CN100498213C - Method for monitoring pig growth using binocular vision technology - Google Patents
Method for monitoring pig growth using binocular vision technology Download PDFInfo
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Abstract
The invention relates to a method for monitoring pig growth by utilizing a binocular vision technology, and the method comprises the following procedures that: a system is established and calibrated; a pig body image is obtained; the pig body image is transferred; the pig body image is processed; the height of the pig body and the area of the pig body back are measured; and the weight of the pig body is pre-estimated. The growth of the pig is monitored though the method of the invention, the stress to the growth of the pig can not be caused, the operation is easy, the labor strength is reduced, the efficiency is high, the real time is good, the realization of the automation and the network transfer are beneficial, and the remote monitoring can be realized.
Description
Technical field
This invention belongs to the technical field that computer technology is used in livestock-raising, relate to a kind of method of utilizing the binocular vision technology monitoring pig growth,
Background technology
In Swine Production, parameter such as height, the body of pig is long, body is wide is to describe the important indicator parameter of pig bulk-growth situation.In time these growth information of monitoring pig can provide important evidence for production management decision-making.In traditional production, obtaining by manual of these growth parameter(s)s undertaken.Shape parameters such as height generally are to be measured by craft such as tape measures, body weight are then adopted mensuration such as body weight case, platform scale.These traditional metering systems not only need to expend plenty of time and labour, and efficient is lower, and to boar cause stress, bring very big loss to production.Particularly in the daily feeding and management in pig farm,, realize just more difficult if need often obtain these parameters.Although some traditional surveying instruments can provide accurate and continuous monitoring, as the check weighing case etc., the often filthy accumulation of pig house is more, is easy to influence the degree of accuracy of measurement result.A large amount of cleanings has not only improved production cost, and easy damage equipment.In addition, traditional metering system also is unfavorable for the robotization of feeding and management and becomes more meticulous.Utilize image technique can partly avoid the deficiency of conventional measurement techniques.As pasting the paper piece of a known dimensions as standard at pig body back, image with camera acquisition pig body back, measure pig body back area through Flame Image Process, and then estimate the pig body weight, this method needs artificial the participation, people and pig contact meeting to pig cause to a certain degree stress, and be unfavorable for realizing robotization.There is in pig house half meter eminence that a mark post that has yardstick is installed abroad, come the body chi etc. of monitoring pig after the images acquired by Flame Image Process.This mode can not be to the height of pig, and the ground configuration mark post can change the environment of pig house in pig house.
Summary of the invention
The objective of the invention is demand and existing methods deficiency at real-time monitoring pig growth in the Swine Production reality, a kind of method of utilizing the binocular vision technology monitoring pig growth is provided, can be in time, contactlessly the growing state of pig is realized monitoring, for production management decision-making provides foundation.
A kind of method of utilizing the binocular vision technology monitoring pig growth provided by the invention, it comprises the steps:
(1), the foundation of system and demarcation: set up and calibration system: set up two video cameras at the pig house top, distance is 50～200mm between two video cameras, camera height and the angle between the two can be determined according to actual conditions, but will satisfy image acquisition visual field size requirements.Two video cameras are connected with computing machine by coupling arrangement, form binocular stereo vision detection hardware system, and system is demarcated, and obtain the inside and outside parameter of system.Inside and outside parameter comprises: required parameter when carrying out three-dimensional measurement such as distance between the volume coordinate of video camera, angle, focal length, lens distortion parameter, two video cameras;
(2), obtain the pig volume image: utilize the system of step (1) foundation, gather the image at same pig body back with two video cameras simultaneously;
(3), transmission pig volume image: image is transferred to computing machine by coupling arrangement;
(4), the processing of pig volume image: it is poor to utilize image processing algorithm to obtain the pixel of two width of cloth image pig back profile centers of gravity of same pig body synchronization;
(5), measure pig height and pig body back area: the pixel according to step (4) is poor, in conjunction with inside and outside parameter, obtains the distance of video camera apart from pig body back, deducts the distance that video camera and pig carry on the back, the height of acquisition pig body with video camera apart from the height on ground; As a plane, the pixel of the pig body back profile end points that obtains according to Flame Image Process is poor, in conjunction with pig height information, can determine the volume coordinate of pig body back profile end points with pig body back, measures that the pig body is long, body is wide, calculates pig body back area;
(6), estimate the pig body weight: the different growth phase body weight of each kind or same kind and height, body is wide, body is long and the back area between relation all be different, so should set up body weight and height by experiment, body is wide, body is long and the back area between relational model.According to pig height and the pig body back area that step (5) is measured, set up the prediction model of pig body weight; In the same time of every day, the pig body is carried out image acquisition, utilize pig body weight prediction model, the growing state of monitoring pig body.
