A kind of automatic collection device and method of cow face

Abstract

The invention relates to an automatic cow face collection device and method, comprising a channel and a collection plate; a collection box and a lifting unit are arranged on the collection plate, the collection box comprises a panel with an arc-shaped front side, and a transverse slot is arranged at the lower part of the panel; a forage supply pipe is arranged in the slot for transverse movement, and a forage box is arranged in the collection box; the forage supply pipe and the forage box are fixedly connected, and a moving unit is arranged in the collection box; a forage clamping and feeding unit, a sensor unit and a tension sensor are arranged inside the forage supply pipe; a forage pulling unit is arranged in the forage box; a camera assembly and a light source assembly are arranged at the middle upper end of the panel, and the middle part of the slot is longitudinally opposite to the camera assembly; the device has a high degree of automation, can collect data continuously, greatly improves the collection efficiency, and has good consistency of collection angles, provides relatively high-quality picture data for subsequent image processing, can effectively improve the success rate of cow face recognition, and fills this technical gap in the field of cow face recognition.

Description

Technical Field

[0001] The present invention relates to the technical field of cow face recognition, and more specifically, to a cow face automatic acquisition device and method. Background Art

[0002] Compared with the traditional method of putting ear tags on cows' ears, cow face recognition technology is of epoch-making significance. It will not cause fear or harm to cows, and it also greatly reduces the risk of insurance fraud. However, there are still great difficulties in collecting cow faces: the random movement of the cow's body itself cannot make the cow consciously keep its face still in front of the camera for a long time, resulting in suboptimal facial images of cow faces. In machine learning, facial recognition models cannot complete effective and high-precision training and recognition. The uncontrollability of the cow face collection environment also makes it more difficult to build a unified benchmark cow face database.

[0003] At present, it is usually necessary to manually hold a camera to capture cow face images from multiple angles, and then put them into the background for processing. Each cow takes at least 5 minutes, which is labor-intensive, and the images obtained are not ideal and have poor consistency. All of these directly affect the success rate of cow face recognition. There is a need for an automatic cow face acquisition device and method that can automatically take pictures and capture cow faces to fill the gap in the industry. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic cow face collection device and an automatic cow face collection method in view of the above-mentioned defects of the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An automatic cow face collection device is constructed, which includes a channel for cows to pass through in sequence and a collection plate located at the top of the channel; a collection box and a lifting unit for driving the collection box to rise and fall are arranged on the collection plate, and the collection box blocks the passage of cows when it descends and extends into the channel; the collection box includes a panel with an arc-shaped front side, and a horizontal groove is arranged at the lower part of the panel; a forage pipe is arranged in the groove for horizontal movement, and a forage box is arranged in the collection box; the forage pipe and the forage box are fixedly connected; a forage box is arranged in the collection box for driving the forage box to move along the face A moving unit that moves in an arc-shaped direction of the plate; a forage clamping and feeding unit, a sensor unit for detecting whether there is forage extending from the forage feeding pipe, and a tension sensor for detecting the tension exerted on the forage clamping and feeding unit are arranged inside the forage supply pipe; a forage pulling unit for guiding the forage into the forage clamping and feeding unit is arranged in the forage box; a camera assembly and a light source assembly cooperating with the camera assembly are arranged at the middle upper end of the panel, and the middle part of the slot is longitudinally opposite to the camera assembly; a control host that controls the operation of the above-mentioned components is arranged on the collection box.

[0007] The automatic cow face collection device described in the present invention is characterized in that the upper opening of the collection box is provided, and the interior of the collection box is provided with a accommodating space for accommodating the forage box; the inner bottom of the accommodating space is provided with an arc-shaped slide rail and a slider slidably arranged on the slide rail; the outer surface of the slide rail is provided with an arc-shaped rack, and a driving motor is fixed on the slider, the movable end of the driving motor is arranged downward and a driving gear meshing with the rack is fixed to the movable end; the upper end of the forage box is provided with an openable and closable cover plate, and the lower end of the forage box is fixedly connected to the slider; the slide rail, the slider, the rack, the driving motor and the driving gear constitute the moving unit.

