JP2017192375A - Oestrus detection device, method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system enabled to detect automatically and simultaneously a plurality of estrus of animals characterized by mounting actions by performing observations and analyses in non-contact and non-invasive manners.SOLUTION: The data, which are obtained by scanning, while emitting detection waves at a predetermined height over the back of an animal within an observation space, in which an animal taking a mounting action for an estrus period, are analyzed to decide a riding action, if an intersection between a scan face and an object animal is at or higher than a threshold value and if not the background, and an estrus period is detected.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an estrus detection apparatus, program, and method for automatically detecting a plurality of estrus periods characterized by riding behavior at the same time in a non-contact and non-invasive manner.

  For cattle breeders, detection of the estrus of the mother cow is very important for artificial insemination in a timely manner, leading to efficient livestock production. However, in order not to miss the sign, a 24-hour monitoring system is necessary, which is a burden on farmers. For this reason, a large number of methods including patent documents and non-patent documents have been developed.

  In Patent Document 1, an appropriate threshold is set by detecting a signal that lasts for a predetermined time set in advance from a signal of a motion sensor that detects the movement of a cow built in a tag attached to the neck of the cow. A method for determining estrus is proposed. In Patent Document 2, a three-dimensional acceleration sensor that is attached to the tail and feet of a domestic animal and measures momentum such as a tail raising action and walking of the domestic animal, and acceleration data measured by the three-dimensional acceleration sensor, There has been proposed a method of recording a series and simultaneously outputting a signal representing the delivery state or estrus state of livestock.

  The test result report of Non-Patent Document 1 enables efficient estrus discovery by utilizing an estrus monitoring system using an infrared sensor, a web camera, and the Internet, but the false alarm rate is 15.8%. In Non-Patent Document 2, as the characteristics of the estrus period, “(1) Follow-up of a calf, riding, (2) Behaviors that cause restlessness, decreased appetite, or increase the number of walks per hour” Change, (3) tolerance to riding, (4) estrus mucus outflow from the vulva, etc., and estrus detection methods include "(1) mechanical estrus detection method-chimball method and (2) power" The method using a sputum detection instrument "has been introduced. Non-Patent Document 3 reports a study that uses a pedometer to monitor the amount of behavior of a cow for 24 hours and specify the estrus start time. Non-Patent Document 4 proposes a method of using an estrus detection bar for the purpose of finding an estrus that is inexpensive and simple. Like a bar-flight horizontal bar, it is intended to discover estrus by dropping a string with a margin of about 10 cm so as not to fall on the floor without fixing both sides. The detection accuracy greatly depends on the height at which the rod is installed.

  It is the calves in the herd that first finds estrus, and the calves follow and ride on the cows before the age of 80 days. In addition, due to the development and popularization of artificial insemination technology, farmers usually keep only cows, but when they are in estrus, there are behaviors in which females get on and off. In addition, there is a method of letting bulls discover, and steers or bulls that have been operated so that they cannot mate are sometimes carried on estrus cows.

Japanese Unexamined Patent Publication No. 2012-90604 JP 2011-234668 A

"Development of an estrus monitoring system using cattle riding behavior as an index", 2008 test results report, 38, 2009. “Reproductive Technology Seen in Photographs”, Agricultural and Food Industry Research Institute, Livestock Pasture Research Institute, http: // www. naro. affrc. go. jp / nilgs / breeding / skill / 025590. html. Koichiro Tadami, Ikuo Kobayashi, Sasei Kaji, Go Kitahara, Kiichi Fukuyama, Shunichi Uemura, “Effects of the time from the start of estrus to artificial insemination and estrus synchronization on sex ratio of Japanese black cattle”, Miyazaki University Research report, 2010. Tamaki Masanobu, “Estrus discovery stick as a simple technique for discovering cow estrus—The key point for low-cost production is from estrus discovery”, production technology seminar, http: // jlia. lin. gr. jp / cali / manage / 102 / s-semina / 102ss1. htm.

