WO2011039112A2 - Surveillance d'animaux - Google Patents

Surveillance d'animaux Download PDF

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Publication number
WO2011039112A2
WO2011039112A2 PCT/EP2010/064135 EP2010064135W WO2011039112A2 WO 2011039112 A2 WO2011039112 A2 WO 2011039112A2 EP 2010064135 W EP2010064135 W EP 2010064135W WO 2011039112 A2 WO2011039112 A2 WO 2011039112A2
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WO
WIPO (PCT)
Prior art keywords
animal
identification
image data
station
animals
Prior art date
Application number
PCT/EP2010/064135
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English (en)
Other versions
WO2011039112A3 (fr
Inventor
Bohao Liao
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of WO2011039112A2 publication Critical patent/WO2011039112A2/fr
Publication of WO2011039112A3 publication Critical patent/WO2011039112A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating

Definitions

  • the present invention relates generally to monitoring and analysis of animal activity. More particularly the invention relates to an arrangement according to the preamble of claim 1 and a method according to the preamble of claim 1 1. The invention also concerns a computer program according to claim 21 and a computer readable medium according to claim 22.
  • herd management In modern herd management it is important to keep track of the movements and behavior of a given group of livestock animals. For instance, based on parameters like walking time, lying down time, drinking time and eating time it is possible to draw conclusions regarding the animals' health status, their oestrus phases etc.
  • an automatic monitoring/tracking system for herd management.
  • solutions are known, which are primarily intended for tracking and analyzing the behavior of smaller animals in a laboratory environment.
  • JP 1994-0189766 describes a setup for anafyzing the behavior of experimental animals, whereby the animals are provided with respective color marks. The animals are photographed by a color video camera. A color tracker samples a predefined color part of the video signal and calculates a centroid position for each animal at every 0, 1 seconds. Corresponding coordinates are sent to a computer for analysis.
  • US 2008/0152192 discloses a system for 3D monitoring and analysis of motion-related behavior of test subjects.
  • a cata- dioptric stereo computer vision system registers video data. Based on this data targets are identified and tracked.
  • sophisticated tracking software were used it would be comp!icated to maintain an accurate tracking of all the animals in a herd of livestock animals in their typical environment. For example, varying light conditions and the fact that other subjects and objects occasionally obstruct the cameras' view of a given subject, the system may loose track of one or more subjects. Automatic re-identification of the subject is then complex to accomplish, if at all possible.
  • the present invention aims at alleviating the above problems, and thus offer an efficient and robust solution for automatic monitoring of the behavior of livestock animais.
  • this object is achieved by the initially described arrangement, wherein the arrangement includes at least one identification station that is distinct from the at least one image registering means.
  • the at least one identification station is configured to register an animal identity in response to the passing of one of said identification means within an operating zone of the identification station.
  • the movement pattern includes a series of data entries and the processing means is configured to trace the animals within the predefined area based on the series of data entries, where each entry comprises a coordinate reflecting an animal position within the predefined area, and a time stamp indicating a point in time when the image data was recorded based on which image data the coordinate was derived.
  • a trace for a given animal starts at one of the at least one identification sta- tion and extends to an animal position given by a coordinate of a latest data entry for the animal.
  • the position for each animal is known at all times.
  • the arrangement includes at least two image registering means. At least one first image registering means of said at least two image registering means is configured to record image data representing a first sub-area of the predefined area. At least one second image registering means of said at least two image registering means is likewise configured to record image data representing the first sub-area. Moreover, the data processing means is configured to use the image data recorded by the at least one second image registering means as a complement to the image data recorded by the at least one first image regis- tering means for tracing said animals within the first sub-area.
  • the responsibility for providing image data in respect of one or more animals can conveniently be handed over from a first to a second image registering means.
  • a second image registering means may function as a backup.
  • the processing means is configured to update a trace for a given animal upon reentry of the animal's identification means within the operating zone of an identification station. Thereby, the tracking of that animal is refreshed, and it is guaranteed that the data is accurate.
