WO1999033021A1

WO1999033021A1 - An apparatus for monitoring an animal related area

Info

Publication number: WO1999033021A1
Application number: PCT/SE1998/002388
Authority: WO
Inventors: Robert Christopher Hall; Michael J. Street; Diane S. Spencer; Stephen Robert Lee
Original assignee: Alfa Laval Agri Ab
Priority date: 1997-12-19
Filing date: 1998-12-18
Publication date: 1999-07-01
Also published as: SE9704776D0; AU2081099A

Abstract

An apparatus and a method for monitoring an animal related area (1, 1a, 1b, 1c) comprises an image capturing device (4a, 4b, 4c, 4d) arranged on at least one location of said animal related area, said image capturing device being associated with a control means. According to the invention, said image capturing device is directed towards a surface (3a, 3b, 3c) having an appearance recognisable by said control means, said control means being adapted to identify a characteristic of an object between said image capturing device and said surface.

Description

An apparatus for monitoring an animal related area

TECHNICAL FIELD OF THE INVENTION

The present invention relates to an apparatus and a method for monitoring an animal related area, comprising an image capturing device arranged on at least one location of said animal related area, said image capturing device being associated with a control means.

BACKGROUND OF THE INVENTION

Such an apparatus and such a method are known from WO 97/15901, according to which an injured animal having a bleeding wound is recognised by performing colour analysis, such as Red-Green-Blue (RGB) analysis, of an image captured by a video camera.

It is also known to perform contour analysis of a captured image, see e.g. DE-A-3 742 867.

SUMMARY OF THE INVENTION

Colour analysis or contour analysis of an image is useful in cases where the colours or contrasts are distinct. However, in a dirty and sparsely illuminated environment, colours and contours tend to be less distinct and are accordingly difficult to analyse.

It is therefore an object of the invention to overcome the difficulties of performing analysis of an image captured in an animal related area.

This object has been achieved by an apparatus of the initially defined kind, which is characterised in that said image capturing device is directed towards a surface having an appearance recognisable by said control means, said control means being adapted to identify a characteristic of an object between said image capturing device and said surface.

It has also been achieved by a method of the initially defined kind, which is charac- terised by directing said image capturing device towards a surface having an appearance recognisable by said control means; and identifying, by means of said control means, an object between said image capturing device and said surface.

The objects are outlined against the background. Hereby, a safer and quicker image analysis is achieved.

Suitably, at least one characteristic of said surface is stored in a memory of said control means, said control means being adapted to compare said characteristic to a characteristic of a captured image. Hereby is achieved a possibility of identifying said surface.

Preferably, said characteristic is at least one of a colour, a pattern and a shape. Hereby, different kinds of analyses are possible to be made.

Suitably, at least one characteristic of said object is stored in said memory as reference, said control means being adapted to compare said stored reference characteristic to a characteristic of said object. Hereby, identification of said object is allowed to be performed.

Preferably, at least one standard colour content of said object is stored in said memory. Hereby, a further possibility of identifying said object is provided.

Suitably, possible positions of said object are stored in a memory of the control means, for allowing identification of the real time position thereof- Preferably, said object is a movable stall equipment, such as a gate or a robot arm. Hereby, it is possible to establish a position of said equipment.

Suitably, said object is an animal identifiable in real time by said control means. Hereby, it is possible to establish a position of said animal.

Preferably, a plurality of characteristics of expected objects are stored in said memory. Hereby, the presence and/or identity and/or position of a plurality of different objects are possible to be established.

Suitably, a plurality of characteristics of unexpected objects are stored in said memory. Hereby, it is possible to establish e.g. malfunction of an object, the presence of an animal where it should not be allowed to reside or the presence of a human being.

Preferably, an image captured by said image capturing device, is analysed by contour analysis. In this case, the surface of the background serves as means for creating a better contrast.

Suitably, an image captured by said image capturing device, is analysed by colour (RGB) analysis. In this case, the surface of the background serves as a colour reference-

Preferably, it further comprises an illuminating means associated with said control means. Hereby, image analysis is allowed to be performed more accurately. Alternatively, the illumination means is not associated with the control means, but are manually switched on and off or continuously lit.

Suitably, said image capturing device is provided with said illuminating means, a viewing direction of said image capturing device being substantially the same as the direction of the light from said illuminating means, said image capturing means be- ing movable, said illuminating means being movable together with said image capturing means. Hereby, a directed illumination is achieved.

