JP2020156393A - Behavior detection program, behavior detection method and behavior detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately output that a cow has taken a riding action. SOLUTION: A distance image acquisition unit acquires a distance image of a region where a cow exists from above at predetermined time intervals, and a riding behavior determination unit obtains a position (rectangle) of the cow based on the distance image. Among the frames), the cows (rectangular frame) whose height is equal to or higher than the threshold value are specified. In addition, the riding behavior determination unit specifies when the time indicating that the height of the specified rectangular frame (cow) is equal to or greater than the threshold value is longer than a predetermined time based on a plurality of distance images acquired thereafter. It is determined that the cow in the rectangular frame has taken the riding action. Then, the notification unit outputs the determination result of the riding behavior determination unit to the terminal. [Selection diagram] FIG. 8

Description

The present invention relates to a behavior detection program, a behavior detection method and a behavior detection system.

For cattle breeders, detection of the estrus period of cows is important for timely artificial insemination and efficient livestock production. In the past, it was a burden on farmers because it was monitored 24 hours a day to detect the estrus period of cows. On the other hand, a method of attaching a sensor to a cow to detect the estrus period of the cow is known (see, for example, Patent Documents 1 and 2). In addition, a device that detects the riding behavior of cows and the riding behavior of a bull on a cow by scanning while emitting a detection wave of a predetermined height into the observation space, and determines the estrus period. Is known (see, for example, Patent Document 3 and the like).

Japanese Unexamined Patent Publication No. 2012-90604 Japanese Unexamined Patent Publication No. 2011-234668 JP-A-2017-192375

However, the method of attaching the sensor to the cow may cause stress on the cow. In addition, in the method of scanning while emitting a detection wave of a predetermined height in the observation space, other cows may get in the way and the detection wave may not hit the cow that is taking the riding action, and the detection accuracy is high. It may be low.

In one aspect, it is an object of the present invention to provide a behavior detection program, a behavior detection method, and a behavior detection system capable of accurately outputting the fact that an animal has taken a riding behavior.

In one embodiment, the behavior detection program acquires a distance image taken from above at a predetermined time interval of a region where an animal performing a riding behavior during the estrus period exists, and is high based on the acquired first distance image. The range in which the animal is photographed whose value is equal to or greater than the reference value is specified, and the height of the specified range is equal to or greater than the reference value based on a plurality of distance images acquired after the first distance image. To determine whether the time indicating the above time is equal to or longer than the predetermined time, and output that the animal photographed in the specified range has taken a riding action when the time is longer than the predetermined time. Behavior detection program.

It is possible to accurately output that the animal has taken a multiplication action.

It is a figure which shows roughly the structure of the behavior detection system which concerns on one Embodiment. It is a figure which shows an example of the arrangement of the photographing apparatus in a building. FIG. 3A is a diagram showing a hardware configuration of a terminal, and FIG. 3B is a diagram showing a hardware configuration of a server. It is a functional block diagram of a server. It is a figure which shows an example of the activity amount table. It is a flowchart which shows an example of the processing of a server. FIG. 7A is a diagram showing an example of a distance image, and FIG. 7B is a diagram for explaining a process of identifying the position of a cow from the distance image. FIG. 8A is a diagram for explaining the height threshold value of the cow, and FIG. 8B is a diagram for explaining the cow which is the target cow in step S18 of FIG. is there. 9 (a) to 9 (c) are diagrams for explaining the update of the activity amount table. FIG. 10 (a) is a diagram showing a cow performing a multiplication behavior, and FIG. 10 (b) is a graph showing a height distribution in the example of FIG. 10 (a). FIG. 11A is a diagram showing a direction (arrow r) in which a cow that has taken a multiplication-allowed behavior is likely to move, and FIG. 11B is a diagram showing a female moving in the direction of arrow r. The distance image which shows a cow is a figure. 12 (a) is a two-dimensional image corresponding to the distance image of FIG. 11 (b), and FIG. 12 (b) is a diagram showing a notification image. It is a figure which shows the notification screen. It is a flowchart which shows the processing of the server in the modification. It is a figure which shows the notification screen which concerns on the modification.