  • at least one identification station is arranged at an entry to the predefined area. Namely, it is desirable to identify each animal as early as possible, i.e. in connection with entering the area to be monitored.
  • the processing means is configured to resolve an ambiguity between the traces of a first and a second animal as follows.
  • the processing means is configured to trace back the first animal to an ambiguity zone in which the recorded image data has proven to provide insufficient accuracy to distinguish the first animal from the second animal. Hence, even if one or more animal traces are temporarily lost, this uncertainty may be removed in a straightforward manner.
  • the identification means includes a transponder, an RFID tag, a bar code tag, a color area and/or a given physical characteristics of the animal body is used for identifying each animal. Consequently, reliable animal identification is rendered possible.
  • the operating zone of each identification station has an extension in space relative to a typical size of each of said animals and a typical location for the identification means on the animal, such that it can be expected that only one identification means at the time may be located within the operating zone.
  • the risk becomes very small that an animal trace is associated with an erroneous identity.
  • At least one of image registering means includes a camera configured to register three-dimensional (3D) image da- ta in real time.
  • the data processing means is configured to derive the movement pattern based on the 3D image data, and each entry in the movement pattern further comprises height data reflecting an animal elevation above a ground surfa- ce of the predefined area.
  • the movement pattern for each animal includes a current location, a distance covered during a given interval, a total lying down time during a given interval, a total number of climbing events during a given interval, a total time spent at a feeding station, a number of visits to a feeding station, a total time spent at a drinking station, and/or a number of visits to a drinking station.
  • the arrangement produces highly valuable herd management data.
  • the object is achieved by the initially described method, wherein an animal identity is registered in response to the passing of one of said identification means within an operating zone of an identification station, which is distinct from the at least one image registering means.
  • the object is achieved by a computer program, which is loadable into the internal memory of a computer, and includes software for controlling the above proposed method when the program is run on a computer.
  • the object is achieved by a computer readable medium, having a program recorded thereon, where the program is to control a computer to perform the above-proposed method.
  • Figure 1 schematically shows a monitoring arrangement according to one embodiment of the invention
  • Figure 2 illustrates, by means of a flow diagram, the general method according to the invention.
  • FIG. 1 schematically shows one embodiment of a proposed arrangement for monitoring the behavior of livestock animals, here represented by individual subjects A1 , A2, A3 and A4.
  • Each animal A1 , A2, A3 and A4 has an identification means T1 , T2, T3 and T4 respectively, which uniquely identifies the animal in question.
  • the arrangement includes at least one image registering means, here exemplified by C1 , C2, C3 and C4, a data processing means 120 and at least one identification station 1 10 and 1 1 1.
  • Each image registering means C1 , C2, C3 and C4 is configured to repeatedly record image data d1 , d2, d3 and d4 respectively representing the animals A1 , A2, A3 and A4 when located within a predefined area 100.
  • the area 100 is a part of, or an entire cowshed, barn, pasture or field.
  • the area 100 may thus include at least one feeding station 130 and at least one drinking station 140.
  • the data processing means 120 is configured to receive the image data d1 , d2, d3 and d4 from the image registering means C1 , C2, C3 and C4, which in turn may include a respective con- ventional type of video camera, or a video camera for registering real time 3D image data.
  • the latter may be represented by a so- called time-of-flight (TOF) camera.
  • TOF camera include- des a light projection source and a two dimensional array of pixels, where each pixel is capable of returning time of flight information regarding the light from the light projection source as well as light intensity information.
  • the data processing means 120 is configured to derive a movement pattern MP for each of the animals A1 , A2, A3 and A4.
  • the identification stations 1 10 and 1 1 1 are distinct from the image registering means C1 , C2, C3 and C4. I.e. none of the identification stations 1 10 and 1 1 1 produces image data that is used by the processing means 120 as a basis for deriving the movement patterns MP. However, one or more of the identification stations 1 10 and 1 1 1 may indeed include image registering means configured to capture image data based upon which animals can be identified. Namely, each identification sta- tion 1 10 and 1 1 1 is configured to register an animal identity, say ID1 , in response to the passing an identification means, say T1 , within an operating zone of the station, say 10.