DRAWING SUMMARY

The invention will now be described in more detail with reference to the accompanying drawings, in which

Figure 1 illustrates a first embodiment of the invention, including a cow and a gate viewed against a defined surface, respectively.

Figure 2 illustrates a second embodiment of the invention, including a cow and a robot arm viewed against a defined surface.

Figure 3 illustrates a human being viewed against a defined surface.

Figures 4a and 4b are examples of backgrounds-

Figure 5 illustrates an animal shed provided with a plurality of defined surfaces.

DETAILED DESCRIPTION OF THE INVENTION

Figure 1 illustrates a cow in. an animal related area 1, in the form of a gateway la, which is provided with a wall 2, having a defined surface 3 a. Other gateway demar- cations have been omitted for clarity reasons.

An image capturing device 4a, such a video camera or a digital camera, is pivotally arranged on a wall, a post or the like and is arranged to be directed towards the surface 3a by means of a motor. Both the image capturing device 4a and the motor are associated with a control means (not shown). Alternatively, one or several image capturing devices 4a are mounted in a fixed position and are provided with a wide angle or a zoom lens.

Analysis of images captured by the image capturing device 4a are performed by the control means in a known manner, e.g. by colour analysis or contour analysis, by means of which it is possible to establish whether a cow is present in front of the surface 3 a.

In front of the cow, there is provided a gate 5 with opening/closing means 5a asso- ciated with said control means. Closing and opening of the gate 5 prevents or allows the cow to proceed further. A further video camera 4b associated with the control means is arranged to view the gate 5 from above. Underneath the area where the gate 5 is expected to be viewed, a part of the floor is provided with a defined surface 3b. The gate 5 is accordingly opened and closed in response to the image cap- turing device 4b.

On top of the image capturing device 4a and 4b, an illuminating means 6, such as a halogen lamp, is provided. Also the illuminating means 6 is associated with the control means. The viewing direction of the cameras 4a and 4b are substantially the same as the direction of the light from the illuminating means 6. Of course, the illuminating means 6 is only needed if the light conditions are bad.

If solely the lamp 6 is used, the surface will partly be in the shadow of the cow. In cases where e.g. a shadow on the wall is not desired or where the cow is unevenly illuminated, it may be desirable to provide further illuminating means 7, such as fluorescent lamps, halogen lamps or traditional light bulbs, above the cow and the gate 5, and if needed associated with the control means. Alternatively, the illuminating means 7 are continuously lit.

In figure 2, the animal related area 1 is shown as an animal stall lb for milking an animal by means of a ntilking robot 8 with a robot arm 9, a gripper 10 for gripping a teat cleaning means, a teatcup or the like, provided for performing teat cleaning, milking etc. The milking robot 8 is also associated with the control means. The stall lb is defined by the wall 2 and further limitations, which have been omitted for clarity reasons.

A pair of image capturing means 4a optionally provided with lamps 6, e.g. of the halogen type are both associated with the control means and are arranged to view the wall 2 from different directions..

A further image capturing device 4c with optional illuminating means 6 is arranged on the robot arm 9 to view the udder against the defined surface 3 a. Alternatively, a surface arranged closer to the udder may be used for achieving a better resolution of the image.

A still further video camera 4d with optional illuminating means 6 and associated with the control means is arranged to view the robot arm 8 from above. Underneath the area where the robot arm 9 is expected to be viewed, a part of the floor constitutes a defined surface 3d.

Accordingly, the milking robot operates in response to the different image capturing devices 4a, 4c, 4d. Also in this case, it may be preferable to arrange illuminating means 7 to as light sources in addition or as an alternative to the illuminating means 6. It should however be noted that neither of them are necessary during normal light conditions, as cameras of today are highly light sensitive. However, when used, it is important to avoid that shadows are cast on the defined surface for enabling a fast image analysis-

It should fiirthermore be noted, that it is not necessary to utilise all of the image capturing devices 4a, 4b, 4d together. As an example, the image capturing device 4a may be utilised together with a teat locating means of another kind than described above, such as a laser sensor or an ultrasonic sensor. In figure 3, the animal related area 1 is a part lc of a cow shed, where the camera 4d is directed towards a wall, which constitutes the defined surface 3d. In front of the surface 3d, a human being passes by. The camera 4d is associated with the control means, which identifies the presence of the human being. It would be possible to generate an alarm signal if the human being is e.g. lying on the floor, in which case an accident may have occurred.

