CN210641940U - Lame cattle recognition and automatic grouping system - Google Patents
Lame cattle recognition and automatic grouping system Download PDFInfo
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- CN210641940U CN210641940U CN201921444831.2U CN201921444831U CN210641940U CN 210641940 U CN210641940 U CN 210641940U CN 201921444831 U CN201921444831 U CN 201921444831U CN 210641940 U CN210641940 U CN 210641940U
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Abstract
The utility model relates to an automatic breed technical field especially relates to a lame ox discernment and automatic crowd system, include: the system comprises an image acquisition device, an image identification device, a main road channel, a grouping channel and a grouping door, wherein the grouping channel is connected with the main road channel; the group door is arranged at the connection position of the group channel and the main road channel; the image acquisition device is connected with the image recognition device. The utility model discloses gather the ox and walk in-process limb hoof motion image, the detection offset between the hoof foot point that falls with the back hoof that the later moment homonymy according to the fore-foot of a certain moment falls foot point and judges this ox for lame ox or normal ox to the branch crowd door of control branch crowd passageway is opened and close the state, so as to keep apart the branch crowd with lame ox and normal ox, and the animal doctor can in time diagnose the lame ox of isolating, provides convenience for follow-up cow hoof disease diagnosis.
Description
Technical Field
The utility model relates to an automatic breed technical field especially relates to a lame ox discernment and automatic crowd system.
Background
Cattle hoof disease is one of three diseases which endanger the health of cattle, and causes cattle lameness if the cattle is light and cattle paralysis if the cattle is heavy. The hoof diseases are various, including hoof deformity, laminitis, foot rot, digital dermatitis, hoof bottom ulcer and the like. The pain and discomfort associated with hoof disease can lead to lameness in cattle, with more than 90% of lameness resulting from hoof disease in cattle. If the cattle hoof disease is not found timely, tissues and organs on the upper part of the hoof are easily damaged, so that the cattle movement is reduced, the physique is gradually weakened, the disease resistance is reduced, and the cattle is easy to be infected by other diseases. Meanwhile, the feed intake is reduced, the lactation is reduced, the reproductive capacity is influenced, and cattle are eliminated if the reproductive capacity is influenced, so that huge economic losses are brought to the beef cattle and dairy cow breeding industry, and therefore the discovery of the lameness cattle in time is very important. At present, most cattle farms judge lameness cattle in a visual observation mode, and are low in efficiency and inaccurate.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model aims at providing a lame ox discernment and automatic grouping system to solve the judging inefficiency that adopts the mode of visual observation to judge the lame ox and not accurate problem among the prior art.
(II) technical scheme
In order to solve the technical problem, the utility model provides a lame ox discernment and automatic grouping system, include:
the system comprises an image acquisition device, an image identification device, a main road channel, a grouping channel and a grouping door; wherein the content of the first and second substances,
the grouping channel is connected with the main path channel;
the group door is arranged at the connection position of the group channel and the main road channel;
the image acquisition device is connected with the image recognition device and used for acquiring a limb hoof moving image of the cattle in the main path channel in the walking process, the image recognition device is used for acquiring the detection offset between a front hoof foot drop point of the cattle to be distributed at a certain moment and a rear hoof foot drop point on the same side at the later moment according to the limb hoof moving image, judging the current state of the cattle to be distributed, and controlling the opening and closing of the grouping door according to the current state of the cattle to be distributed so as to drive the cattle to be distributed to enter the corresponding grouping channel.
The device comprises a main road channel, a grouping channel and a driving device, wherein the grouping channel comprises a first channel and a second channel, the first channel and the second channel are respectively connected with the main road channel, the grouping door comprises a first door and a second door, the first door is arranged at the connection position of the first channel and the main road channel, the second door is arranged at the connection position of the second channel and the main road channel, and the driving device is respectively in driving connection with the first door and the second door.
The ear tag reader is connected with the image recognition device.
Wherein the image acquisition device is a depth camera.
The road guardrail structure comprises a road guardrail and a main road channel, wherein the road guardrail is arranged in parallel to form the main road channel.
The outer fence is connected to one end of the main road guardrail, and the inner fence and the outer fence are arranged in parallel to form the grouping channel.
The image acquisition device and the image recognition device are respectively fixed on the main road guardrail.
The image recognition device is connected with the grouping doors through the driving device.
(III) advantageous effects
The utility model provides a pair of lame ox discernment and automatic grouping system gathers the ox at walking in-process limb hoof motion image, the detection offset between the hoof foot point that falls of fore-hoof and the back hoof that the moment of back homonymy was followed according to a certain moment judges this ox be lame ox or normal ox to the control divides the crowd door of crowd passageway to open and close the state, so as to keep apart the subgroup with lame ox and normal ox, the animal doctor can in time diagnose the lame ox of isolating, it facilitates to diagnose for follow-up cow hoof disease.
