Cow body measuring device based on TOF laser radar

Abstract

The utility model relates to a cattle body measuring device based on a TOF laser radar. The cattle body measuring device comprises a first side frame, a second side frame and a plurality of measuring substrate units. The first side frame and the second side frame are oppositely arranged, and a measurement channel is defined between the first side frame and the second side frame; the plurality of measuring substrate units are respectively arranged on the first side frame and the second side frame, each measuring substrate unit comprises a substrate and a laser radar, the laser radar is used for measuring the size of a cattle body, and the laser radar is detachably arranged on the substrate. According to the utility model, the first side frame and the second side frame are arranged, and the plurality of measuring substrate units are arranged on the first side frame and the second side frame, so that the measuring substrate units can cover the body surface of a cattle from the two sides of the cattle body without shielding, and the measurement is more convenient and accurate; moreover, the laser radar is detachably connected to the substrate, thereby facilitating the replacement and maintenance of the laser radar.

Description

Technical Field

[0001] The utility model relates to the technical field of measurement, in particular to a cattle body measurement device based on TOF laser radar. Background Art

[0002] In today's livestock ranch breeding production farms, in order to better monitor the growth of cattle, it is usually necessary to perform physical measurements on the cattle. The measurement parameters mainly include body height, abdominal width, etc.

[0003] In the related technology, the TOF (Time of Flight) technology of the depth camera is mainly used to measure the size data of the cattle body. However, during the measurement process, the depth camera is usually disturbed by obstacles such as fences blocking the line of sight. Therefore, the depth camera needs to be adjusted in angle, which is cumbersome to use. In addition, the existing laser radar is troublesome to disassemble and is not convenient for replacement and maintenance. Utility Model Content

[0004] Based on this, it is necessary to provide a cattle body measurement device based on TOF laser radar to address the problems that depth cameras are usually obstructed by obstacles such as fences and the laser radar is troublesome to disassemble, and is inconvenient to replace and repair.

[0005] A cattle body measurement device based on TOF laser radar comprises: a first side frame; a second side frame, wherein the first side frame and the second side frame are arranged opposite to each other, and a measurement channel is defined between the first side frame and the second side frame; a plurality of measurement substrate units, wherein the plurality of measurement substrate units are respectively arranged on the first side frame and the second side frame, and the measurement substrate units comprise: a substrate and a laser radar, wherein the laser radar is used to measure the size of the cattle body, and the laser radar is detachably arranged on the substrate.

[0006] As a further improvement of the present invention, a plurality of first mounting parts are arranged on the substrate, and a second mounting part is arranged on the laser radar, and the second mounting part selectively cooperates with any one of the first mounting parts.

[0007] As a further improvement of the present invention, the plurality of first mounting portions are arranged at intervals along the X direction and the Y direction.

[0008] As a further improvement of the present invention, there are multiple laser radars, and at most one of the coordinates of every two laser radars in the X direction and the Y direction is the same.

[0009] As a further improvement of the present utility model, a plurality of third mounting portions are provided on the first side frame, and the plurality of third mounting portions are spaced apart along the X direction and the Y direction; a fourth mounting portion is provided on the substrate, and the fourth mounting portion on the substrate that cooperates with the first side frame selectively cooperates with any one of the third mounting portions; a plurality of fifth mounting portions are provided on the second side frame, and the fourth mounting portion on the substrate that cooperates with the second side frame selectively cooperates with any one of the fifth mounting portions.

[0010] As a further improvement of the present invention, at most one of the coordinates of every two substrates matched with the first side frame in the X direction and the Y direction is the same; at most one of the coordinates of every two substrates matched with the second side frame in the X direction and the Y direction is the same.

[0011] As a further improvement of the present invention, the measuring substrate unit further includes: a plurality of integrated circuit boards, and the laser radar is connected to the integrated circuit boards.

[0012] As a further improvement of the present invention, the number of the laser radar on each integrated circuit board is at least one.

[0013] As a further improvement of the present invention, the TOF laser radar-based cattle body measurement device also includes: a top frame and a bottom frame, one side of the top frame is connected to the top of the first side frame, and the other side of the top frame is connected to the top of the second side frame; one side of the bottom frame is connected to the bottom of the first side frame, and the other side of the bottom frame is connected to the bottom of the second side frame.