Hereinafter, one embodiment of the behavior detection system will be described in detail with reference to FIGS. 1 to 12. FIG. 1 schematically shows the configuration of the behavior detection system 100 according to the embodiment. The behavior detection system 100 of the present embodiment monitors the behavior of an animal (a cow in the present embodiment) that takes a riding behavior during the estrus period bred by a dairy farmer, and that the riding behavior has been performed or that the riding behavior is allowed. It is a system that notifies dairy farmers of information on cows that have taken action (cows in estrus). Here, the riding behavior is an behavior in which another cow rides from behind the cow. In addition, the multiplication-allowed behavior is an behavior in which the cow tolerates and does not move even if another cow gets on from behind, and it means that the cow that takes this multiplication-allowed behavior is in estrus.

As shown in FIG. 1, the behavior detection system 100 includes a plurality of photographing devices 50, a terminal 70, and a server 10. Each of these devices is connected to a network 80 such as the Internet.

In the present embodiment, the photographing apparatus 50 is provided on the ceiling of the building 110 for raising cows, as schematically shown in FIG. The photographing device 50 includes a distance image camera capable of capturing a distance image and a two-dimensional image camera capable of capturing a two-dimensional image (for example, an RGB image). In the present embodiment, four photographing devices 50 are provided in the building 110, and the photographing range of the distance image camera and the two-dimensional image camera possessed by each photographing device 50 is divided into four areas A to D in the building 110. It has become. That is, the four photographing devices 50 can continue to photograph all the cows in the building 110.

The distance image camera captures a distance image capable of acquiring the height distribution in each area. Here, the distance image refers to an image having a value of the distance from the photographing device 50 to the object instead of the value of the color and the shade in a normal two-dimensional image.

The two-dimensional image camera captures a cow existing in each region from above and obtains a two-dimensional image (RGB image).

The terminal 70 is a PC (Personal Computer), a smartphone, a tablet-type terminal or the like used by a dairy farmer. The terminal 70 has a hardware configuration as shown in FIG. 3A. That is, the terminal 70 includes a CPU (Central Processing Unit) 190, a ROM (Read Only Memory) 192, a RAM (Random Access Memory) 194, a storage unit (here, an HDD (Hard Disk Drive)) 196, a network interface 197, and a display unit. 193, an input unit 195, a portable storage medium drive 199 and the like capable of reading data and programs stored in the portable storage medium 191 are provided. Each component of the terminal 70 is connected to the bus 198. The terminal 70 has a function of receiving the information provided by the server 10 and displaying it on the display unit 193.

Returning to FIG. 1, the server 10 acquires a distance image or a two-dimensional image from the photographing device 50, detects the riding behavior of the cow based on the distance image, and takes the riding allowable behavior of the cow ( Identify the cow in estrus). In addition, the server 10 notifies the terminal 70 of the fact that the multiplication action has been performed and the information of the cow that has taken the multiplication permission action.

FIG. 3B schematically shows the hardware configuration of the server 10. As shown in FIG. 3B, the server 10 includes a CPU 90, a ROM 92, a RAM 94, a storage unit (here, an HDD) 96, a network interface 97, a portable storage medium drive 99, and the like. Each component of the server 10 is connected to the bus 98. In the server 10, the CPU 90 executes a program (including an action detection program) stored in the ROM 92 or HDD 96, or a program (including an action detection program) read from the portable storage medium 91 by the portable storage medium drive 99. By doing so, the functions of each part shown in FIG. 4 are realized. The functions of each part in FIG. 4 may be realized by, for example, an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

FIG. 4 shows a functional block diagram of the server 10. In the server 10, when the CPU 90 executes a program, the distance image acquisition unit 20 as the acquisition unit, the two-dimensional image acquisition unit 22, the distance image analysis unit 24, the riding behavior determination unit 26, and the estrus cow estimation as the estimation unit The functions as the unit 28 and the notification unit 30 as the output unit are realized.

The distance image acquisition unit 20 acquires distance images taken at predetermined time intervals (for example, 5 second intervals) by the distance image camera of each photographing device 50. The distance image acquisition unit 20 transmits the acquired distance image to the distance image analysis unit 24. Further, the distance image acquisition unit 20 transmits a distance image to the estrus cow estimation unit 28 in response to a request from the estrus cow estimation unit 28.