Drawings
Fig. 1 is a schematic structural diagram of a lame cattle identification and automatic grouping system of the present invention;
fig. 2 is a top view of a lame cow identification and automatic grouping system of the present invention;
fig. 3 is a block diagram of a lame cow identification and automatic grouping system according to the present invention;
fig. 4 is a block diagram of the edge computer of the present invention.
In the figure, 1, edge computer; 2. an ear tag reader; 3. a depth camera; 202. a first door; 203. a second door; 204. a drive device; 205. a main road channel; 206. a first channel; 207. a second channel; 208. a main road guardrail; 209. an outer fence; 210. and (4) an inner fence.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the utility model discloses lame ox discernment and automatic method of dividing into groups, include:
s1, collecting the limb hoof moving images of the cattle in the main road channel in the walking process;
s2, acquiring the detection offset between a front hoof foot drop point of the cow to be distributed at a certain moment and a rear hoof foot drop point on the same side at the later moment according to the limb hoof moving image;
s3, judging the current state of the cattle to be distributed according to the detection offset;
and S4, controlling the opening and closing of the grouping door according to the current state of the cattle to be distributed so as to drive the cattle to be distributed to enter the corresponding grouping channel.
Specifically, during walking through the main road channel 205, the four hooves of the cow are detected and tracked by the depth camera 3, and the motion images of the four hooves, that is, the limb hoof motion images of the cow, are respectively collected.
The utility model discloses in can utilize marginal computer 1 to handle the limb hoof motion image. As shown in fig. 4, the edge computer 1 includes a data processing module, a data transmission module, a control module, a power supply module and a storage module, wherein the data processing module is configured to perform frame-by-frame processing on a limb-hoof moving image, acquire, according to the limb-hoof moving image, a detection offset between a front hoof landing point of a cow to be distributed at a certain time and a rear hoof landing point on the same side at a later time, and determine a current state of the cow to be distributed according to the detection offset, and may employ an artificial intelligence supercomputer; the data transmission module is used for transmitting the detection offset data and transmitting the data to a display device (a display screen or a mobile phone terminal and the like) through the data transmission module for monitoring by a breeder or a veterinarian; the control module is used for controlling the opening and closing of the grouping doors by controlling the driving device 204, and controlling the opening and closing of the grouping doors according to the current state of the cattle to be distributed so as to drive the cattle to be distributed to enter the corresponding grouping channel; the power supply module is used for supplying power to the computer; the storage module is used for storing data information such as the detection offset of the front hoof and the back hoof of the cattle, the ear tag information of the cattle and the like.
At a certain time, the position of the front hoof foot-landing point is obtained, and at a later time, the position of the rear hoof foot-landing point is obtained. If the cow is a normal cow (i.e., a non-lame cow), the positions of the toe-off point of the forehoof and the toe-off point of the hindhoof should be approximately the same. Therefore, if the offset between the obtained front hoof foot-falling point position and the obtained rear hoof foot-falling point position is too large, the cow is judged to be a lame cow, and otherwise, the cow is judged to be a normal cow. According to the position rule of the front hoof and the rear hoof in the walking process of the cattle, the offset threshold value between the position of the foot falling point of the front hoof and the position of the foot falling point of the rear hoof is set to be 20 cm, if the detected offset is higher than the value, the cattle is judged to be lameness cattle, and if the detected offset is lower than the value, the cattle is judged to be normal cattle. Preferably, the offset amount is measured a plurality of times, and an average value of the offset amounts is obtained and used as a final offset amount to reduce a measurement error.
And grouping according to the judgment result of the cattle. Through the switching of control grouping door for lame ox and normal ox walk different grouping passageways, divide into one group with lame ox, divide into another group with normal ox. The veterinarian can diagnose hoof disease of the isolated lame cattle in time, diagnosis efficiency is improved, and cattle welfare is improved.
The utility model provides a pair of lame ox discernment and automatic grouping system gathers the ox at walking in-process limb hoof motion image, the offset between the forehoof foot point and the back hoof foot point of moment homonymy in the back according to a certain moment judges this ox be lame ox or normal ox to the control divides the group door of crowd passageway to open and close the state, so as to keep apart the lame ox and normal ox and divide the crowd, the animal doctor can in time diagnose the lame ox of isolating, it facilitates to diagnose for follow-up cow hoof disease.