[0014] As a further improvement of the present invention, a plurality of the measuring substrate units are arranged on the top frame, and the plurality of the measuring substrate units are distributed at intervals in the XOZ plane.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. The utility model sets a first side frame and a second side frame, and sets a plurality of measuring substrate units on the first side frame and the second side frame, so that the measuring substrate units can cover the body surface of the cow without obstruction from both sides of the cow's body, thereby making the measurement more convenient and accurate, and the laser radar is detachably connected to the substrate, which is convenient for replacement and maintenance of the laser radar.

[0017] 2. In the utility model, the substrate can be set at multiple positions within the XOY plane where the first side frame and the second side frame are located, and the laser radar can be set at multiple positions on the substrate, so that the laser radar can have a variety of arrangement methods and arrangement distances within the XOY plane where the first side frame and the second side frame are located, which is more flexible to use and can be applicable to various working conditions.

[0018] 3. In the present invention, since a plurality of laser radars are distributed in the X direction and the Y direction, and the distance measured by the laser radar is in the Z direction, it is convenient to obtain three-dimensional point cloud information, thereby facilitating the measurement of cattle.

[0019] 4. In the present invention, the size of the components can be changed to conduct tests on a variety of animals, and the type of laser radar can be changed to obtain more fused measurement data, so that it can have good versatility and portability.

[0020] 5. In the utility model, the laser radar is connected to the integrated circuit board and supported by the first side frame and the second side frame. Compared with linear laser radar and other visual solutions, the structure is simpler and more economical. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a cattle body measurement device based on TOF laser radar according to an embodiment of the utility model;

[0022] Figure 2 It is a top cross-sectional view of a cattle body measurement device based on TOF laser radar according to an embodiment of the utility model;

[0023] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0024] Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0025] Main component symbols

[0026] 1. First side frame; 11. Third mounting part; 2. Second side frame; 21. Fifth mounting part; 3. Measurement substrate unit; 31. Substrate; 311. First mounting part; 312. Fourth mounting part; 32. Laser radar; 321. Second mounting part; 4. Top frame; 5. Bottom frame; 6. Measurement channel.

[0027] The above main component symbols are combined with the accompanying drawings and specific implementation methods to further illustrate the present invention in detail. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] like Figure 1-4 As shown, the embodiment of the utility model proposes a cattle body measurement device based on TOF laser radar, including: a first side frame 1, a second side frame 2 and a plurality of measurement substrate units 3. Among them, the plurality of measurement substrate units 3 are respectively arranged on the first side frame 1 and the second side frame 2, and the first side frame 1 and the second side frame 2 mainly play the role of installation, and can provide installation positions for the plurality of measurement substrate units 3, so that the setting of the measurement substrate unit 3 can be more stable, and the measurement substrate unit 3 can work better. The specific number of the measurement substrate units 3 can be set according to the volume of the cattle.

[0030] The first side frame 1 and the second side frame 2 are arranged opposite to each other, and a measuring channel 6 is defined between the first side frame 1 and the second side frame 2. That is, the first side frame 1 and the second side frame 2 are arranged opposite to each other in parallel, and a measuring channel 6 is formed between the first side frame 1 and the second side frame 2, and the cow can enter the measuring channel 6, and then the measuring substrate unit 3 is used to scan and measure the cow body, so as to obtain the corresponding cow body parameters.

[0031] Specifically, the measuring substrate unit 3 includes: a substrate 31 and a laser radar 32. The laser radar 32 is used to measure the size of the cattle body. The laser radar 32 is detachably arranged on the substrate 31. The substrate 31 mainly plays the role of installation and connection, and the laser radar 32 mainly plays the role of measurement. The laser radar 32 emits laser pulses to the cattle body and analyzes the time difference from the emission to the reception of the laser beam, so as to measure the distance between the cattle body and the laser radar 32, which is convenient for the subsequent calculation and analysis of multiple parameters of the cattle body.

[0032] The laser radar 32 is detachably arranged on the substrate 31 , which makes it easy to install and disassemble the laser radar 32 , and to repair and replace it, and the operation is convenient.