The two-dimensional image acquisition unit 22 acquires a two-dimensional image captured by the two-dimensional image camera of each photographing device 50 in response to a request from the notification unit 30. The two-dimensional image acquisition unit 22 transmits the acquired two-dimensional image to the notification unit 30.

The distance image analysis unit 24 identifies the position of the cow and the height of the cow existing in each of the areas A to D in the building 110 based on the distance image.

The riding behavior determination unit 26 determines the presence or absence of riding behavior based on the position and height of each cow. The riding behavior determination unit 26 uses the activity amount table 40 when determining the presence or absence of multiplication behavior. FIG. 5 shows the data structure of the activity amount table 40. The details of the activity amount table 40 will be described later.

The estrus cow estimation unit 28 estimates the estrus cow (the cow that has taken the multiplication allowable behavior) based on the distance image when the multiplication behavior determination unit 26 determines that the multiplication behavior has occurred. To do. The estrus cow estimation unit 28 transmits the estimation result to the notification unit 30.

The notification unit 30 transmits to the terminal 70 an image showing that the multiplication behavior determination unit 26 has determined that there is a multiplication behavior and that the estrus cow estimation unit 28 has estimated the estrus cow. Here, when the notification unit 30 acquires the information of the estrus cow estimated by the estrus cow estimation unit 28, the notification unit 30 requests the two-dimensional image acquisition unit 22 to transmit the two-dimensional image, and the two-dimensional image acquisition unit 22 Receive a 2D image from. Then, the notification unit 30 creates a notification image with a mark or the like that identifies the cow in estrus on the received two-dimensional image, and transmits a notification screen (see FIG. 13) including the notification image to the terminal 70. ..

(About the processing of server 10)
Next, the processing of the server 10 will be described in detail with reference to other drawings as appropriate according to the flowchart of FIG. In the following, for convenience of explanation, the process using the photographing device 50 for photographing the area A will be described, but the same applies to the process using the photographing device 50 for photographing the areas B to D.

In the process of FIG. 6, first, in step S10, the distance image acquisition unit 20 acquires a distance image of the target region (here, region A) captured by the distance image camera. The distance image acquisition unit 20 transmits the acquired distance image to the distance image analysis unit 24. In the present embodiment, if the photographing device 50 captures a distance image at intervals of, for example, 5 seconds, step S10 is executed at intervals of 5 seconds.

Next, in step S12, the distance image analysis unit 24 calculates the height information of each position (each pixel) in the target region from the distance image. Next, in step S14, the distance image analysis unit 24 determines the position and height of the cow from the height information. Here, the distance image analysis unit 24 determines that the position of the cow is a pixel range indicating a height equal to or higher than a predetermined height from the ground (for example, a height of several cm or more from the ground). For example, it is assumed that cows are distributed in the region A as shown in FIG. 7A. In this case, as shown by the broken line frame in FIG. 7B, the distance image analysis unit 24 has the smallest rectangular frame including the pixel range (position of the cow) at a height equal to or higher than the ground in the distance image. To identify. Then, the distance image analysis unit 24 sets the positions of the four vertices of the specified rectangular frame as positions a, b, c, and d. Further, the distance image analysis unit 24 specifies the height of the highest point in the rectangular frame as the height of the cow.

Next, in step S16, the multiplication behavior determination unit 26 determines whether or not there is a cow whose height is equal to or greater than the threshold value. Here, the threshold value is, for example, a value obtained by multiplying the average height of cows of the type by a predetermined number (for example, 1.3) based on the type of cows raised in the building 110. Can be used. Further, as the threshold value, an average value of the heights of cows obtained each time step S12 is executed, a value obtained by multiplying this average value by a predetermined number, or the like can be used. For example, assuming that the value obtained by multiplying the average height of cows by a predetermined number (for example, 1.3) is the threshold value, as shown in FIG. 8 (a), the height of the cows taking the riding behavior is the threshold value. That is all. If the determination in step S16 is affirmed, the process proceeds to step S18, but if the determination in step S16 is denied, the process proceeds to step S30. The processing after step S30 will be described later.