  Numerous methods have been developed for the detection of the estrus of cattle, but in terms of accuracy, reliability, cost, system flexibility, robustness, etc. There was nothing that was satisfactory enough. In addition, it is indispensable to reduce the stress on cattle by conventional wearable sensors and to reduce the burden of people watching video images for a long time. This will not only support older farmers, but also the livestock industry will become smart agriculture utilizing ICT, increasing the sustainability of new youth farming.

  Therefore, it is possible to accurately detect the estrus period without being attached to the body like a vital sensor or embedded in the body, that is, non-contact and non-invasive, without stressing the cow, and the whole structure is simple. It can be configured simply and inexpensively, is flexible and robust, operates with high accuracy and reliability, and is eager to contribute to the efficient management of farmers.

  An object of the present invention is to provide an estrus detection apparatus, program, and method for automatically detecting a plurality of estrus periods characterized by riding behavior at the same time in a non-contact and non-invasive manner.

The estrus detection apparatus according to the first aspect of the present invention is:
A detection wave emitting unit that scans and emits a detection wave at a predetermined height above the back of the animal in an observation space in which an animal that takes a riding action in the estrus period is released;
A detection wave receiver for receiving a reflected wave of the detection wave;
A distance measuring unit that calculates a distance from the detection wave emitting unit to a reflecting object;
A position calculating unit that calculates the position of the reflecting object based on the detection wave emission direction and the distance;
A riding behavior detection unit for detecting that the detection wave emitted by the temporal change in the position of the reflective object is reflected by an object other than the background;
If the riding behavior is detected by the riding behavior detection unit, it is determined that it is an estrus period, and an estrus time activation unit that operates according to a predetermined procedure,
Prepare.

The estrus detection device according to the second aspect of the present invention is the estrus detection device according to the first aspect,
The detection wave emitter is
It is used when the undulation of the ground in the observation space exceeds the tolerance, and has the function of moving up and down or rotating,
Select the data at a predetermined height from the ground by selecting the vertical movement amount or rotation angle so that the reflection point has a predetermined height according to the launch direction of the detection wave and the distance in the previous period. The data acquisition unit to acquire
Prepare.

The estrus detection apparatus according to the third aspect of the present invention is the estrus detection apparatus according to the first aspect,
The detection wave emitter is
Used when the undulations of the ground in the observation space exceed the tolerance, multiple ones with different vertical positions or rotation angles are installed in one place,
By selecting the detection wave emitting unit so that the reflection point becomes a predetermined height according to the emission direction of the detection wave and the distance in the previous period, data at a predetermined height from the ground is selectively acquired. The data acquisition unit
Prepare

The estrus detection method according to the fourth aspect of the present invention is:
A detection wave emission step of scanning while emitting a detection wave at a predetermined height above the back of the animal in an observation space where an animal taking a riding action in the estrus period is released;
A detection wave receiving step of receiving a reflected wave of the detection wave;
A distance measuring step for calculating a distance from the detection wave emitting unit to the reflecting object;
A position calculating step of calculating a position of a reflecting object based on the detection wave emission direction and the distance;
A riding behavior detecting step of detecting that the detection wave emitted by the temporal change in the position of the reflecting object is reflected by an object other than the background;
If the riding behavior is detected by the riding behavior detection step, it is determined that it is an estrus period, and an estrus activation step that operates according to a predetermined procedure,
Including.

An estrus detection method according to a fifth aspect of the present invention is an estrus detection method according to a fourth aspect,
The detection wave emitting step includes
It is used when the undulation of the ground in the observation space exceeds the tolerance, and has the function of moving up and down or rotating,
Select the data at a predetermined height from the ground by selecting the vertical movement amount or rotation angle so that the reflection point has a predetermined height according to the launch direction of the detection wave and the distance in the previous period. The data acquisition step to be acquired
Including.

An estrus detection method according to a sixth aspect of the present invention is an estrus detection method according to a fourth aspect,
The detection wave emitting step includes
Used when the undulations of the ground in the observation space exceed tolerance, multiple ones with different vertical positions or rotation angles are provided in one place,
By selecting the detection wave emission step so that the reflection point becomes a predetermined height according to the emission direction of the detection wave and the distance in the previous period, data at a predetermined height from the ground is selectively acquired. Data acquisition step to
Including.