[0008] The automatic cow face collection device described in the present invention is characterized in that the inner bottom of the forage box is funnel-shaped, and the forage pulling unit includes a pull rod arranged at the inner bottom of the forage box and an electric push rod driving the pull rod to move horizontally; the forage clamping and feeding unit includes two conveyor belt assemblies arranged side by side, and there is a forage feeding gap between the two conveyor belt assemblies, and the pull rod is directly opposite to the forage feeding gap; the inner bottom of the forage box is provided with a convex strip, and the upper surface of the convex strip is provided with a pull rod groove that partially accommodates the pull rod.

[0009] The automatic cow face collection device described in the present invention, wherein the forage clamping and feeding unit includes a concave mounting seat, and the two concave inner walls of the mounting seat are provided with the conveyor belt assembly; the mounting seat is slidably arranged on the inner wall of the forage supply pipe, the tension sensor is fixedly arranged on the inner wall of the forage supply pipe, and the detection end is connected to the mounting seat through a spring; the conveyor belt assembly includes a conveyor belt and a conveyor belt bracket, the conveyor belt bracket is fixedly connected to the mounting seat, and the surfaces of the two conveyor belts are parallel.

[0010] The automatic cow face collection device described in the present invention is characterized in that the electric push rod is fixedly connected to the lower surface of the forage supply pipe; one end of the pull rod is fixedly connected to the movable end of the electric push rod, and the other end is formed with an upwardly bent hook, the pull rod is located in the pull rod groove, and the pull hook is located outside the pull rod groove; the pull hook can extend into the forage feeding gap when moving, and the end of the forage supply pipe is provided with an avoidance groove for avoiding the pull hook.

[0011] The automatic cow face collection device described in the present invention, wherein a display screen is also provided on the channel, and the display screen is used to display the current operating status of the device.

[0012] The automatic cow face collection device described in the present invention is characterized in that the side wall of the channel is also provided with an infrared radiation component, the infrared radiation component is used to count the number of cows passing through, and the infrared radiation component is electrically connected to the control host.

[0013] A method for automatically collecting cow faces, using the above-mentioned automatic cow face collection device, wherein the method comprises the steps of:

[0014] Equipment initialization: The forage supply pipe is placed in the middle of the slot; the forage pulling unit puts the forage on the forage clamping and feeding unit, and the forage clamping and feeding unit operates so that the forage part extends out of the forage supply pipe and keeps clamping the forage. After the sensor unit detects that the forage is in place, it feeds back a signal to the control host;

[0015] Start image acquisition: the control host controls the lifting unit to operate, driving the collection box downward and extending it into the channel to block the passage of cattle;

[0016] When the tension sensor is triggered by the cow for the first time, the control host controls the camera assembly to take a picture of the cow's face in the middle position, and controls the movement unit to drive the hay box to move to the left side of the panel;

[0017] When the tension sensor is triggered by the cow's pulling for the second time, the control host controls the camera assembly to take a picture of the cow's face on the left side, and controls the movement unit to drive the hay box to move to the right side of the panel;

[0018] When the tension sensor is triggered by the cow's pulling for the third time, the control host controls the camera assembly to take a picture of the cow's face on the right side, completing the image acquisition;

[0019] The control host controls the lifting unit to drive the collection box upward and out of the channel, and determines whether the image collection of all cows has been completed. If so, the operation is terminated, otherwise it returns to the equipment initialization step.

[0020] The beneficial effects of the present invention are as follows: equipment initialization: the forage supply pipe is placed in the middle of the slot; the forage pulling unit puts forage on the forage clamping and feeding unit, the forage clamping and feeding unit operates so that the forage part extends out of the forage supply pipe and keeps clamping the forage, and the sensor unit detects that the forage is in place and then feeds back a signal to the control host; image acquisition starts: the control host controls the operation of the lifting unit to drive the collection box to move downward into the channel to block the passage of the cow; when the tension sensor is triggered by the cow for the first time, the control host controls the camera component to take a picture to collect the cow's face in the middle position, and controls the movement unit to drive the forage box to move to the left side of the panel; when the tension sensor is triggered by the cow for the second time, the control host controls the camera component to take a picture to collect the cow's face at the left position face picture, and controls the movement unit to drive the forage box to move to the right side of the panel; when the tension sensor is triggered by the cow's pulling for the third time, the control host controls the camera component to take a picture to collect the cow's face picture on the right side to complete the image collection; the control host controls the lifting unit to drive the collection box to move up and leave the channel, and judges whether the image collection of all cows has been completed. If so, the operation is terminated, otherwise it returns to the equipment initialization step; the method of the present application is used to complete the collection of cow face data, with a high degree of automation, continuous collection, greatly improved collection efficiency, and good collection angle consistency, which provides higher quality picture data for subsequent image processing, can effectively improve the success rate of cow face recognition, and fills this technical gap in the field of cow face recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0022] Figure 1 It is a schematic diagram of the distribution structure of the channels and collection boards of the automatic collection device for cow faces in a preferred embodiment of the present invention;