Measure the method for pig bulk-growth as described in the present invention, in order to collect suitable field range, camera lens should be chosen in 3.5～5mm.Focal length is short more, and image distortion on every side is big more, and error also will increase, but focal length is long more, in order to collect the scope in the same visual field, video camera should be placed in the higher position.
Measure the method for pig bulk-growth as described in the present invention, because the on-the-spot light intensity of pig house is generally lower, video camera should be selected the lower video camera model of illumination, resolution should be at 480～600 tv lines (TVL), the size of video camera CCD can be taken all factors into consideration selection according to camera lens etc., can select 1/3 inch or 1/2 inch, be output as the vision signal of PAL or NTFS standard.
Minimal illumination was lower than 1Lux when video camera of the present invention was selected colour TV camera, and minimal illumination is lower than 0.5Lux when selecting B.
Measure the method for pig bulk-growth as described in the present invention, because the image processing algorithm operand is bigger, so computing power should quite reach above configuration at Pentium 4,512M internal memory, otherwise Flame Image Process will extend operation time.
Pig bulk-growth measuring method as described in the present invention, the coupling arrangement between two video cameras and the computing machine is network video server, netting twine, hub, switch.
Measure the method for pig bulk-growth as described in the present invention, wherein network video server is digitized as digital picture with the analog image of camera acquisition, and is encoded into the BMP bitmap format, and to satisfy subsequent image processing, image can be D1 or CIF form.
The method measured of pig bulk-growth as described in the present invention, wherein the treatment of picture algorithm mainly comprises: the calibration algorithm of system, denoising, gray processing, binaryzation, profile extract, profile center of gravity and end points extraction, corresponding point matching, Measurement Algorithm.
The method of monitoring pig growth also comprises in conjunction with electronics individual identification technology such as pig overbit as described in the present invention, realizes the identification of individual in population.
The method of aforesaid monitoring pig growth, wherein system hardware comprises and focuses optical lens, ccd video camera, video server and computing machine.Optical lens and video camera are used to absorb the pig volume image.Network video server becomes digital picture with the image signal transformation of simulation, is encoded into the bitmap images that computing machine can handle and is converted into network data, sends computing machine to.Computing machine is used for storage, handles image and measurement result.System software is mainly realized system calibrating, image acquisition, storage, Treatment Analysis and human-computer interaction function.System will realize measuring, and needs to determine the inside and outside parameter of camera lens, video camera etc., can utilize the scaling board of having made that system is demarcated.
Setting up pig body weight prediction model comprises the steps:
Determine to estimate the formula of body weight: W=a * S
b* H
cIn a, b, three coefficients of c draw and estimate the body weight model.
Wherein W represents the pig body weight, and S represents pig body back area, and H represents the pig height, a, and b, c are the predictor formula coefficient.
Concrete steps are as follows:
(1), the pig body is carried out weighing, obtain true body weight, repeat more than 10 groups;
(2), the method according to this invention obtains pig height and pig body back area, repeat more than 10 groups;
(3), determine to estimate body weight formula W=a * S by regretional analysis
b* H
cIn a, b, three coefficients of c draw and estimate the body weight model.
This formula model obtains by experiment, but for its coefficient difference of pig of different cultivars, therefore all should obtain three coefficients of this prediction model by above three steps for the pig of each variety type.In case obtain and to utilize it to carry out the pig body weight after this formula to estimate.
Have the following advantages by the method for binocular vision technology monitoring pig growth of utilizing of the present invention:
1, contactless, can not cause the growth of pig stress.
2, easy operating reduces labour intensity, the efficient height.
3, real-time is good, is beneficial to the realization robotization.
4, networking transmission can realize remote monitoring.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
The growth monitoring of 1 pair of individual pig of embodiment
Set up pig body weight prediction model:
Determine to estimate the formula of body weight: W=a * S
b* H
c, step is as follows:
(1), utilize electronic scale that the pig body is carried out weighing, obtain true body weight, repeat 12 groups.Body weight weighing result to 12 pigs of certain variety type is (a unit: Kg): 82,84,73,72,83,70,75,93,103,101,104,97,86.
(2), the method according to this invention obtains pig height and pig body back area, repeats 12 groups.Height measurement result to 12 pigs of certain variety type is (a unit: cm): 66.5,64.2,65.1,64.7,67,62.1,64.2,69.4,70.8,69.5,66,67.7.Pig body back area measurement result is (a unit: cm
2): 2382.583,2406.449,2048.681,2078.866,2367.247,2039.72,2093.333,2603.881,2829.876,2917.269,2866.778,2692.713.