Wherein S3 includes:
s31, presetting a cow hoof offset threshold;
s32, if the detected offset between a rear hoof foot-falling point and a front hoof foot-falling point of at least one side of the cow to be distributed is larger than the preset cow hoof offset threshold, judging that the current state of the cow to be distributed is a lame cow; otherwise, the cattle are normal cattle.
In the embodiment, a threshold value of the cow hoof offset is set, and if the detected offset between the positions of the foot falling points of the front hoof and the rear hoof is larger than the threshold value, the cow hoof is judged to be lameness; and if the detected offset between the positions of the foot falling points of the front hoof and the rear hoof is less than or equal to the threshold value, judging the cattle to be normal. It is worth noting that: if the deviation value between the foot landing positions of the front hoof and the rear hoof on one side of the cow is larger than the threshold value, the cow is judged to be lame; and only when the deviation values between the positions of the foot falling points of the front hoof and the rear hoof on the two sides of the cow are not more than the threshold value, the cow is judged to be a normal cow. Preferably, the preset cow hoof offset threshold value in S31 is 15-25 cm. Specifically, the threshold value may be appropriately adjusted according to the size of the individual head of the cow, and may be set to a cow hoof offset of 15 cm if the individual head is small, 25 cm if the individual head is large, and may also be determined according to the age of the cow, and may be appropriately reduced if the age is small, and expanded if the age is large.
Wherein the group passage includes a first passage 206 and a second passage 207, the group door includes a first door 202 and a second door 203, the first door 202 and the second door 203 are respectively connected to the first passage 206 and the second passage 207, and the S4 includes:
s23, if the cattle to be distributed are determined to be lame cattle, controlling to open the first door 202 and close the second door 203 so as to drive the lame cattle to pass through the first channel 206;
if the cattle to be distributed are judged to be normal cattle, the second door 203 is controlled to be opened, the first door 202 is controlled to be closed, and the normal cattle are driven to pass through the second channel 207.
The branch passage in the embodiment comprises a first passage 206 and a second passage 207 which are respectively used for housing lame cattle and normal cattle, a first door 202 is arranged at the connection position of the first passage 206 and the main passage 205 and used for controlling the connection and disconnection between the first passage 206 and the main passage 207, and a second door 203 is arranged at the connection position of the second passage 207 and the main passage 205 and used for controlling the connection and disconnection between the second passage 207 and the main passage 205. When the door is opened in the control mode, the cattle in the main path channel 205 need to be ensured to pass through only one, a separation plate can be arranged in the main path channel 205 to separate adjacent cattle, the situation that the cattle pass through only one group in the group channel is ensured, and the group fault is avoided.
Wherein, the detected offset between the front hoof foot-drop point at a certain moment and the rear hoof foot-drop point on the same side at a later moment in S2 includes a lateral offset and a longitudinal offset, and the relationship among the offset, the lateral offset and the longitudinal offset is calculated by the following formula:
in the formula: z represents the detection offset between a toe-in point of a front hoof at a certain moment and a toe-in point of a rear hoof at the same side at the later moment;
x represents a lateral offset;
y represents the longitudinal offset.
In this example, the lateral positions (x) of the toe-in points of the hoofs are respectively collected1) And longitudinal position (y)1) Transverse position of hoof foot-landing point (x)2) And longitudinal position (y)2) The calculated lateral offset is x2-x1The longitudinal offset is y2-y1I.e. x ═ x2-x1，y＝y2-y1. Thus, after deployment:
in the formula: z represents the detection offset between a toe-in point of a front hoof at a certain moment and a toe-in point of a rear hoof at the same side at the later moment;
x2represents the lateral position of the hoof landing point;
y2represents the longitudinal position of the hoof landing point;
x1represents the lateral position of the toe-off point of the forehoof;
y1representing the longitudinal position of the toe point of the forehoof.
Wherein the S1 includes:
the method comprises the steps of collecting ear tag information of a cow in a main road channel, and enabling the ear tag information of the cow to correspond to collected limb and hoof moving images. The ear tag information includes the growth information of the cattle, specifically including age, type, place of birth and the like, and can be transmitted to a display device (a display screen or a mobile phone terminal and the like) through a data transmission module of the edge computer 1 for monitoring by a breeder or a veterinarian. The data processing module of the edge computer 1 matches and corresponds the ear tag information with the collected moving images of the cow hoof, and stores the ear tag information in the storage module of the edge computer 1, and the threshold value of the cow hoof offset can be increased or decreased appropriately according to the age information in the ear tag information.