[0023] Figure 2 1 is a top view of a collection box of an automatic cow face collection device according to a preferred embodiment of the present invention;

[0024] Figure 3It is a schematic diagram of the coordination between the forage box and the mobile unit of the automatic collection device for cow face in a preferred embodiment of the present invention;

[0025] Figure 4 It is a front view of the panel of the automatic cow face collection device of the preferred embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a forage pulling unit of an automatic cow face collection device according to a preferred embodiment of the present invention;

[0027] Figure 6 This is an end view of a forage supply pipe of an automatic cow face collection device according to a preferred embodiment of the present invention;

[0028] Figure 7 It is a cross-sectional view of a forage supply pipe of an automatic cow face collection device according to a preferred embodiment of the present invention;

[0029] Figure 8 It is a flow chart of the automatic cow face collection method according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0031] The automatic cow face collection device of the preferred embodiment of the present invention is as follows: Figure 1 See also Figure 2-Figure 7 , including a passage 1 for cattle to pass through in sequence and a collection plate 2 located at the top of the passage 1; a collection box 3 and a lifting unit 4 for driving the collection box to rise and fall are arranged on the collection plate 2, and the collection box 3 blocks the passage of cattle when it descends and extends into the passage; the collection box 3 includes a panel 30 with an arc-shaped front side, and a horizontal slot 300 is arranged at the lower part of the panel 30; a forage pipe 31 is arranged in the slot 300 for horizontal movement, and a forage box 32 is arranged in the collection box 3; the forage pipe 31 and the forage box 32 are fixedly connected; a forage box 32 is arranged in the collection box 3 to drive the forage box 32 to move along the arc direction of the panel 30 The mobile unit 5; the interior of the forage supply pipe 31 is provided with a forage clamping and feeding unit 33, a sensor unit 34 for detecting whether there is forage extending from the forage supply pipe 31, and a tension sensor 35 for detecting the tension exerted on the forage clamping and feeding unit; the forage box 32 is provided with a forage pulling unit 36 ​​for guiding the forage into the forage clamping and feeding unit; the middle upper end of the panel 30 is provided with a camera assembly 37 and a light source assembly 38 matched with the camera assembly, and the middle of the slot 300 is longitudinally opposite to the camera assembly 37; the collection box 3 is provided with a control host 39 for controlling the operation of the above components;

[0032] Equipment initialization: The forage supply pipe 31 is placed in the middle of the slot 300; the forage pulling unit 36 ​​puts forage on the forage clamping and feeding unit 33, and the forage clamping and feeding unit 33 operates so that the forage part extends out of the forage supply pipe 31 and keeps clamping the forage. After the sensor unit 35 detects that the forage is in place, it feeds back a signal to the control host 39;

[0033] Start image acquisition: the control host 39 controls the lifting unit 4 to operate, driving the collection box 3 to extend downward into the channel 1 to block the passage of the cow; when the tension sensor 35 is pulled and triggered by the cow for the first time, the control host 39 controls the camera assembly 37 to take pictures and collect the cow's face image in the middle position, and controls the mobile unit 5 to operate and drive the hay box 32 to move to the left side of the panel 30; when the tension sensor 35 is pulled and triggered by the cow for the second time, the control host 39 controls the camera assembly 37 to take pictures and collect the cow's face image on the left side, and controls the mobile unit 5 to operate and drive the hay box 32 to move to the right side of the panel 30; when the tension sensor 35 is pulled and triggered by the cow for the third time, the control host 39 controls the camera assembly 37 to take pictures and collect the cow's face image on the right side to complete the image acquisition; the control host 39 controls the lifting unit 4 to operate and drive the collection box 3 to move upward and leave the channel 1, and determines whether the image acquisition work of all the cows has been completed. If so, the operation is terminated, otherwise, the device initialization step is returned to.