(3), determine to estimate a of body weight formula by regretional analysis, b, three coefficients of c draw and estimate the body weight model.Data according to step (1), (2) draw a, b, and c is respectively: 0.003,1.281,0.612.Therefore, prediction model is: W=0.0003 * S
1.281* H
0.612
Selecting two minimal illuminations is the colored 1/3 inch CCD video camera of 0.02Lux, resolution is 480 tv lines, focus optical lens in conjunction with 3.5 millimeters auto irises, two camera pedestals are located at pig house top, apart from ground 2.5m eminence, two video camera spacings are 50mm, and are parallel between the two, all vertically downward.Camera is connected with computing machine by network video server, forms binocular stereo vision detection hardware system.On the rectangular paperboard of a 0.9m * 0.9m, paste circle (diameter be 20 of 5cm, 12 of 10Cm, 15cm8) totally 40 and square (5cm * 5cm) 10.The circle of same size is pasted into two rows in scaling board both sides symmetry, and square is pasted the central authorities of scaling board.Circle with justify or square between distance (center of circle or square center) equate, be respectively: 9cm, 15cm, 22cm, 8cm.In a word, this scaling board wants to determine the volume coordinate at these shape centers.This scaling board is placed on the floor in the camera scene, choose initial point and definition space coordinate system, certain that choose under the video camera a bit is initial point, be the Z axle vertically downward, X, and Y direction is chosen wantonly.Here selecting downwards is the Z axle, and ground is the plane of Z=0, along being X-axis on two camera direction, is Y-axis perpendicular to two camera direction.Determine that according to selected space coordinates the volume coordinate at 50 shape centers on the scaling board is: (745,55,0), (835,55,0), (925,55,0), (1015,55,0), (1105,55,0) etc., coordinate unit is mm here.By gathering the scaling board image and handling image, obtain these coordinates in left camera review and be (503.14,303.15), (481.28,303.67), (459.49,304.53), (436.73,305.01), (414.65,305.93) etc., coordinate in right camera review is (486.48,304.12), (463.84,304.43), (441.16,304.76), (418.19,305.32), (395.33,305.81) etc.The actual coordinate of these points and image coordinate brought in the camera calibration model find the solution, obtain the inside and outside parameter of this video camera, comprising: required parameter when carrying out three-dimensional measurement such as distance between the rotation parameter of video camera, translation parameters, focal length, lens distortion parameter, two video cameras.By demarcating, the rotation parameter of left video camera, translation parameters, focal length, lens distortion parameter are respectively: (0.9513 ,-0.206 ,-0.229), (567.1092,259.1083 ,-238.1541), 3.9mm ,-1.39.Rotation parameter, translation parameters, focal length, the lens distortion parameter of right video camera are respectively: (0.9542 ,-0.192 ,-0.227), (559.769,261.679 ,-239.821), 4.1mm ,-1.431.Distance is 98mm between two video cameras.When adding feed to pig every day, utilize two video cameras to gather the back image of same pig body simultaneously, utilize and support the video server of two-path video that image is transferred to Computer Storage by netting twine; Utilize C++ to realize the various algorithms of software, comprising: denoise algorithm, gray processing, binaryzation, the wide extraction of pig backgear, center extraction etc.In conjunction with above-mentioned inside and outside parameter, the pixel value difference that obtains above-mentioned two width of cloth pig volume image pig back profile centers of gravity of having gathered is 15 pixels, according to principle of computer vision and principle of triangulation, the acquisition video camera is 1.84m apart from the distance at pig back, because video camera is 2.5m apart from floor level, deduct the height of pig body apart from ground with video camera apart from the height on pig house ground, can obtain pig height degree is 66cm; As a plane, the pixel of the pig body back profile end points that obtains according to Flame Image Process is poor with pig body back, in conjunction with height information, determines the volume coordinate of the wide end points of body backgear, and measuring pig body back contour area is 2590.77cm
2
With above-mentioned measured pig height, the formula that body weight is estimated in the area substitution of pig body back: W=0.0003 * S
1.281* H
0.612In, the body weight that draws this pig is 91.9Kg.
Next at one time the pig body is pressed step measurement pig height, the pig body back area that present embodiment is measured pig height, pig body back area every day, the substitution pig is estimated in the formula of body weight, calculates the pig body weight, has realized the monitoring to this pig upgrowth situation.
The computing power of present embodiment is Pentium 4,512M internal memory.
The growth monitoring of 2 pairs of colony pigs of embodiment
Choose the swinery body that comprises 5 individual pigs, it is numbered, be followed successively by pig No. 1, No. 2, No. 3, No. 4, No. 5, in conjunction with electronics individual identification technology, the selected pig individual in population pig of the identification detection of growing successively.