An estrus detection program according to the present invention includes:
The estrus detection apparatus according to any one of the first and third aspects described above or the estrus detection method according to any of the fourth and sixth aspects is realized by a computer.

  In general, animals often have riding behavior during estrus. In particular, Wagyu beef often accompanies this riding behavior. Here, when another cow is riding, the riding behavior is detected by detecting that the head and torso reach a certain height. A surface formed by one scan when scanning while emitting a detection wave is called a scan surface. If the object intersects the scan plane within a range of a certain threshold value or more, it is determined that there was a riding action. Thus, the effect of noise reduction and accuracy improvement can be expected by setting the threshold value. In general, a flat surface is sufficient, but when the undulation of the ground exceeds the tolerance, a plurality of scanning surfaces may be selectively used, or a curved surface may be used. There is tolerance in the height of the surface parallel to the ground, but by adjusting the height and rotation angle of the surface according to the detection wave launch direction and the previous distance, the undulations of the ground exceeding the tolerance and the solid difference in body height Can respond.

  The present invention can perform non-contact and non-invasive observation and analysis, and can automatically detect a plurality of estrus periods of animals characterized by riding behavior simultaneously.

  The entire observation space can be observed simultaneously by scanning. Furthermore, one scan surface may be used, but two or more scan surfaces may be used depending on the situation. If there are a plurality of images, observation from a plurality of directions and a plurality of heights is possible, so that concealment is reduced and high accuracy and stability can be obtained.

  In the previous case, there was a line constituted by using a light emitting / receiving pair. However, in the present invention, since the scan plane is configured, the entire ranch can be monitored even with one scan plane. In addition, even if a plurality of pairs of lines are used, gaps are formed, but closer monitoring is possible on the scanning surface, and the expandability and versatility are increased when the number of heads increases. Here, the ranch, which is the observation space, is used in a broad sense to indicate a place to be detected by the estrus cow, including the paddock and the inside of the building.

  It is not necessary to install face-to-face on both sides of the ranch like a light emitting / receiving pair, and it can be installed in one place, so installation is easy. Furthermore, since the distance image on the scan plane is used as the observation principle, not the presence / absence of blocking of infrared rays, the penetration shape (shape, distance measurement) can be observed, and more information can be obtained.

  The present invention can be applied not only to cattle but also to detection of the estrus period of animals characterized by riding behavior.

1 is a schematic processing block diagram of an embodiment of an estrus detection system according to the present invention. Explanatory drawing of the riding behavior detection system by the scanning surface of predetermined height. Explanatory drawing of riding behavior detection using a range sensor. (A) is an explanatory diagram of scanning plane selection when the ground is a plane, (b) is an explanatory diagram of partial selection from a plurality of parallel planar scanning surfaces when the undulation of the ground exceeds tolerance, and (c) is the ground FIG. 6 is an explanatory diagram for partially selecting from a plurality of plane scan surfaces with different angles when the undulation of the ground exceeds tolerance, and (d) is an explanatory diagram for partially selecting from a plurality of curved surface scan surfaces when the undulation of the ground exceeds tolerance. The figure which shows the effect with respect to a background difference and concealment at the time of using two range sensors. (A) is an example of detection of cattle during normal times, (b) is an example of detection of a boarding cow, and (c) is an example of detection of a boarding cow when there is concealment.

  Hereinafter, an estrus detection apparatus, program, and method according to embodiments of the present invention will be described with reference to the drawings.

<1. Definition>
A surface on which a scanning operation is performed is called a scanning surface. The scan surface is composed of a part that emits a detection wave and a part that receives the detection wave. The detection wave is divided into (1) an active method (laser beam, infrared, millimeter wave, etc.) and (2) a passive method (such as a camera). Passive type). Moreover, you may comprise by extending | stretching the curtain-like thing which laid the cloth provided with the contact sensor side instead of irradiating a detection wave.