When the determination in step S16 is affirmed and the process proceeds to step S18, the multiplication behavior determination unit 26 targets a cow whose height is equal to or higher than the threshold value. In addition, the case of being a target cow is a case where a cow rides on the back of another cow and takes a riding action as shown by the alternate long and short dash line frame in FIG. 8B. In this case, since the rectangular frame including the two cows is specified as the cow position, it is assumed that the two cows are regarded as one cow. In FIG. 7, the number of target cows is one, but when the riding behavior is performed at a plurality of places in the area A, the number of target cows is multiple.

Next, in step S20, the riding behavior determination unit 26 determines whether or not all the target cows have been selected. If the determination in step S20 is denied, the process proceeds to step S22. If the determination in step S20 is affirmed, the process proceeds to step S30, but the details of the processing after step S30 will be described later.

When the process proceeds to step S22, the multiplication behavior determination unit 26 selects an unselected target cow. Here, as an example, it is assumed that the target cow shown by the alternate long and short dash line frame in FIG. 8B is selected.

Next, in step S24, the riding behavior determination unit 26 determines whether or not there is data in the activity amount table 40 in which a position similar to the position of the selected target cow is recorded. Here, the activity amount table 40 is a table that manages information on cows that hardly move while maintaining the height above the threshold value, and has a data structure as shown in FIG. In the activity amount table 40, the "identification number" of the target cow, the "date and time" in which the position and height are specified, and the "position a", "position b", and "position" of each vertex of the rectangular frame containing the target cow are displayed. "c", "position d", and "height" of the target cow are stored. The “identification number” is a number assigned to the target cow in step S26 described later. Further, the "position" is the position coordinate of each vertex of the rectangular frame on the XY coordinate system set in the distance image. The activity amount table 40 is created for each identification number assigned in step S26. That is, there are as many activity tables 40 as there are cows riding on other cows. Then, while the target cow keeps the height above the threshold value and hardly moves, the date / time, position, and height data are continuously added to the corresponding activity amount table 40.

For example, if the target cow selected in step S22 has just started the multiplication behavior, the judgment in step S24 is denied because there is no data having a position similar to the position of the selected target cow. The process proceeds to step S26. Here, when the riding behavior determination unit 26 determines whether or not the positions are similar, for example, the center of gravity of the selected target cows a to d and the currently existing one or a plurality of activity amount tables 40 Compare with the center of gravity of the latest positions a to d. Then, if the center of gravity of the latest positions a to d is close to the center of gravity of the selected target cows a to d, the determination in step S24 is affirmed. However, the present invention is not limited to this, and the riding behavior determination unit 26 determines whether or not the positions are similar to each of the selected target cow positions a to d and the latest position a of each activity amount table 40. It may be determined whether or not the total difference of ~ d is less than a predetermined value.

When the determination in step S24 is denied and the process proceeds to step S26, the multiplication behavior determination unit 26 assigns an identification number to the selected target cow and records the position, time, and height in the activity amount table 40. .. For example, the multiplication behavior determination unit 26 assigns an unnumbered identification number (for example, 008) in the other activity amount table 40 to the currently selected target cow, and as shown in FIG. 9A. An activity table 40 having an identification number “008” is created, and the position, time, and height of the target cow are recorded. After that, the process returns to step S20.

On the other hand, if the determination in step S24 is affirmed, the process proceeds to step S28, and the multiplication behavior determination unit 26 records the position and time in association with the corresponding data in the activity amount table 40.

For example, the activity amount table 40 (identification number 008) of FIG. 9 (a) is created, and the position of the target cow selected from the distance image acquired next (for example, after 5 seconds) is shown in FIG. 9 (a). If it is close to the latest position, the determination in step S24 is affirmed and the process proceeds to step S28. In this case, the multiplication behavior determination unit 26 records new position, time, and height information in the activity amount table 40 (identification number 008) as shown in FIG. 9B. After that, the process returns to step S20.

Returning to step S20, the multiplication behavior determination unit 26 determines whether or not all the target cows have been selected. While the determination in step S20 is denied, the processing / determination in steps S22 to S28 is repeated, but when the determination in step S20 is affirmed, the process proceeds to step S30.

