lamp; 3. a telescopic shaft.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
As shown in fig. 1 to 5, the present embodiment provides a radar detection system for comprehensive calibration of cow figure data, which includes a radar calibration driving mechanism, a pitch adjustment driving mechanism, and a point cloud calibration driving mechanism, wherein:
the radar calibration driving mechanism comprises a radar I1 and a radar II 2, wherein an antenna I11 is rotatably arranged on the outer side of the radar I1, an antenna II 21 is rotatably arranged on the outer side of the radar II 2, and the antenna I11 and the antenna II 21 are used for remotely detecting the environment of a farm and calibrating the position of a cow body;
the distance adjustment driving mechanism comprises a telescopic shaft 3 arranged between a radar I1 and a radar II 2, a heat dissipation motor is arranged on the telescopic shaft 3, a radar shield 15 is arranged on the upper half part of the radar I1, when the heat dissipation motor is contracted in the radar shield 15, air is discharged towards the left side and the right side, and heat emitted by the radar I1 and the radar II 2 is blocked by the radar shield 15 to be discharged downwards, leftwards and rightwards; the telescopic shaft 3 is used for adjusting the distance between the radar I1 and the radar II 2;
the point cloud calibration driving mechanism comprises a point cloud camera I13 arranged on a radar I1 and a point cloud camera II 23 arranged on a radar II 2; the point cloud camera I13 is fixedly arranged on the outer side of the antenna I11 through a cantilever, the point cloud camera II 23 is movably arranged in an annular track 22 at the periphery of the antenna II 21, a plurality of light supplementing lamps 24 are arranged around the point cloud camera II 23, and the rotation radius of the point cloud camera I13 is larger than that of the point cloud camera II 23;
the radar shroud 15 also has a controller built-in, the controller including a population scanning module, a profile calibration module, and a body shape prediction module, wherein:
the group scanning module is respectively connected with the driving motor I, the driving motor II and the telescopic electric cylinder, and performs group scanning on the farm by changing the angle and the interval between the antenna I11 and the antenna II 21;
the contour calibration module is used for calibrating the cow body shape by changing the swing range of the point cloud camera I13 on the cantilever or the rotation range of the point cloud camera II 23 on the annular track 22 after the group scanning is finished, so as to obtain a precise contour graph;
and the body shape prediction module is used for extracting characteristics of the data of the cattle body shape and bringing the characteristics into a body shape prediction model.
Preferably, the profile calibration module starts the point cloud camera I13 in the daytime, and the flock distribution is relatively concentrated due to the fixed feeding area in the daytime; the point cloud camera I13 is driven by a cantilever with a larger diameter to collect all single cattle body shapes in the outline image, so that the probability of one-time overall calibration of the cattle body shapes is improved;
the profile calibration module starts the point cloud camera II 23 at night, and at night, the flocks are distributed and dispersed due to the large activity area; the point cloud camera II 23 is driven by the annular track 22 with smaller diameter to randomly calibrate individual single cow shapes in the outline image.
Preferably, the point cloud camera I13 is fixed on the outer side of the lower part of the antenna I11 through a cantilever, and the diameter of the cantilever is larger than the diameter of the whole radar I1; the swing range of the point cloud camera I13 along the cantilever is +/-60 degrees; the diameter of the antenna I11 is smaller than the diameter of the whole radar I1.
Preferably, the rotation range of the point cloud camera II 23 along the annular track 22 is +/-60 degrees; the radar guard 15 below is provided with the breach, and when the perpendicular setting down of point cloud camera I13, telescopic shaft 3 shrink, point cloud camera II 23, light filling lamp 24 shrink in the inboard of breach place radar guard 15.
Preferably, the radar calibration driving mechanism further comprises a driving motor I, a driving motor II and a telescopic electric cylinder, wherein the driving motor I is connected with the antenna I11 through a rotating shaft, the driving motor II is connected with the antenna II 21 through a rotating shaft, the cylinder body end of the telescopic electric cylinder is connected to the radar I1, and the piston end of the telescopic electric cylinder is connected to the radar II 2 through a telescopic shaft 3.