  A device that scans while detecting a detection wave and receives the reflected wave, and that has a function of measuring the detection wave emission direction and the distance in the previous period and calculating a distance image on the scan plane; and Call. Here, ranging means calculating the distance between the detection wave irradiation device and the reflecting object. A range sensor is an optical scanning distance measurement sensor that measures the distance to surrounding objects while scanning a two-dimensional plane by irradiating laser light radially around the sensor by rotating an internal mirror. . The range sensor has detection wave irradiation, reflected wave reception, and distance image output functions. From the viewpoint of the user, the range sensor is a device that combines these functions in a single unit, and can be used in a small and simple manner.

  The distance image refers to an image having a distance value from the input device to the object instead of the color and shade value of a normal two-dimensional image.

  Background refers to stationary objects such as the ground, buildings, standing trees, utility poles and fences in the observation space, while moving things such as cows and people are called foregrounds.

  Background difference refers to the process of extracting objects that do not exist in the previously acquired image by comparing the observed image with the previously acquired image. Call it. Here, this concept is extended to a distance image, and the background distance image is simply called a background.

  The predetermined height means a height within a tolerance (allowable range) as shown in FIG. 3A, and is generally set at the center of the tolerance (180 cm to 190 cm).

<2. Schematic configuration>
FIG. 1 shows a schematic processing block diagram of an embodiment of a riding behavior detection system according to the present invention.

  Here, an embodiment in which scanning is performed using a range sensor is shown.

  The detection wave emission part 10 emits a detection wave while scanning.

  The reflected wave receiving portion 11 receives the reflected wave and measures the time delay between the detection wave and the reflected wave.

  In the reflection position calculation 12, the distance image is obtained by calculating the distance from the time delay and simultaneously calculating the position of the reflector from the direction of the detection wave. In order to obtain the foreground, similarly to the background difference in the image processing, the background estimation is performed for the distance image, and the difference processing with the current distance image is performed.

  In part 13, it is determined whether there is reflection from a part other than the background.

  In the part 14 where the riding behavior is detected, if the reflection from the part other than the background in the part 13 is within a certain range, it is detected as an object and it is determined that there is a riding action.

  In the processing part 15, if it is determined in the part 14 that there is a riding action, the processing part 15 operates in accordance with a predetermined procedure for detecting estrus. If a web camera is installed, real-time video transmission and video recording may be performed.

<3. Overview of the entire system>
FIG. 2 is an explanatory diagram of a riding behavior detection system using a scanning surface having a predetermined height.

  It has been reported that the average body height of Japanese black breeding cows is about 128 cm and is in the range of 124 cm to 136 cm, and the height at the time of riding reaches approximately 220 cm. For detection, it is set to 180 cm to 190 cm. This height is called “predetermined height” and has a large tolerance.

  When there is a riding action, the distance image changes at that position, and it appears that there is an object nearer than the background distance image. By analyzing data with a computer connected to the range sensor, it is possible to detect the riding behavior, and if it is normal, the observation continues, and if the riding behavior is detected, the estrus operates according to a predetermined procedure. Start up operation. Real-time distribution may be started simultaneously with video recording.

In the range sensor,
(1) The number of units in one place is "one or more units"
(2) The movable state is “fixed, vertical movement, vertical vertical rotation (tilt), or optical axis center rotation (roll)”,
(3) The installation location is “one or multiple locations”
Select from. Other than (1) “1 unit” and (2) “fixed”, it is selectively used for the purpose of maintaining the scanning surface at a predetermined height. The purpose of (3) installing at “plural places” is to eliminate concealment by observation from multiple directions, and at the same time to accurately determine the position of the riding cow.

<4. Riding behavior detection principle>
FIG. 3 is an explanatory diagram of riding behavior detection using a range sensor.

  Here, the state seen from the side is shown in FIG. 3 for ease of explanation. FIG. 3A is an explanatory diagram of scanning plane selection when the ground is a plane. As shown in this figure, setting the scanning plane is simple when the ground is a plane. The scan planes S1 to S3 are for detecting the riding behavior and are selected according to the situation at the site. In FIG. 3 (a), the riding cows pass through the scanning surface S2 among the scanning surfaces S1 to S3, and the riding behavior can be detected. As shown in the figure, the height at which the scan plane is installed has a fairly wide tolerance. If the individual difference is within the tolerance range, the scan plane can be detected only by the scan plane S2.