Selecting two minimal illuminations is the colored 1/3 inch CCD video camera of 0.02Lux, resolution is 600 tv lines, focus optical lens in conjunction with 5 millimeters auto irises, two camera pedestals are located at pig house top, apart from ground 2.5m eminence, two video camera spacings are 150mm, and are parallel between the two, all vertically downward.Video camera is connected with computing machine by netting twine, forms binocular stereo vision detection hardware system.The height of measuring No. 1, No. 2, No. 3, No. 4, No. 5 pig according to the steps in sequence of the above embodiments 1 is followed successively by (unit: cm): 66,65.8,68.5,64.1,62.5.The back area is followed successively by (unit: cm
2): 2590.77,2068.97,2595.78,2016.75,1996.38.With the above-mentioned data that record, the formula of estimating body weight that substitution draws by embodiment 1: W=0.0003 * S
1.281* H
0.612In, calculate No. 1, No. 2, No. 3, No. 4, No. 5 pig body weight respectively and be (unit: Kg): 91.9,68.7,94.2,65.5,63.7.
Next at synchronization every day, the pig body weight by in the above-mentioned steps measurement colony realizes the monitoring to colony's pig upgrowth situation.
Embodiment 3
Selecting two minimal illuminations is the colored 1/2 inch CCD video camera of 0.02Lux, resolution is 600 tv lines, focus optical lens in conjunction with 3 millimeters auto irises, two camera pedestals are located at pig house top, apart from ground 2.5m eminence, two video camera spacings are 100mm, and are parallel between the two, all vertically downward.Be connected with computing machine by hub, form binocular stereo vision detection hardware system.
Embodiment 4
Selecting two minimal illuminations is the colored 1/2 inch CCD video camera of 0.08Lux, resolution is 600 tv lines, focus optical lens in conjunction with 4 millimeters auto irises, two camera pedestals are located at pig house top, apart from ground 2m eminence, two video camera spacings are 200mm, and are parallel between the two, all vertically downward.Be connected with computing machine by switch, form binocular stereo vision detection hardware system.
Claims (7)
1, a kind of method of utilizing the binocular vision technology monitoring pig growth, it comprises step:
(1) foundation and calibration system: set up two video cameras at the pig house top, distance is 50～200mm between two video cameras, is connected with computing machine by coupling arrangement, forms binocular stereo vision detection hardware system, system is demarcated, obtain the inside and outside parameter of system;
(2) obtain the pig volume image: the system that utilizes step (1) to set up, gather the image at same pig body back simultaneously with two video cameras;
(3) transmission pig volume image: image is transferred to computing machine by coupling arrangement;
(4) handle the pig volume image: it is poor to utilize image processing algorithm to obtain the pixel of two width of cloth image pig body back profile centers of gravity of same pig body synchronization;
(5) measure pig height and back area: the pixel according to step (4) is poor, in conjunction with inside and outside parameter, obtains the distance of video camera apart from pig body back, deducts the distance at video camera and pig body back, the height of acquisition pig body with video camera apart from the height on ground; As a plane, the pixel of the pig body back profile end points that obtains according to Flame Image Process is poor, in conjunction with height information, can determine the volume coordinate of pig body back profile end points with pig body back, measures that the pig body is long, body is wide, calculates pig body back area;
(6) estimate the pig body weight: pig height and pig body back area according to step (5) is measured according to pig body weight prediction model, obtain the pig body weight, the growing state of monitoring pig body.
2, the method for monitoring pig growth as claimed in claim 1, wherein the foundation of pig body weight prediction model comprises the steps:
(1) the pig body is carried out weighing, obtain true body weight;
(2) obtain pig height and back area according to described step (5);
(3) determine to estimate body weight formula: W=a * S by regretional analysis
b* H
cIn a, b, three coefficients of c draw and estimate the body weight model, wherein W represents the pig body weight, S represents pig body back area, H represents the pig height, a, b, c are the predictor formula coefficient.
3, the method for monitoring pig growth as claimed in claim 1, wherein the camera lens of video camera is between 3.5～5mm.
4, the method for monitoring pig growth as claimed in claim 1, minimal illumination was lower than 1Lux when wherein video camera was colour TV camera, and minimal illumination is lower than 0.5Lux during for B, and resolution is at 480～600 tv lines.
5, the method for monitoring pig growth as claimed in claim 1, wherein coupling arrangement comprises network video server, netting twine, hub, switch.
6, the method for monitoring pig growth as claimed in claim 1, wherein image processing algorithm comprises: the calibration algorithm of system, denoising, gray processing, binaryzation, profile extraction, profile center of gravity and end points extraction, corresponding point matching, Measurement Algorithm.
7, as the method for the arbitrary described monitoring pig growth of claim 1-6, it is characterized in that step (2) obtains the pig volume image, also comprise in conjunction with electronics individual identification technology, realize the identification of individual pig in the colony pig.
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