Preferably, an angle sensor 12 is disposed on the outer side of the radar i 1, the angle sensor 12 is located on one side of the rotating shaft where the antenna i 11 is located, and the angle sensor 12 is used for detecting the rotation angle of the antenna i 11.
Preferably, a zero-degree scale is arranged on the side part of the rotating shaft where the antenna I11 is positioned, and the zero-degree scale is used for calibrating the resetting of the antenna I11; the end of the antenna I11 is provided with an indicator lamp 14, and the indicator lamp 14 flashes into a white lamp during standby, a green lamp during running and a red lamp during fault.
Example 2
On the basis of the embodiment 1, as shown in fig. 1, the radar detection method for comprehensively calibrating the cattle body shape data comprises the following steps:
s1, controlling transverse coordinate adjustment by a group scanning module through a driving motor I and a driving motor II, controlling longitudinal coordinate adjustment through a rotating shaft, and adjusting relative distance through a telescopic electric cylinder, wherein an antenna I11 and an antenna II 21 are collected once along 120 degrees, 0 degrees and-120 degrees;
s2, after the group scanning is finished, the profile calibration module identifies the cattle group profile patterns detected by the antenna I11 and the antenna II 21, and carries out profile detection again through the point cloud camera I13 or the point cloud camera II 23, so that the single cattle body shape appearing in the profile patterns is acquired successively and accurately; the point cloud camera I13 or the point cloud camera II 23 freely rotates along +/-60 degrees;
s3, after the profile calibration is finished, the profile prediction module performs feature extraction on the data of the cattle profile, and substitutes all feature points into a profile prediction model, the profile prediction model generates a three-dimensional point cloud space of the cattle profile from detection results, and the detection results are automatically matched with the cattle numbers;
s4, after the three-dimensional point cloud space is obtained by the body shape prediction model, resetting the group scanning module and the contour calibration module, and waiting for restarting detection.
Although the present invention has been described in detail by way of preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications and substitutions may be made in the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and it is intended that all such modifications and substitutions be within the scope of the present invention/be within the scope of the present invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a radar detection system of cattle figure data comprehensive calibration which characterized in that, includes radar calibration actuating mechanism, interval adjustment actuating mechanism and point cloud calibration actuating mechanism, wherein:
the radar calibration driving mechanism comprises a radar I (1) and a radar II (2), wherein an antenna I (11) is rotatably arranged on the outer side of the radar I (1), an antenna II (21) is rotatably arranged on the outer side of the radar II (2), and the antenna I (11) and the antenna II (21) are used for remotely detecting the environment of a farm and calibrating the position of a cow body;
the distance adjustment driving mechanism comprises a telescopic shaft (3) arranged between a radar I (1) and a radar II (2), a heat dissipation motor is arranged on the telescopic shaft (3), a radar shield (15) is arranged on the upper half part of the radar I (1), when the heat dissipation motor is contracted in the radar shield (15), air is discharged towards the left side and the right side, and heat emitted by the radar I (1) and the radar II (2) is blocked by the radar shield (15) to be discharged downwards, leftwards and rightwards; the telescopic shaft (3) is used for adjusting the distance between the radar I (1) and the radar II (2);
the point cloud calibration driving mechanism comprises a point cloud camera I (13) arranged on a radar I (1), and a point cloud camera II (23) arranged on a radar II (2); the point cloud camera I (13) is fixedly arranged on the outer side of the antenna I (11) through a cantilever, the point cloud camera II (23) is movably arranged in an annular track (22) at the periphery of the antenna II (21), a plurality of light supplementing lamps (24) are arranged around the point cloud camera II (23), and the rotation radius of the point cloud camera I (13) is larger than that of the point cloud camera II (23);
the radar shield (15) is also built-in with a controller comprising a group scanning module, a contour calibration module and a body shape prediction module, wherein:
the group scanning module is respectively connected with the driving motor I, the driving motor II and the telescopic electric cylinder, and performs group scanning on the farm by changing the angle and the interval between the antenna I (11) and the antenna II (21);
the contour calibration module is used for calibrating the cow body shape by changing the swing range of the point cloud camera I (13) on the cantilever or the rotation range of the point cloud camera II (23) on the annular track (22) after the group scanning is finished, so as to obtain a precise contour graph;
and the body shape prediction module is used for extracting characteristics of the data of the cattle body shape and bringing the characteristics into a body shape prediction model.