[0034] The method of the present application is used to complete the collection of cow face data, which has a high degree of automation and can be collected continuously, greatly improving the collection efficiency, and the collection angle consistency is good, providing high-quality picture data for subsequent image processing, which can effectively improve the success rate of cow face recognition and fill this technical gap in the field of cow face recognition.

[0035] It should be noted that in order to further improve the detection efficiency, the cattle can be driven into the channel one by one by manual labor or driving equipment. In order to further increase the attractiveness of the grass to the cattle, the cattle can be kept in a certain state of hunger and the grass can be replaced with fresh grass of better quality.

[0036] Preferably, the upper opening of the collection box 3 is provided, and a storage space for accommodating the forage box 32 is provided inside the collection box 3; an arc-shaped slide rail 50 and a slider 51 slidably arranged on the slide rail are provided at the inner bottom of the storage space; an arc-shaped rack 52 is provided on the outer surface of the slide rail 50, and a driving motor 53 is fixed on the slider 51, and the movable end of the driving motor 53 is arranged downward and a driving gear 54 meshing with the rack 52 is fixed on the movable end; an openable and closable cover is provided at the upper end of the forage box 32, and the lower end of the forage box 32 is fixedly connected to the slider 51; the slide rail 50, a slider 51, a rack 52, a drive motor 53 and a drive gear 54 constitute a moving unit 5; when driven, the drive motor 53 drives the drive gear 54 to rotate, and the drive gear 54 and the rack 52 cooperate to drive the slider 51 to move on the slide rail 50, so that the forage box 32 moves stably and smoothly with little noise, and is not easy to scare the cattle; with this structure, more different moving positions can be set in detail according to needs, and different moving positions correspond to more different shooting angles, thereby providing better expansion performance.

[0037] Preferably, the inner bottom of the forage box 32 is funnel-shaped, and the forage pulling unit 36 ​​includes a pull rod 360 arranged at the inner bottom of the forage box 32 and an electric push rod 363 for driving the pull rod 360 to move horizontally; the forage clamping and feeding unit 33 includes two conveyor belt assemblies 330 arranged side by side, and there is a forage feeding gap between the two conveyor belt assemblies 330, and the pull rod 360 is directly opposite to the forage feeding gap; the inner bottom of the forage box 32 is provided with a convex strip 361, and the upper surface of the convex strip 361 is provided with a pull rod groove 362 for partially accommodating the pull rod; With this structural design, the funnel shape is used to automatically pile the grass poured into the grass box 32 onto the convex strip 361, and then the electric push rod 363 is used to drive the pull rod 360 to move horizontally, so as to pull the grass into the gap between the two conveyor belt assemblies 330. The design of the convex strip 361 and the pull rod groove 362 is very simple in structure, has good reliability and high success rate in pulling, and can also better prevent the grass from getting stuck on the pull rod. Even if a small amount of debris falls into the pull rod groove 362, it can be cleaned and disposed of by regular disassembly and maintenance.

[0038] Preferably, the forage clamping and feeding unit 33 includes a concave mounting seat 331, and the two inner walls of the concave mounting seat 331 are both provided with a conveyor belt assembly 330; the mounting seat 331 is slidably arranged on the inner wall of the forage supply pipe 31, the tension sensor 35 is fixedly arranged on the inner wall of the forage supply pipe 31, and the detection end is connected to the mounting seat 331 through a spring 350; the conveyor belt assembly 330 includes a conveyor belt 3301 and a conveyor belt bracket 3302, the conveyor belt bracket 3302 is fixedly connected to the mounting seat 331, and the surfaces of the two conveyor belts 3301 are parallel;

[0039] This structural design has a reasonable layout and is extremely compact. The two conveyor belts provide clamping force for the grass pulled in by the pull rod 360, and are also used to transfer the clamped grass so that part of the grass is exposed to the grass supply tube 31 for the cattle to eat. When the cattle eat, they pull the grass. Since part of the grass is clamped by the two conveyor belts, this will pull the two conveyor belt assemblies 330 at the same time, thereby generating a reading on the tension sensor 35, and then triggering the camera; this part of the structure is the core feature of the device and is also the key to solving the problem of shooting consistency; the conveyor belt bracket 3302 can adopt existing components, for example, it is composed of a bracket, an active roller, a driven roller and a micro motor.