[0033] Furthermore, a plurality of first mounting portions 311 are provided on the substrate 31, and a second mounting portion 321 is provided on the laser radar 32, and the second mounting portion 321 selectively cooperates with any one of the first mounting portions 311. Among them, both the first mounting portion 311 and the second mounting portion 321 can play a role of installation. Through the cooperation of the first mounting portion 311 and the second mounting portion 321, the laser radar 32 can be fixedly connected to the substrate 31, so that the connection between the laser radar 32 and the substrate 31 can be more stable, and the laser radar 32 can work better.

[0034] As an optional embodiment, the first mounting portion 311 can be a mounting hole, and the second mounting portion 321 can be a mounting column. The material of the mounting column can be copper, which is economical and has good corrosion resistance. Of course, the first mounting portion 311 and the second mounting portion 321 can also be other suitable structures.

[0035] In addition, the second mounting portion 321 selectively cooperates with any one of the first mounting portions 311. That is, the laser radar 32 can be installed at multiple positions on the substrate 31, so that the setting of the laser radar 32 can be more flexible, so that multiple positions of the cow body can be measured, and the sample points of the measurement are increased, which is conducive to improving the measurement accuracy.

[0036] In addition, the plurality of first mounting portions 311 are spaced apart along the X direction and the Y direction. That is, the first mounting portions 311 are distributed in the plane formed by the X direction and the Y direction. Since the side projection of the cow body is in the XOY plane, the first mounting portions 311 can better correspond to the side of the cow body, thereby facilitating the laser radar 32 to measure multiple positions of the side of the cow body, thereby facilitating improving the measurement accuracy.

[0037] It should be noted that there are multiple laser radars 32 , and at most one of the coordinates of every two laser radars 32 in the X direction and the Y direction is the same.

[0038] Compared with a single laser radar 32, multiple laser radars 32 are set up. In this way, multiple laser radars 32 can be used to simultaneously emit laser pulses to the cow body, thereby improving the measurement speed, reducing the time required for measurement, and reducing the impact of the cow's movement on the measurement accuracy.

[0039] At most one of the coordinates of every two laser radars 32 in the X direction and the Y direction is the same, that is, multiple laser radars 32 are installed at different positions in the XOY plane. This can reduce the interference between the multiple laser radars 32, so that the multiple laser radars 32 can work better.

[0040] In addition, a plurality of third mounting portions 11 are provided on the first side frame 1, and the plurality of third mounting portions 11 are spaced apart along the X direction and the Y direction. A fourth mounting portion 312 is provided on the substrate 31, and the fourth mounting portion 312 on the substrate 31 that cooperates with the first side frame 1 selectively cooperates with any one of the third mounting portions 11.

[0041] The third mounting portion 11 and the fourth mounting portion 312 both mainly play the role of mounting and connecting. Through the cooperation between the third mounting portion 11 and the fourth mounting portion 312, the substrate 31 and the first side frame 1 can be fixedly connected, so that the connection between the substrate 31 and the first side frame 1 can be more stable, so that the substrate 31 can better support the laser radar 32 located on the substrate 31.

[0042] A plurality of third mounting portions 11 are arranged on the first side frame 1, and the plurality of third mounting portions 11 are arranged at intervals along the X direction and the Y direction, and the fourth mounting portion 312 on the substrate 31 that cooperates with the first side frame 1 selectively cooperates with any third mounting portion 11. In other words, the third mounting portions 11 are distributed in the XOY plane, so that the third mounting portions 11 can be arranged more comprehensively in the XOY plane, so that the substrate 31 can be installed in multiple positions in the XOY plane of the first side frame 1. Since the laser radar 32 is connected to the substrate 31, the laser radar 32 can be arranged more comprehensively in the XOY plane, so that it is convenient to measure cattle bodies of different sizes or other suitable animals.

[0043] Similarly, a plurality of fifth mounting portions 21 are provided on the second side frame 2, and the fourth mounting portion 312 on the substrate 31 that cooperates with the second side frame 2 selectively cooperates with any fifth mounting portion 21. In other words, the fifth mounting portions 21 are distributed in the XOY plane, so that the fifth mounting portions 21 can be arranged more comprehensively in the XOY plane, so that the substrate 31 can be installed in multiple positions in the XOY plane of the second side frame 2. Since the laser radar 32 is connected to the substrate 31, the laser radar 32 can be arranged more comprehensively in the XOY plane, so that it is convenient to measure cattle bodies of different sizes or other suitable animals.