2. The radar detection system for comprehensive calibration of bovine body shape data according to claim 1, wherein the profile calibration module activates the point cloud camera i (13) during daytime, and the herd distribution is relatively concentrated due to the fixed feeding area during daytime; the point cloud camera I (13) is driven by a cantilever with a larger diameter to collect all single cattle body shapes in the outline image, so that the probability of one-time overall calibration of the cattle body shapes is improved;
the profile calibration module starts a point cloud camera II (23) at night, and at night, flocks are distributed and dispersed due to a large moving area; the point cloud camera II (23) is driven by the annular track (22) with smaller diameter to randomly calibrate individual single cattle body shapes in the outline image.
3. The radar detection system for comprehensive calibration of cattle body shape data according to claim 2, wherein the point cloud camera i (13) is fixed on the outer side of the lower part of the antenna i (11) through a cantilever, and the diameter of the cantilever is larger than the diameter of the whole radar i (1); the swing range of the point cloud camera I (13) along the cantilever is +/-60 degrees; the diameter of the antenna I (11) is smaller than the diameter of the whole Yu Leida I (1).
4. Radar detection system for integrated calibration of bovine body shape data according to claim 2, characterized in that the rotation range of the point cloud camera ii (23) along the circular orbit (22) is ±60°; the radar guard shield (15) below is provided with the breach, and when point cloud camera I (13) set up perpendicularly downwards, telescopic shaft (3) shrink, point cloud camera II (23), light filling lamp (24) shrink in breach place radar guard shield (15) inboard.
5. The radar detection system for comprehensively calibrating bovine body shape data according to claim 1, wherein the radar calibration driving mechanism further comprises a driving motor I, a driving motor II and a telescopic electric cylinder, wherein the driving motor I is connected with the antenna I (11) through a rotating shaft, the driving motor II is connected with the antenna II (21) through a rotating shaft, the cylinder body end of the telescopic electric cylinder is connected to the radar I (1), and the piston end of the telescopic electric cylinder is connected to the radar II (2) through a telescopic shaft (3).
6. The radar detection system for comprehensively calibrating cattle body shape data according to claim 1, wherein an angle sensor (12) is arranged on the outer side of the radar I (1), the angle sensor (12) is positioned on one side of a rotating shaft where the antenna I (11) is positioned, and the angle sensor (12) is used for detecting the rotating angle of the antenna I (11).
7. The radar detection system for comprehensively calibrating bovine body shape data according to claim 6, wherein the side part of the rotating shaft where the antenna I (11) is positioned is provided with a zero degree scale, and the zero degree scale is used for calibrating the resetting of the antenna I (11); an indicator lamp (14) is arranged at the end part of the antenna I (11), and the indicator lamp (14) flashes into a red lamp when in standby, green and fault.
8. A radar detection method for comprehensively calibrating bovine body shape data, which adopts the radar detection system for comprehensively calibrating bovine body shape data according to any one of claims 1 to 7, and is characterized by comprising the following steps:
s1, controlling transverse coordinate adjustment by a group scanning module through a driving motor I and a driving motor II, controlling longitudinal coordinate adjustment through a rotating shaft, and adjusting relative distance through a telescopic electric cylinder, wherein an antenna I (11) and an antenna II (21) are collected once along 120 DEG, 0 DEG and-120 DEG;
s2, after the group scanning is finished, the profile calibration module identifies the cattle group profile patterns detected by the antenna I (11) and the antenna II (21), and carries out profile detection again through the point cloud camera I (13) or the point cloud camera II (23), so that the single cattle body shape appearing in the profile patterns is acquired successively and accurately; the point cloud camera I (13) or the point cloud camera II (23) freely rotates along +/-60 degrees;
s3, after the profile calibration is finished, the profile prediction module performs feature extraction on the data of the cattle profile, and substitutes all feature points into a profile prediction model, the profile prediction model generates a three-dimensional point cloud space of the cattle profile from detection results, and the detection results are automatically matched with the cattle numbers;
s4, after the three-dimensional point cloud space is obtained by the body shape prediction model, resetting the group scanning module and the contour calibration module, and waiting for restarting detection.
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