  • At least one identification station 1 10 is arranged at an entry to the pre- defined area 100, so that the animals A1 , A2, A3 and A4 can be identified in connection with entering the area 100 to be monitored.
  • identification stations it is also advantageous to arrange identification stations at the exit(s) from the area 100 (if different from the entry), at the feeding station 130 and/or at the drinking station 140.
  • the identification means T1 , T2, T3 and T4 includes a transponder, an RFID tag, a bar code tag and/or a color area.
  • the identification means T1 , T2, T3 and T4 may be represented by a given physical characteristics of the animal body, such as the head shape, various body measures or coat markings/lines.
  • the capabilities of the identification station 1 10 and 1 1 are selected depending on the identification means used.
  • the identification stations 1 1 0 and 1 1 1 1 may include radio transceivers, magnetic field sensors and/or bar code readers.
  • the movement pattern MP includes a series of data entries (e.g. updated 10 times per second), where each entry contains a coordinate reflecting an animal position within the predefined area 100, and a time stamp indicating a point in time when the image data was recorded based on which image data the coordinate was derived.
  • the movement pattern MP may include x-y pairs and a respective time stamp associated with each x-y pair, where each x-y pair designates a point in a Cartesian plane.
  • the processing means 120 is preferably configured to trace the animals A1 , A2, A3 and A4 within the predefined area 100 based on the series of data entries.
  • each trace produced by the processing means 120 represents a given animal A1 , A2, A3 or A4, and the traces always start at one of the identification stations 1 10 and 1 1 1 .
  • a trace then extends to a position given by the coordinate of a latest data entry for the animal in question, i.e. A1 , A2, A3 or A4.
  • the data processing means 120 is preferably configured to derive the movement pattern MP based on such 3D image data.
  • the entries in the movement pattern MP will further include height data reflecting an animal elevation above a ground surface of the predefined area 100. Consequently, the movement pattern MP may include x-y-z triplets and a respective time stamp associated with each x-y-z triplet, where each x-y-z triplet designates a point in a Cartesian space.
  • the arrangement includes at least two image registering means C 1 , C2 , C3 and C4. At least one first image registering means C 1 of these i mage registering means is configured to record image data d 1 representing a first sub-area of the predefined area 1 00.
  • At least one second image registering means C2 is config ured to record image data 62 representi ng the first sub-area .
  • the first sub-area may be given by the intersection of a first region R1 covered by the first image registering means C 1 and a second region R2 covered by the second image reg istering means C2.
  • the data processi ng means 120 is configured to use the image data d2 recorded by the second image registering means C2 as a complement to the image data d 1 recorded by the first image registeri ng means C 1 for tracing said animals A1 , A2, A3 and A4 within the fi rst sub-area.
  • the responsibi lity for providing image data i n respect of one or more animals A1 , A2, A3 and/or A4 from the first to the second image registering means C 1 and C2 respectively.
  • the first and second image Regis- tering means C 1 and C2 may also function as a backup for one another i n case of temporary obstruction and/or deterioration of the image data d 1 or d2 due to poor lighti ng.
  • different regions R1 , R2 , R3 and R4 covered by different image reg istering means C 1 t C2, C3 and C4 respectively may overlap.
  • one or more identification stations 1 1 0 and 1 1 1 may function as bridges between said regions R 1 , R2, R3 and R4. Thereby, the identification station may refresh any animal traces becoming temporarily lost when handing over the responsibility for providing image data from one the image registering means to another.
  • the processing means 120 is configured to produce the movement pattern MP for an animal A1 , A2, A3 or A4, such that in addition to a current location one or more of the following pieces of data is included: a distance covered by the animal during a given interval, a total lying down time for the animal during a given interval, a total number of climbing events for the animal during a given in- terval, a total time that the animal has spent at a feeding station, e.g. 130, a number of visits that the animal has made to a feeding station, e.g. 130, a total time that the animal has spent at a drinking station, e.g.
  • the processing means 120 is configured to update a trace for a given animal upon reentry of the animal's identification means within the operating zone of an identification station. This means that if for example the animal A1 approaches the identification station 1 10 in such a manner that its identification means T1 becomes located within the operating zone of the identification station 1 10, the processing means 120 will update the trace in respect of the animal A1 , and thus confirm this animal's identity ID1 to be located at the iden- tification station 1 10 at a particular point in time.