An alarm signal should also be generated if e.g. a cat, a dog, a bicycle or a tool box is viewed by anyone of the image capturing devices 4.

In order to better perform analysis of a captured image, the defined surfaces 3a, 3b, 3c, 3d, 3 e of the described embodiments are substantially flat and have a well definable colour, such as white, yellow, red or any suitable colour that suits the image analysis performed by a not shown control means. -Alternatively, it may have mixed colours forming a pattern, e.g. or different coloured stripes (see figure 4a) or checked black and white (see figure 4b). According to a further alternative, anyone of the surfaces 3 a, 3b, 3 c may comprise a semi-transparent plate, lit from behind. The semi-transparent plate, may be coloured and/or comprise a pattern, as discussed above.

In Figure 5, an animal related area 1 in the form of a part of or a whole cow shed is shown. It comprises two gateways la with and without gates and the animal stall lb shown in figure 2 and the part of the stall lc shown in figure 3. Accordingly, all of the embodiments shown in figures 1, 2 and 3 are utilised in combination or separately. Consequently, in Figure 5 two modified gates 5 are provided to allow an animal to enter or to exit the animal stall lb (cf. Figure lb). Underneath the gates 5, there are provided defined surfaces 3b.

It is consequently possible to monitor parts of or a whole cow shed, by the apparatus and the method according to the invention. It should accordingly be understood that a complete wall or floor of the shed, or any part of a wall or a floor may constitute or be provided with said defined surface 3 a, 3b, 3c. Furthermore, wall and floor partitions having the defined surface are possi- ble to arrange at places where needed, cf. the wall and floor partitions at the animal stall lb and at the gate 5 of the gateway la.

The image capturing devices 4a, 4b, 4c may be arranged at close or remote distances from the surface 3 a, and are provided with a lens of suitable focal length, depending on the distance to the surface, and what object is to be viewed. However, one or several of the image capturing devices 4 may be provided with a motor driven zoom lens, associated with the control means for adjustment of the focal length to the zoom lens.

It should also be understood that the surfaces 3a, 3b, 3c may need cleaning, especially those on the floor. It is therefore suggested that spray nozzles are provided at the surfaces 3a, 3b, 3c, and that they are constituted by a material, which is easily cleaned by rinsing.

As mentioned above, all the cameras 4a, 4b etc. are associated with a control means. It may however be advantageous to provide one control means per camera 4a, 4b. If any or several of the cameras need to co-operate, there may be a common control means for those cameras. Alternatively, the control means of selected cameras may be interconnected.

This also relates to the control means of the gate 5 and the robot 8.

OPERATION

The presence of an animal in the animal space la, lb is established by anyone of the image capturing devices 4a, 4b. In addition to this, the operation and or the position of animal related devices are established; in the gateway la, the operation and/or the position of the gate 5 is established and in the animal stall the operation and/or position of the robot arm 9 is established.

While establishing the presence of an object, such as animal, a human being, an alien item (e.g. a tool box), or the operation and/or the position of an object, such as a gate or a robot arm, the image capturing device 4a, 4b is directed towards the object in front of the defined surface 3. If the light conditions are bad, the illuminating devices 6 are lit and are directed towards the object and the surface. If shadows are to be avoided, the additional lights 7 are lit.

The image capturing device captures an image of the viewed object. The image is analysed by the control means, which generates a signal to e.g. the gate opening/closing means 5a or the robot 8 (including the robot arm 9 and the gripper 10).

If an abnormal situation has occurred, e.g. that the gate is standing in the wrong position, the robot arm is not responding to commands or that a cow has run into a state of panic, a warning signal is generated to a buzzer or a mobile telephone carried e.g. by the farmer. Another abnormal situation is if, at a certain point in time, it is expected that the object is to be viewed, but is not.

It should be understood that anyone of the cameras 4a, 4b may be or not be provided with the illuminating means 6.

It should be understood that the animal related area and the surface may be arranged outdoors, rather than in an animal shed.

The described apparatus and method are applicable to all animal related areas where animals to be milked are to be monitored, such as cows, sheep, goats, buffaloes and horses.