In reality, it is considered that there is not such a large undulation on the ranch, and since there is tolerance, there are many cases that can be approximated by a plane in many cases. There are several possible solutions. Basically, the vertical position or angle (tilt angle and roll angle) of the range sensor is set according to the direction of the detection wave and the distance in the previous period so that information on the scan curved surface at a predetermined height from the ground can be obtained. Selection makes it possible to detect riding behavior.
In addition, it is possible to detect riding behavior by selectively using data from a plurality of plane scan planes. FIG. 3B is an explanatory diagram in which a part is selected from a plurality of parallel scanning planes when the undulation of the ground exceeds the tolerance, and a plurality of parallel scanning planes are installed and according to the position obtained from the distance image. To select the scan plane. In this example, the riding behavior can be detected by the scan plane S1. Here, the scan plane S1 is selected on the left side from the center, and the scan plane S2 is selected on the right side. The same can be realized by moving the range sensor up and down.

FIG. 3C is an explanatory diagram in which a partial selection is made from a plurality of plane scan planes having different angles when the undulation of the ground exceeds the tolerance, and the tilt angle is determined according to the direction from the range sensor and the previous distance. By acquiring the distance data while controlling the roll angle so as to follow the undulations of the ground, the predetermined height is maintained even if the undulations exceed the tolerance. In this example using a plurality of range sensors, a predetermined height is maintained by selecting a scan plane with a tilt angle θ2 near and a tilt angle θ1 far away.
When the roll angle of the scan surface stretched by the range sensor is not 0 °, it can be dealt with by selecting the scan surface according to the undulation of the ground according to the same principle.

  FIG. 3 (d) is an explanatory diagram in which partial selection is made from a plurality of curved scanning surfaces when the undulation of the ground exceeds tolerance, and the tilt angle and roll angle are set according to the direction from the range sensor and the previous distance. By acquiring the distance data while controlling along the undulations of the ground, a predetermined height is maintained even if the undulations exceed the tolerance. The principle is the same as in FIG. 3C, but there is a degree of freedom that allows the roll angle to be controlled.

  When using the distance image from the range sensor, changing the rotation axis (tilt angle) for each scan can provide the effect as if the scan curved surface as shown in FIG. Can flexibly cope with undulations. Such a swing method works effectively if the contour line is known first because the three-dimensional position can be known if the distance and angle are known.

  When a cow walks through the rough terrain on the ground and pierces the scan plane, and when it pierces through riding behavior, the temporal transition pattern is different and can be distinguished. As for which scan plane to select, an optimal one may be selected depending on the position, the range to penetrate, and the time change pattern.

<5. Riding behavior detection and position calculation>
FIG. 4 shows the state of riding behavior detection when using a range sensor, and is a diagram showing the background difference and the effect on concealment and concealment removal when using two range sensors.

  Fig.4 (a) is an example of a cow detection in the normal time, and sets the scanning surface of the range sensor to a height of 90 to 100 cm. Although only one range sensor can be detected, here an example is given in which two units are used to improve reliability. Since this height corresponds to the body part of the parent cow, it is possible to detect the presence of three cows as shown in the right figure of FIG.

  FIG.4 (b) is an example of a riding cow detection, and is an example which set the scanning surface of the range sensor to the height of 180 cm-190 cm. Although a single range sensor can detect a riding cow, an example is given here in which two are used to improve reliability. At this height, the presence of a normal cow cannot be confirmed, but in this example, the presence of a single riding cow (one set) can be detected as shown in the right figure of FIG. I understand. In FIG. 4 (b) and FIG. 4 (c), the standing tree is always in the same place and does not move, so it is treated as a background and is not erroneously detected as a normal cow or a riding cow. This is the effect of background difference.

  FIG. 4C is an example of detection of a riding cow when there is concealment, and is an example in which the scanning surface of the range sensor is set to a height of 180 cm to 190 cm. In FIG. 4 (c), the lower right riding cow is hidden behind the standing tree from the sensor S1, but can be detected from the sensor S2. In the case of a range sensor, its three-dimensional position is obtained. In this example, the presence of two riding cows (two sets) can be detected as shown in the right figure of FIG.