[0044] As an optional embodiment, the third mounting portion 11 and the fifth mounting portion 21 may be hole structures, and the fourth mounting portion 312 may be a combination of a slider nut and a bolt. Of course, the third mounting portion 11, the fourth mounting portion 312 and the fifth mounting portion 21 may also be other suitable structures and components.

[0045] Furthermore, at most one of the coordinates of every two substrates 31 in the X direction and the Y direction that match the first side frame 1 is the same. In other words, the multiple substrates 31 are installed at different positions of the XOY plane of the first side frame 1, which can reduce the interference between the multiple substrates 31, so that the laser radars 32 located on the substrates 31 can work better.

[0046] Similarly, at most one of the coordinates in the X direction and the Y direction of every two substrates 31 matched with the second side frame 2 is the same. In other words, the multiple substrates 31 are installed at different positions of the XOY plane of the second side frame 2, which can reduce the interference between the multiple substrates 31, so that the laser radars 32 located on the substrates 31 can work better.

[0047] In addition, the measurement substrate unit 3 also includes: a plurality of integrated circuit boards, and the laser radar 32 is connected to the integrated circuit board. Among them, the integrated circuit board is mainly used for receiving, analyzing, processing and sending signals. Connecting the laser radar 32 to the integrated circuit makes it easy to control the laser radar 32, so as to send signals to control the operation of the laser radar 32, and analyze and process the information on the laser radar 32, and upload it to the host computer through the data bus.

[0048] Furthermore, the number of laser radars 32 on each integrated circuit board is at least one. That is, one or more laser radars 32 can be provided on each integrated circuit board, which can improve the integration between the integrated circuit board and the laser radar 32 and help save space. It should be noted that when there are multiple laser radars 32, the number of laser radars 32 to be operated can be selected according to actual working conditions.

[0049] It should be noted that the integrated circuit board can be an integrated circuit board with an STM32 system as the core and connected to multiple laser radars 32, and the integrated circuit board can use modbus RTU instructions and RS-485 data bus measurement modules to perform multiple series networking.

[0050] Here’s how it works:

[0051] The substrate 31 on the first side frame 1 and the second side frame 2 enables the laser radar 32 located on the corresponding substrate 31 to be distributed on both sides of the cow's body in the form of geometric topology, forming a scanning array with a fixed resolution. The scanning array on each side constitutes a two-dimensional coordinate system, the horizontal axis of the coordinate system is the equivalent arrangement interval of the laser radar 32 in the X direction, and the vertical axis is the equivalent arrangement interval of the laser radar 32 in the Y direction. After the laser radar 32 completes the ranging, the distance value measured by each laser radar 32 is combined with its position coordinates in the two-dimensional coordinate system to form a three-dimensional data point. By integrating all the three-dimensional point information, a complete three-dimensional point cloud data set of the cow can be obtained to complete the three-dimensional scanning of the cow.

[0052] The host computer sends action commands through the data bus, so that each integrated circuit board and the laser radar 32 perform measurement actions in turn, and finally transmit the measurements back to the data bus. The host computer receives all the three-dimensional measurement data and processes the data.

[0053] As an optional embodiment, the cattle body measurement device based on the TOF laser radar 32 further includes: a top frame 4 and a bottom frame 5, one side of the top frame 4 is connected to the top of the first side frame 1, and the other side of the top frame 4 is connected to the top of the second side frame 2. One side of the bottom frame 5 is connected to the bottom of the first side frame 1, and the other side of the bottom frame 5 is connected to the bottom of the second side frame 2.

[0054] Among them, the top frame 4 mainly plays a connecting role, connecting one side of the top frame 4 to the top of the first side frame 1, so that the connection between the first side frame 1 and the top frame 4 can be more stable, and connecting the other side of the top frame 4 to the top of the second side frame 2 can be more stable. In this way, the first side frame 1, the top frame 4 and the second side frame 2 can be more integrated, so that the connection between the first side frame 1, the top frame 4 and the second side frame 2 can be more stable.