  • the respective operating zone of the identification stations 1 10 and 1 1 1 has an extension in space relative to a typical size of each of the animals A1 , A2, A3 and A4, and a typical location for the identification means T1 , T2, T3 and T4 on the animal, such that it can be expected that only one identification means at the time may be located within the operating zone. Namely, thereby the risk that the animal identities are confused with one another can be held comparatively low.
  • the processing means 120 is configured to resolve an ambiguity between the traces of two animals, say A3 and A4, whose traces have been mixed up. Let us assume that this mix-up occurred in an ambiguity zone AZ.
  • the ambiguity zone AZ is a place where the recorded image da- ta has proven to provide insufficient accuracy to distinguish a first animal A3 from a second animal A4.
  • the processing means 120 is configured to resolve the ambiguity as follows. In response to a reentry of the first A3 animal's transponder means T3 wi- thin the operating zone of an identification station 1 10, the processing means 120 traces back the first animal A3 to the ambiguity zone AZ.
  • the other trace ending in the ambiguity zone AZ must belong to the second animal A4, and consequently also this animal's trace can be confirmed by the processing means 120.
  • This approach is desirable because it enhances the robustness of the monitoring substantially. It is worth mentioning that it is irrelevant which of the animals A3 and A4 that first reaches an identification zone 1 10 or 1 1 1 . It is also immaterial which identification station that is reached. How- ever, of course, in order to resolve the ambiguity between two animal traces at least one of the animals must be identified at an identification zone.
  • the identification means T1 , T2, T3 and T4 may include a transponder, an RFID tag, a bar code tag and/or a color area.
  • such an identification means can also be combined with identification via physical characteristics of the animal body, such as the head shape, various body measures or coat markings/lines. This is especially advantageous in connection with ambiguity resolution as described above, since thereby further robustness is attained.
  • the data processing means 120 includes, or is associated with, a computer readable medium M, e.g. in the form of a memory module, such that the data processing means 120 has access to the contents of this medium M.
  • a pro- gram is recorded in the computer readable medium M, and the program is adapted to make a data processor in the data processing means 120 control the process described above when the program is run on the processor.
  • a first step 210 checks whether an animal identity has been registered at an identification station, and if not the procedure loops back and stays in step 210. If, however, at least one animal identity is registered in step 210, a step 220 follows and image data is recorded. As mentioned above, this data represents the predefined area. Based on the image data, a step 230 derives a movement pattern for each animal located in said area.
  • a step 240 checks whether an animal identity has again been registered at an identification station, and if not, the procedure loops back to step 220 for continued recording of image data, and in step 230, updating of the movement patterns. If in step 240 it is found that an animal identity is registered, a subsequent step 250 investigates whether this identity has already been registered within the predefined area. If so, a step 260 follows, and otherwise the procedure continues to a step 270. Step 270 starts a new animal trace. I.e. this represents the case when an animal enters fresh the area to be monitored. Thereafter, the procedure loops back to step 220. Step 260 updates an existing animal trace based on the renewed identity registration in step 250, As mentioned above, this may involve resolving an ambiguity between different animal traces. Thereafter, the procedure loops back to step 220.
  • All of the process steps, as well as any sub-sequence of steps, described with reference to Figure 2 above may be controlled by means of a programmed computer apparatus.
  • the embodiments of the invention described above with reference to the drawings comprise computer apparatus and processes performed in computer apparatus, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice.
  • the program may be in the form of source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention.
  • the program may either be a part of an operating system, or be a separate application.
  • the carrier may be any entity or device capable of carrying the program.
  • the carrier may comprise a storage medium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video/Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EP- ROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc.
  • the carrier may be a transmissible carrier such as an electrical or optical signal which may be conveyed via electrical or optical cable or by radio or by other means.
  • the carrier may be consti- tuted by such cable or device or means, Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant processes.
  • the invention is advantageous in connection with cow milking, the invention is equally well adapted for implementation in milking machines for any other kind of mammals, such as goats, sheep or buffaloes.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Biophysics (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Alarm Systems (AREA)
  • Image Analysis (AREA)