Claims

1. An apparatus for monitoring an animal related area (1, la, lb, lc), comprising an image capturing device (4a, 4b, 4c, 4d) arranged on at least one location of said animal related area, said image capturing device being associated with a control means, characterised in that said image capturing device (4a, 4b, 4c, 4d) is directed towards a surface (3 a, 3b, 3 c) having an appearance recognisable by said control means, said control means being adapted to identify a characteristic of an object between said image capturing device and said surface.

2. An apparatus according to claim 1, wherein at least one characteristic of said surface is stored as reference in a memory of said control means, said control means being adapted to compare said reference characteristic to a characteristic of a cap- tured image.

3. An apparatus according to claim 1 or 2, wherein said characteristic is at least one of a colour, a pattern and a shape.

4. An apparatus according to anyone of the preceding claims, wherein at least one characteristic of said object is stored in said memory as reference, said control means being adapted to compare said stored reference characteristic to a characteristic of said object.

5. An apparatus according to anyone of the preceding claims, wherein at least one standard colour content of said object is stored in said memory.

6. An apparatus according to anyone of the preceding claims, wherein possible positions of said object are stored in a memory of the control means, for allowing identification of the real time position thereof.

7. An apparatus according to anyone of the preceding claims, wherein said object is a movable stall equipment, such as a gate (5) or a robot arm (9).

8. An apparatus according to anyone of the preceding claims, wherein said object is an animal identifiable in real time by said control means.

9. An apparatus according to anyone of the preceding claims, wherein a plurality of characteristics of expected objects are stored in said memory.

10. An apparatus according to anyone of the preceding claims, wherein a plurality of characteristics of unexpected objects are stored in said memory.

11. An apparatus according to anyone of the preceding claims, wherein an image captured by said image capturing device, is analysed by contour analysis

12. An apparatus according to anyone of the preceding claims, wherein an image captured by said image capturing device, is analysed by colour (RGB) analysis.

13. An apparatus according to anyone of the preceding claims, wherein it further comprises an illuminating means (6, 7) associated with said control means.

14. An apparatus according to claim 13, wherein said image capturing device (4) is provided with said illuminating means (6), a viewing direction of said image cap- turing device being substantially the same as the direction of the light from said illuminating means, said image capturing means being movable, said illuminating means being movable together with said image capturing means.

15. A method of monitoring an animal related area (1, la, lb, lc), comprising an image capturing device (4a, 4b, 4c, 4d) arranged on at least one location, said image capturing device being associated with a control means characterised by

- directing said image capturing device (4a, 4b, 4c, 4d ) towards a surface (3a, 3b, 3c, 3d) having an appearance recognisable by said control means; and

- identifying, by means of said control means, an object between said image capturing device and said surface.

16. A method according to claim 15, including storing at least one characteristic of said surface in a memory of said control means.

17. A method according to claim 15 or 16, including storing at least one of a colour, a pattern and a shape as said characteristics.

18. An method according to anyone of claims 15 to 17, including storing a plurality of standard contours of a particular kind of said object in said memory.

19. A method according to anyone of claims 15 to 18, including storing in said memory at least one characteristic of said object-

20. A method according to anyone of claims 15 to 19, including storing in said memory at least one standard colour content of said object.

21. A method according to anyone of claims 15 to 20, including storing in said memory possible positions of said object, for allowing identification of the real time position thereof-

22. A method according to anyone of claims 15 to 21, including identification of said object as a movable stall equipment, such as a gate (5) or a robot arm (9).

23. A method according to anyone of claims 15 to 22, including identification in real time of said object as an animal.

24. A method according to anyone of claims 15 to 23, including storing a plurality of characteristics of expected objects in said memory, and comparing said plurality of characteristics to the characteristics of the object of the captured image.

25. A method according to anyone of claims 15 to 24, including storing a plurality of characteristics of unexpected objects in said memory, and comparing said plurality of the characteristics of the object of the captured image.

26. A method according to anyone of claims 15 to 25, including analysing an image captured by said image capturing device by contour analysis

27. A method according to anyone of claims 15 to 26, including analysing an image captured by said image capturing device by colour (RGB) analysis.

28. A method according to anyone of the preceding claims, including illuminating said object by means of an illuminating means (6, 7) associated with said control means.