[0040] Preferably, the electric push rod 363 is fixedly connected to the lower surface of the forage supply pipe 31; one end of the pull rod 360 is fixedly connected to the movable end of the electric push rod 363, and the other end is formed with an upwardly bent hook 3600, the pull rod 360 is located in the pull rod groove 362, and the pull hook 3600 is located outside the pull rod groove 362; the pull hook 3600 can extend into the forage feeding gap when moving, and the end of the forage supply pipe 31 is provided with an avoidance groove 310 for avoiding the pull hook; it has good integrity, a high success rate of pulling materials, and is not easy to get stuck.

[0041] Preferably, a display screen 10 is also provided on the channel 1, and the display screen 10 is used to display the current operating status of the device; an infrared radiation component 11 is also provided on the side wall of the channel 1, and the infrared radiation component 11 is used to count the number of cows passing through, and the infrared radiation component 11 is electrically connected to the control host; it is convenient to timely understand the operating status of the current device and count the number of collected cows.

[0042] A method for automatically collecting cow faces, using the automatic cow face collection device as described above, such as Figure 8 As shown, the method comprises the steps of:

[0043] S01: Equipment initialization: The forage supply pipe is placed in the middle of the slot; the forage pulling unit puts the forage on the forage clamping and feeding unit, and the forage clamping and feeding unit operates so that the forage part extends out of the forage supply pipe and keeps clamping the forage. After the sensor unit detects that the forage is in place, it feeds back a signal to the control host;

[0044] S02: Start image acquisition: The control host controls the lifting unit to operate, driving the acquisition box downward and extending into the channel to block the passage of cattle;

[0045] S03: When the tension sensor is triggered by the cow for the first time, the control host controls the camera assembly to take a picture of the cow's face in the middle position, and controls the movement unit to drive the hay box to move to the left side of the panel;

[0046] S04: When the tension sensor is triggered by the cow's pulling for the second time, the control host controls the camera assembly to take a picture of the cow's face on the left side, and controls the movement unit to drive the hay box to move to the right side of the panel;

[0047] S05: When the tension sensor is pulled by the cow for the third time and triggered, the control host controls the camera assembly to take a picture to collect the cow's face image on the right side, completing the image acquisition;

[0048] S06: The control host controls the lifting unit to drive the collection box upward and out of the channel, and determines whether the image collection of all cows has been completed. If yes, the operation is terminated, otherwise, the operation returns to the equipment initialization step;

[0049] The method of the present application is used to complete the collection of cow face data, which has a high degree of automation and can be collected continuously, greatly improving the collection efficiency. The collection angle has good consistency, providing higher-quality picture data for subsequent image processing, and can effectively improve the success rate of cow face recognition, filling this technical gap in the field of cow face recognition.