As shown in fig. 1-3, the embodiment of the present invention further discloses a system for lame cattle identification and automatic grouping method, comprising:
the system comprises an image acquisition device, an image identification device, a main road channel 205, a grouping channel and a grouping door; wherein the content of the first and second substances,
the grouping channel is connected with the main path channel 205;
the group gate is arranged at the connection position of the group channel and the main path channel 205;
the image acquisition device is connected with the image recognition device, the image acquisition device is used for acquiring a limb hoof moving image of the cattle in the main path channel 205 in the walking process, the image recognition device is used for acquiring the detection offset between a front hoof foot drop point of the cattle to be distributed at a certain moment and a rear hoof foot drop point on the same side at the later moment according to the limb hoof moving image, judging the current state of the cattle to be distributed, and controlling the opening and closing of the group door according to the current state of the cattle to be distributed so as to drive the cattle to be distributed to enter the corresponding group channel.
The road guardrail device further comprises a main road guardrail 208, and the main road guardrails 208 are arranged in parallel to form a main road channel 205. The outer fence 209 is connected to one end of the main road guardrail 208, and the inner fence 210 is arranged in parallel with the outer fence 209 to form the grouping channel. The image acquisition device and the image recognition device are respectively fixed on the main road guardrail 208. The device further comprises a driving device 204, wherein the driving device 204 is fixed at the end part of the inner fence 210, and the image recognition device is connected with the grouping door through the driving device. Specifically, outer rails 209 are connected to the ends of the two main road barriers 208, the two outer rails 209 are inclined outward, inner rails 210 parallel to the outer rails 209 are provided, and the parallel outer rails 209 and the parallel inner rails 210 form a grouping channel. One end of the grouping door is connected to the joint of the outer fence 209 and the main road guardrail 208, the other end of the grouping door is connected to the end of the inner fence 210 to separate the grouping channel from the main road channel 205, the driving device 204 is installed on the fixed door shaft of the first door 202/the second door 203, the opening and closing of the first door 202/the second door 203 are controlled through the coupler, and then the lame cattle are automatically grouped and separated.
The utility model provides an image acquisition device is degree Of depth camera 3, and degree Of depth camera 3 can adopt RGBD camera, TOF (time Of flight) camera or two mesh cameras (adopt two mesh vision degree Of depth measurement technique). The target detection method based on deep learning identifies the position of a cow hoof, collects the limb hoof moving images, specifically collects the foot falling points of a front hoof and a back hoof within a period of time, and transmits the collected limb hoof moving images to the edge computer 1. The RGBD camera can adopt a Kinect-v2 ToF sensor and is connected with the input end of the edge computer 1 through a data line. The data processing module in the edge computer 1 may be an Nvidia Jetson TX2 artificial intelligence super computing module. The data transmission module may be a DTU data transmission module (e.g., USR-GM 1). After the information is analyzed and processed, the output end of the control module is connected with the driving device 204, the driving device 204 is installed on a fixed door shaft of the first door 202/the second door 203, the opening and closing of the first door 202/the second door 203 are controlled through a coupler, and therefore the lame cattle are automatically grouped and isolated.
The image recognition apparatus may extract distance information, specifically, a position of a toe-in point of a front hoof at a certain time and a position of a toe-out point of a rear hoof at a later time, using the edge computer 1.
The edge computer 1 and the depth camera 3 are both provided on the main road guard rail 208.
Wherein the group channel comprises a first channel 206 and a second channel 207, the first channel 206 and the second channel 207 are respectively connected with the main channel 205, the group gate comprises a first gate 202 and a second gate 203, the first gate 202 is arranged at the connection position of the first channel 206 and the main channel 205, and the second gate 203 is arranged at the connection position of the second channel 207 and the main channel 205.
In practical applications, the dairy herds enter along the main aisle 205. the main aisle 205 must be kept clean and flat, and the ground is a flat, hard, and frictional ground. The flocks of cattle are scanned by the depth camera 3 and recognized, analyzed and processed by the edge computer 1, and signals are transmitted to the driving device 204, and the driving device 204 is used for controlling the opening and closing of the first door 202 and the second door 203. When the lame passes, the drive 204 controls the first door 202 to open, the second door 203 to close, and the lame goes out along the first pathway 206. When the normal cattle passes by, the driving device 204 controls the second door 203 to open, the first door 202 to close, and the normal cattle goes out along the second channel 207.