[0055] Similarly, the bottom frame 5 also plays a connecting role. One side of the bottom frame 5 is connected to the bottom of the first side frame 1, so that the connection between the first side frame 1 and the top frame 4 can be more stable. The other side of the top frame 4 is connected to the bottom of the second side frame 2, so that the connection between the second side frame 2 and the bottom frame 5 can be more stable. In this way, the first side frame 1, the bottom frame 5 and the second side frame 2 can be more integrated, so that the connection between the first side frame 1, the top frame 4, the bottom frame 5 and the second side frame 2 can be more stable. Therefore, the cattle body measurement device based on the TOF laser radar 32 can work more stably.

[0056] As an optional embodiment, a plurality of measuring substrate units 3 are provided on the top frame 4, and the plurality of measuring substrate units 3 are spaced apart in the XOZ plane. That is to say, a plurality of laser radars 32 are also provided on the top frame 4, and the plurality of laser radars 32 are distributed in the XOZ plane, so that the cattle can be measured from multiple positions on the top of the cattle, thereby further expanding the measurement range and facilitating improving the measurement accuracy.

[0057] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0059] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A cattle body measurement device based on TOF laser radar, characterized in that: include: A first side frame (1); a second side frame (2), wherein the first side frame (1) and the second side frame (2) are arranged opposite to each other, and a measuring channel (6) is defined between the first side frame (1) and the second side frame (2); A plurality of measuring substrate units (3), wherein the plurality of measuring substrate units (3) are respectively arranged on the first side frame (1) and the second side frame (2), wherein the measuring substrate units (3) comprise: a substrate (31) and a laser radar (32), wherein the laser radar (32) is used to measure the size of a cattle body, wherein the laser radar (32) is detachably arranged on the substrate (31), wherein the substrate (31) is provided with a plurality of first mounting portions (311), wherein the laser radar (32) is provided with a second mounting portion (321), and wherein the second mounting portion (321) selectively cooperates with any one of the first mounting portions (311).

2. A cattle body measurement device based on TOF laser radar (32) according to claim 1, characterized in that: The plurality of first mounting portions (311) are arranged at intervals along the X direction and the Y direction.

3. A cattle body measurement device based on TOF laser radar (32) according to claim 2, characterized in that: The number of the laser radars (32) is multiple, and at most one of the coordinates of every two laser radars (32) in the X direction and the Y direction is the same.

4. A cattle body measurement device based on TOF laser radar (32) according to claim 1, characterized in that: A plurality of third mounting portions (11) are arranged on the first side frame (1), and the plurality of third mounting portions (11) are arranged at intervals along the X direction and the Y direction; a fourth mounting portion (312) is arranged on the base plate (31), and the fourth mounting portion (312) on the base plate (31) matched with the first side frame (1) selectively matches with any one of the third mounting portions (11); A plurality of fifth mounting portions (21) are provided on the second side frame (2), and the fourth mounting portion (312) on the base plate (31) matched with the second side frame (2) selectively matches with any one of the fifth mounting portions (21).

5. A cattle body measurement device based on TOF laser radar (32) according to claim 4, characterized in that: For every two substrates (31) matched with the first side frame (1), at most one of the coordinates in the X direction and the Y direction is the same; For every two substrates (31) matched with the second side frame (2), at most one of the coordinates in the X direction and the Y direction is the same.

6. A cattle body measurement device based on TOF laser radar (32) according to claim 1, characterized in that: The measuring substrate unit (3) further comprises: a plurality of integrated circuit boards, and the laser radar (32) is connected to the integrated circuit boards.

7. A cattle body measurement device based on TOF laser radar (32) according to claim 6, characterized in that: The number of the laser radar (32) on each integrated circuit board is at least one.

8. The cattle body measurement device based on TOF laser radar (32) according to claim 1, characterized in that: The cattle body measurement device based on TOF laser radar (32) further comprises: a top frame (4) and a bottom frame (5), one side of the top frame (4) being connected to the top of the first side frame (1), and the other side of the top frame (4) being connected to the top of the second side frame (2); One side of the bottom frame (5) is connected to the bottom of the first side frame (1), and the other side of the bottom frame (5) is connected to the bottom of the second side frame (2).

9. A cattle body measurement device based on TOF laser radar (32) according to claim 8, characterized in that: A plurality of the measurement substrate units (3) are arranged on the top frame (4), and the plurality of the measurement substrate units (3) are distributed at intervals in the XOZ plane.

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