[0050] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A cow face automatic collection device, characterized in that: The invention comprises a passage for cattle to pass through in sequence and a collection plate at the top of the passage; a collection box and a lifting unit for driving the collection box to rise and fall are arranged on the collection plate, and the collection box blocks the passage of cattle when it descends and extends into the passage; the collection box comprises a panel with an arc-shaped front side, and a transverse slot is arranged at the lower part of the panel; a forage supply pipe is arranged transversely and movably in the slot, and a forage box is arranged in the collection box; the forage supply pipe and the forage box are fixedly connected; a forage box is arranged in the collection box to drive the forage box to move along the arc direction of the panel The forage feeding tube is provided with a forage clamping and feeding unit, a sensor unit for detecting whether there is forage extending out of the forage feeding tube, and a tension sensor for detecting the tension exerted on the forage clamping and feeding unit; the forage box is provided with a forage pulling unit for guiding the forage into the forage clamping and feeding unit; the middle upper end of the panel is provided with a camera assembly and a light source assembly cooperating with the camera assembly, and the middle of the slot is longitudinally opposite to the camera assembly; the collection box is provided with a control host; the upper opening of the collection box The collection box is provided with a storage space for accommodating the forage box inside; the inner bottom of the storage space is provided with an arc-shaped slide rail and a slider slidably arranged on the slide rail; the outer surface of the slide rail is provided with an arc-shaped rack, a driving motor is fixed on the slider, the movable end of the driving motor is arranged downward and a driving gear meshing with the rack is fixed on the movable end; an openable and closable cover is provided at the upper end of the forage box, and the lower end of the forage box is fixedly connected to the slider; the slide rail, the slider, the rack, The driving motor and the driving gear constitute the moving unit; the inner bottom of the forage box is funnel-shaped, and the forage pulling unit includes a pull rod arranged at the inner bottom of the forage box and an electric push rod driving the pull rod to move horizontally; the forage clamping and feeding unit includes two conveyor belt assemblies arranged side by side, and there is a forage feeding gap between the two conveyor belt assemblies, and the pull rod is opposite to the forage feeding gap; the inner bottom of the forage box is provided with a convex strip, and the upper surface of the convex strip is provided with a pull rod groove that partially accommodates the pull rod.

2. The automatic cow face acquisition device according to claim 1, characterized in that: The forage clamping and feeding unit includes a concave mounting seat, and the two inner walls of the concave mounting seat are provided with the conveyor belt assembly; the mounting seat is slidably arranged on the inner wall of the forage supply pipe, the tension sensor is fixedly arranged on the inner wall of the forage supply pipe, and the detection end is connected to the mounting seat through a spring; the conveyor belt assembly includes a conveyor belt and a conveyor belt bracket, the conveyor belt bracket is fixedly connected to the mounting seat, and the surfaces of the two conveyor belts are parallel.

3. The automatic cow face acquisition device according to claim 2, characterized in that: The electric push rod is fixedly connected to the lower surface of the forage supply pipe; one end of the pull rod is fixedly connected to the movable end of the electric push rod, and the other end is formed with an upwardly bent hook, the pull rod is located in the pull rod groove, and the pull hook is located outside the pull rod groove; the pull hook can extend into the forage feeding gap when moving, and the end of the forage supply pipe is provided with an avoidance groove for avoiding the pull hook.

4. The automatic cow face acquisition device according to claim 1, characterized in that: The channel is also provided with a display screen, which is used to display the current operating status of the device.

5. The automatic cow face acquisition device according to claim 1, characterized in that: The side wall of the channel is also provided with an infrared radiation component, which is used to count the number of cattle passing through, and the infrared radiation component is electrically connected to the control host.

6. A method for automatically collecting cow faces, using the automatic cow face collection device as described in any one of claims 1 to 5, characterized in that: The method comprises the steps of: Equipment initialization: The forage supply pipe is placed in the middle of the slot; the forage pulling unit puts the forage on the forage clamping and feeding unit, and the forage clamping and feeding unit operates so that the forage part extends out of the forage supply pipe and keeps clamping the forage. After the sensor unit detects that the forage is in place, it feeds back a signal to the control host; Start image acquisition: the control host controls the lifting unit to operate, driving the collection box downward and extending it into the channel to block the passage of cattle; When the tension sensor is triggered by the cow for the first time, the control host controls the camera assembly to take a picture of the cow's face in the middle position, and controls the movement unit to drive the hay box to move to the left side of the panel; When the tension sensor is triggered by the cow's pulling for the second time, the control host controls the camera assembly to take a picture of the cow's face on the left side, and controls the movement unit to drive the hay box to move to the right side of the panel; When the tension sensor is triggered by the cow's pulling for the third time, the control host controls the camera assembly to take a picture of the cow's face on the right side, completing the image acquisition; The control host controls the lifting unit to drive the collection box upward and out of the channel, and determines whether the image collection of all cows has been completed. If so, the operation is terminated, otherwise it returns to the equipment initialization step.

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