The ear identification reader 2 is further included, and the ear identification reader 2 is connected with the image recognition device. The ear tag reader 2 of the present embodiment is an RFID ear tag reader, and the ear tag reader 2 is also fixed to the main road guardrail 208 together with the edge computer 1 and the depth camera 3, and is used for collecting the serial number information of the cow. The RFID ear tag reader in this embodiment may be a low frequency reader connected to the edge computer via an RS232 bus. According to the embodiment, the RGBD camera and the RFID ear tag reader are used for collecting the limb and hoof movement information and the ear tag information in the walking process, the information is transmitted to the edge computer 1 in real time, the information is transmitted to the matched terminal (a mobile phone or a display and the like) after being processed, and the lameness cattle is separated by controlling the group dividing door. Therefore, on one hand, the information of the cow hooves of the cows can be remotely known, and the lameness cows can be separated, so that the lameness cows can be further diagnosed and treated.
The image acquisition device is a depth camera 3, the image recognition device is an edge computer 1, the edge computer 1 comprises a data processing module, a data transmission module, a power supply module, a control module and a storage module, the data processing module is used for processing a limb hoof moving image frame by frame, according to the limb hoof moving image, a detection offset between a front hoof foot point of a cow to be distributed at a certain moment and a rear hoof foot point on the same side at the later moment is obtained, the current state of the cow to be distributed is judged according to the detection offset, the data transmission module is used for transmitting the detection offset data, the power supply module is used for supplying power to the data processing module, the data transmission module, the control module and the storage module, and the control module is used for controlling the opening and closing of a grouping gate according to the current state of the cow to be distributed, to drive the cattle to be distributed to enter the corresponding grouping channel, and the storage module is used for storing the detection offset data
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A lame cow identification and automatic herding system, comprising:
the system comprises an image acquisition device, an image identification device, a main road channel, a grouping channel and a grouping door; wherein the content of the first and second substances,
the grouping channel is connected with the main path channel;
the group door is arranged at the connection position of the group channel and the main road channel;
the image acquisition device is connected with the image recognition device and used for acquiring a limb hoof moving image of the cattle in the main path channel in the walking process, the image recognition device is used for acquiring the detection offset between a front hoof foot drop point of the cattle to be distributed at a certain moment and a rear hoof foot drop point on the same side at the later moment according to the limb hoof moving image, judging the current state of the cattle to be distributed, and controlling the opening and closing of the grouping door according to the current state of the cattle to be distributed so as to drive the cattle to be distributed to enter the corresponding grouping channel.
2. The lame cattle identification and automatic clustering system of claim 1, further comprising a driving device, wherein the clustering channel comprises a first channel and a second channel, and the first channel and the second channel are respectively connected with the main channel, the clustering gate comprises a first gate and a second gate, the first gate is disposed at a connection of the first channel and the main channel, the second gate is disposed at a connection of the second channel and the main channel, and the driving device is respectively in driving connection with the first gate and the second gate.
3. The lameness cattle recognition and automatic herding system of claim 1, further comprising an ear tag reader connected to the image recognition device.
4. The lame cattle identification and automatic herding system of claim 1, wherein the image capture device is a depth camera.
5. The lame cattle identification and automatic clustering system of claim 1, further comprising main lane fences, the main lane fences being arranged in parallel, constituting the main lane passage.
6. The lameness cattle identification and automatic grouping system of claim 5, further comprising an outer fence connected to one end of the main roadway barrier and an inner fence arranged in parallel with the outer fence to form the grouping passage.
7. The lame cattle recognition and automatic clustering system of claim 5, wherein the image capturing device and the image recognition device are each fixed to the roadway barrier.
8. The lameness cattle recognition and automatic herding system of claim 6, further comprising a drive device fixed to an end of the inner fence, the image recognition device being connected to the herding door through the drive device.
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| CN201921444831.2U CN210641940U (en) | 2019-09-02 | 2019-09-02 | Lame cattle recognition and automatic grouping system |
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| CN201921444831.2U CN210641940U (en) | 2019-09-02 | 2019-09-02 | Lame cattle recognition and automatic grouping system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110447562A (en) * | 2019-09-02 | 2019-11-15 | 中国农业科学院农业信息研究所 | Lame ox identification and automatic grouping method and its system |
| CN112293295A (en) * | 2020-10-28 | 2021-02-02 | 内蒙古农业大学 | Milk cow early lameness recognition method and device |
-
2019
- 2019-09-02 CN CN201921444831.2U patent/CN210641940U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110447562A (en) * | 2019-09-02 | 2019-11-15 | 中国农业科学院农业信息研究所 | Lame ox identification and automatic grouping method and its system |
| CN110447562B (en) * | 2019-09-02 | 2024-04-19 | 中国农业科学院农业信息研究所 | Lameness cow identification and automatic grouping method and system thereof |
| CN112293295A (en) * | 2020-10-28 | 2021-02-02 | 内蒙古农业大学 | Milk cow early lameness recognition method and device |
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