  Although FIG. 4 shows an example using two range sensors, the same can be realized with one unit. Using multiple units reduces concealment and increases accuracy and reliability, but costs also increase, so performance and cost are in a trade-off relationship

In FIG. 4, two range sensors were installed at different locations. However, when the heights are set one by one in the range of 90-100 cm and 180-190 cm at the same location, More information can be obtained.
Case 1 “The riding side is still. The riding side (standing) is definitely in estrus. The riding side (mounting) may also be in estrus.”
Case 2 “If the rider is running away, the rider (standing) may be estrus, but the time is early, late, or not estrus. The rider (mounting) is probably estrus If the other side escapes), it will be possible to make a judgment.

  As described above, the estrus detection system of the present invention can automatically detect the estrus of animals characterized by riding behavior at the same time in a non-contact and non-invasive manner.

10 Detection wave emitting step 11 Reflected wave receiving step 12 Reflected position calculating step 13 Reflected wave detecting step from other than background 14 Riding behavior detecting step 15 Estrus start step

Claims (7)

A detection wave emitting unit that scans and emits a detection wave at a predetermined height above the back of the animal in an observation space in which an animal that takes a riding action in the estrus period is released;
A detection wave receiver for receiving a reflected wave of the detection wave;
A distance measuring unit that calculates a distance from the detection wave emitting device to the reflecting object;
A position calculating unit that calculates the position of the reflecting object based on the detection wave emission direction and the distance;
A riding behavior detection unit for detecting that the detection wave emitted by the temporal change in the position of the reflective object is reflected by an object other than the background;
If the riding behavior is detected by the riding behavior detection unit, it is determined that it is an estrus period, and an estrus time activation unit that operates according to a predetermined procedure,
An estrus detection device provided. The detection wave emitter is
It is used when the undulation of the ground in the observation space exceeds the tolerance, and has the function of moving up and down or rotating,
Select the data at a predetermined height from the ground by selecting the vertical movement amount or rotation angle so that the reflection point has a predetermined height according to the launch direction of the detection wave and the distance in the previous period. A data acquisition unit for acquiring
The estrus detection apparatus according to claim 1. The detection wave emitter is
When the undulations of the ground in the observation space exceed the tolerance, multiple ones with different vertical positions or rotation angles are installed in one place,
By selecting the detection wave emitting unit so that the reflection point becomes a predetermined height according to the emission direction of the detection wave and the distance in the previous period, data at a predetermined height from the ground is selectively acquired. A data acquisition unit
The estrus detection apparatus according to claim 1. A detection wave emission step of scanning while emitting a detection wave at a predetermined height above the back of the animal in an observation space where an animal taking a riding action in the estrus period is released;
A detection wave receiving step of receiving a reflected wave of the detection wave;
A distance measuring step for calculating a distance from the detection wave emitting device to a reflecting object;
Calculating a position of a reflecting object according to a direction in which the detection wave is emitted and the distance;
A riding behavior detecting step of detecting that the detection wave emitted by the temporal change in the position of the reflecting object is reflected by an object other than the background;
If the riding behavior is detected by the riding behavior detection step, it is determined that it is an estrus period, and includes an estrus activation step that operates according to a predetermined procedure.
Estrus detection method. The detection wave emitting step includes
It is used when the undulation of the ground in the observation space exceeds the tolerance, and has the function of moving up and down or rotating,
Select the data at a predetermined height from the ground by selecting the vertical movement amount or rotation angle so that the reflection point has a predetermined height according to the launch direction of the detection wave and the distance in the previous period. Including a data acquisition step
The estrus detection method according to claim 4. The detection wave emitting step includes
When the undulations of the ground in the observation space exceed the tolerance, multiple steps are provided in one place where the vertical position or rotation angle is changed,
By selecting the detection wave emission step so that the reflection point becomes a predetermined height according to the emission direction of the detection wave and the distance in the previous period, data at a predetermined height from the ground is selectively acquired. Including a data acquisition step
The estrus detection method according to claim 4.   An estrus detection program according to any one of claims 1 to 3, or an estrus detection program that causes a computer to execute the estrus detection method according to any one of claims 4 to 6.