When the determination in step S16 is denied or the determination in step S20 is affirmed and the process proceeds to step S30, the multiplication behavior determination unit 26 determines whether or not there is a cow whose recording in the activity amount table 40 is interrupted. to decide. That is, based on the distance image acquired in the latest step S10, it is determined whether or not there is an action amount table 40 in which new position and height data are not recorded. If the determination in step S30 is denied, the process returns to step S10, but if the determination is affirmed, the process proceeds to step S32. For example, as shown in FIG. 9 (c), on March 13, 2019, the activity amount table 40 (identification number 001) in which the data up to 10:06:05 on March 13, 2019 was recorded. If the data obtained from the distance image at 10:06:10 is not input, the process proceeds to step S32.

When the process proceeds to step S32, the multiplication behavior determination unit 26 determines whether or not there is an action amount table 40 having a recording time of a predetermined time or more among the action amount tables 40 whose recording has been interrupted. Here, the recording time means the time between the first time and the last time recorded in the activity amount table 40. For example, in the case of FIG. 9C, the recording time is 35 seconds. In the example of FIG. 9C, if the predetermined time is set to 40 seconds, the determination in step S32 is denied, and the multiplication behavior determination unit 26 returns to step S10. If the determination in step S32 is denied, the action amount table 40 whose recording has been interrupted is deleted, and then the process returns to step S10.

On the other hand, if the determination in step S32 is affirmed, the process proceeds to step S34. Moving to step S34, the estrus cow estimation unit 28 identifies the cow that has been multiplied. Hereinafter, the process of step S34 will be described in detail.

First, the estrus cow estimation unit 28 acquires a distance image (for example, the distance image of FIG. 8B) obtained at the latest date and time of the activity amount table 40 in which the recording is interrupted from the distance image acquisition unit 20 and acquires it. From the distance image obtained, the height information of the entire inside of the rectangular frame indicating the position of the target cow is acquired.

Next, the estrus cow estimation unit 28 extracts the height distribution (the shape of the ridgeline along the longitudinal direction) along the longitudinal direction of the rectangle based on the height information in the rectangular frame. Here, when the cow in the rectangular frame of FIG. 8 (b) is performing the multiplication behavior as shown in FIG. 10 (a), the height distribution is a fine solid line in FIG. 10 (b). Will be shown by.

In this case, the estrus cow estimation unit 28 approximates the fine solid line graph of FIG. 10B with, for example, three straight lines (see the thick solid line). Then, the estrus cow estimation unit 28 identifies a range exceeding the threshold value (value shown by the alternate long and short dash line in FIG. 10B) used in step S16 among the three straight lines, and sets the apex P as a boundary. Let the ranges Za and Zb.

Next, the estrus cow estimation unit 28 identifies the steeper slope (that is, the narrower range) of the ranges Za and Zb, and the range specified from the apex P (in FIG. 10B, the range Za). ) Extend in the direction of extension. Here, it is assumed that the direction indicated by the arrow r is specified in FIG. 11A.

Next, the estrus cow estimation unit 28 requests the distance image acquisition unit 20 for a distance image for a certain period of time thereafter. Then, the estrus cow estimation unit 28 shows the cow (shown by the rectangular frame S in FIG. 11B) that moves in the arrow r direction or the direction approximated by the arrow r direction with respect to the apex P based on the acquired distance image. The cow) is identified as a cow that has taken a riding-allowed behavior. This is because cows that have taken a multiplicative behavior usually move forward after the multiplication behavior is completed. In addition, the estrus cow estimation unit 28 acquires information on the shooting date and time of the distance image capable of identifying the cow that has taken the multiplication-allowed behavior from the metadata of the distance image and the like. After identifying the cow that took the multiplication action (the estrus cow) in this way, the estrus cow estimation unit 28 notifies the position information of the rectangular frame S in FIG. 11B and the information on the shooting date and time. Hand over to 30.