Abstract

L'invention a pour objet de surveiller le comportement d'animaux (A1, A2, A3, A4) d'élevage situés à l'intérieur d'une zone prédéfinie (100). À cet effet, chaque animal (A1, A2, A3, A4) est doté d'un moyen (T1, T2, T3, T4) d'identification respectif identifiant de manière unique l'animal. Des moyens (C1, C2, C3, C4) d'enregistrement d'images enregistrent de façon répétée des données (d1, d2, d3, d4) d'images représentant les animaux (A1, A2, A3, A4). Un moyen (120) de traitement de données reçoit les données (d1, d2, d3, d4) d'images et, en se basant sur celles-ci, élabore un profil de mouvement (MP) pour chaque animal (A1, A2, A3, A4). En outre, au moins un poste (110, 111) d'identification enregistre l'identité (ID1) d'un animal en réaction au passage de l'un desdits moyens (T1) d'identification dans une zone de fonctionnement du poste (110, 111) d'identification. Ledit poste (110, 111) d'identification est distinct du ou des moyens (C1, C2, C3, C4) d'enregistrement d'images.
PCT/EP2010/064135 2009-10-01 2010-09-24 Surveillance d'animaux WO2011039112A2 (fr)

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SE0950718 2009-10-01

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WO2011039112A3 WO2011039112A3 (fr) 2011-12-01

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WO2014118788A2 (fr) * 2013-02-04 2014-08-07 Faunus Ltd. Système d'alerte précoce et/ou de surveillance optique d'une population d'élevage comprenant de la volaille
NL2012275C2 (nl) * 2014-02-17 2015-08-25 Lely Patent Nv Veehouderijsysteem.
CN107549038A (zh) * 2017-08-24 2018-01-09 深圳市沃特沃德股份有限公司 监管方法和监管系统
EP3335551A1 (fr) * 2016-12-19 2018-06-20 Farmic AB Procédé et système de surveillance du bétail dans d'un bâtiment
CN108335366A (zh) * 2018-01-30 2018-07-27 邓昌顺 对牲畜进行识别的方法及装置
WO2018174812A1 (fr) * 2017-03-24 2018-09-27 Bmp Innovation Ab Systèmes et procédés pour identifier des animaux individuels dans un groupe d'animaux
WO2019009700A1 (fr) * 2017-07-05 2019-01-10 N.V. Nederlandsche Apparatenfabriek Nedap Procédé et système de surveillance du développement d'animaux
US10986816B2 (en) 2014-03-26 2021-04-27 Scr Engineers Ltd. Livestock location system
US10986817B2 (en) 2014-09-05 2021-04-27 Intervet Inc. Method and system for tracking health in animal populations
EP3138393B1 (fr) 2015-09-07 2021-07-07 Nedap N.V. Procédé et système d'opération d'au moins une barrière
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WO2022003666A1 (fr) * 2020-07-01 2022-01-06 Scr Engineers Ltd. Système et procédé d'attribution de dispositif
AT524715A1 (de) * 2021-02-12 2022-08-15 Mechatronik Zehentner Eu Verfahren und Vorrichtung zur Nachverfolgung von Tieren
WO2023031759A1 (fr) 2021-09-02 2023-03-09 Lely Patent N.V. Système d'élevage d'animaux
USD990063S1 (en) 2020-06-18 2023-06-20 S.C.R. (Engineers) Limited Animal ear tag
USD990062S1 (en) 2020-06-18 2023-06-20 S.C.R. (Engineers) Limited Animal ear tag
WO2023144657A1 (fr) 2022-01-27 2023-08-03 Lely Patent N.V. Système d'élevage d'animaux
WO2023203459A1 (fr) 2022-04-19 2023-10-26 Lely Patent N.V. Système d'élevage d'animaux
US11832587B2 (en) 2020-06-18 2023-12-05 S.C.R. (Engineers) Limited Animal tag
US11832584B2 (en) 2018-04-22 2023-12-05 Vence, Corp. Livestock management system and method
US11864529B2 (en) 2018-10-10 2024-01-09 S.C.R. (Engineers) Limited Livestock dry off method and device
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Cited By (32)

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Publication number Priority date Publication date Assignee Title
WO2014118788A3 (fr) * 2013-02-04 2014-10-02 Faunus Ltd. Système d'alerte précoce et/ou de surveillance optique d'une population d'élevage comprenant de la volaille
WO2014118788A2 (fr) * 2013-02-04 2014-08-07 Faunus Ltd. Système d'alerte précoce et/ou de surveillance optique d'une population d'élevage comprenant de la volaille
NL2012275C2 (nl) * 2014-02-17 2015-08-25 Lely Patent Nv Veehouderijsysteem.
WO2015122763A3 (fr) * 2014-02-17 2015-11-26 Lely Patent N.V. Système d'élevage de bétail
US10986816B2 (en) 2014-03-26 2021-04-27 Scr Engineers Ltd. Livestock location system
US11963515B2 (en) 2014-03-26 2024-04-23 S.C.R. (Engineers) Limited Livestock location system
US10986817B2 (en) 2014-09-05 2021-04-27 Intervet Inc. Method and system for tracking health in animal populations
US11071279B2 (en) 2014-09-05 2021-07-27 Intervet Inc. Method and system for tracking health in animal populations
EP3138393B1 (fr) 2015-09-07 2021-07-07 Nedap N.V. Procédé et système d'opération d'au moins une barrière
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