Next, in step S36 of FIG. 6, the notification unit 30 notifies the terminal 70. In this case, the notification unit 30 requests the two-dimensional image acquisition unit 22 for a two-dimensional image taken at the shooting date and time of the distance image obtained from the estrus cow estimation unit 28. In response to this request, when a two-dimensional image (see FIG. 12A) is transmitted from the two-dimensional image acquisition unit 22, the notification unit 30 sends a one-dot chain line frame (rectangular frame) S to the received two-dimensional image. Is performed to display a notification image (see FIG. 12B).

Then, the notification unit 30 creates a notification screen as shown in FIG. 13 including the fact that there was a multiplication behavior and a notification image showing the estrus cow, and transmits it to the terminal 70. In the dairy farm, the estrus cow can be confirmed by referring to the notification screen displayed on the terminal 70. In this case, the dairy farmer accurately identifies the estrus cow by checking the number of the sign provided on the ears of the estrus cow, for example, by enlarging the notification image. be able to. By doing so, the dairy farmer can obtain information on the cattle in estrus without performing 24-hour monitoring or the like.

After step S36, the process returns to step S10. When returning from step S36 to step S10, it is assumed that the action amount table 40 whose recording is interrupted is deleted. When returning to step S10, the processes after step S10 described above are repeatedly executed.

As is clear from the explanation so far, in the present embodiment, the height from the distance image (first distance image) acquired by the distance image analysis unit 24 and the riding behavior determination unit 26 is equal to or higher than the threshold value (reference value). The function as a specific part that specifies the range in which the cow is photographed is realized. Further, it is acquired after the image (first distance image) used when the range in which the cow whose height is equal to or higher than the threshold is specified by the distance image analysis unit 24 and the riding behavior determination unit 26. Based on a plurality of distance images, a function as a determination unit for determining whether the time for maintaining the height above the threshold value is equal to or longer than a predetermined time is realized.

As described in detail above, according to the present embodiment, the distance image acquisition unit 20 captures a distance image from above of a region in which an animal (cow in the present embodiment) that takes a riding action during the estrus period exists. Is acquired at predetermined time intervals. Further, the riding behavior determination unit 26 identifies a cow (rectangular frame) whose height is equal to or higher than a threshold value among the positions (rectangular frame) of the cow based on the distance image. Further, the multiplication behavior determination unit 26 determines that the time at which the height of the specified rectangular frame (cow) indicates the threshold value or more is equal to or longer than the predetermined time based on the plurality of distance images acquired thereafter. It is determined that the cow in the specified rectangular frame has taken the riding action. Then, the notification unit 30 outputs the determination result of the multiplication behavior determination unit 26 to the terminal 70. As a result, in the present embodiment, when it is detected that the cow whose height is equal to or higher than the threshold value has maintained the height for a predetermined time or more and hardly moved, it is determined that there was a multiplication behavior. Output. Therefore, the dairy farmer can know that there was a multiplication behavior without performing 24-hour monitoring or the like. In this case, since it is not necessary to attach a sensor or the like to the cow, it is possible to prevent stress on the cow. Further, in the present embodiment, since the area where the cow exists is photographed from above, the cow taking the riding behavior is hidden by another cow as in the case of photographing from the horizontal direction, and the cow is riding. It is possible to prevent the occurrence of a situation in which the multiplication behavior cannot be detected.

Further, in the present embodiment, the estrus cow estimation unit 28 has a high possibility that the cow (estrus cow) that has taken the multiplication-allowed behavior moves based on the height distribution in the specified rectangular frame. (Arrow r direction) is specified. Then, the estrus cow estimation unit 28 estimates that the cow that has moved from the vicinity of the specified rectangular frame in the direction approximated by the arrow r direction is the cow that has taken the multiplication-allowed behavior (estrus cow). As a result, in the present embodiment, the estrus cow estimation unit 28 can accurately estimate the estrus cow and notify the terminal 70.

Further, in the present embodiment, when notifying the terminal 70 of the information of the estrus cow estimated by the estrus cow estimation unit 28, a notification image capable of identifying the estrus cow is created by using a two-dimensional image. To do. As a result, the estrus cow can be displayed on the terminal 70 in an easy-to-understand manner.

Further, in the present embodiment, since the height threshold value is determined based on the body height of the cow, it is possible to accurately determine the presence or absence of the riding behavior.

In the above embodiment, as described with reference to FIGS. 11 (a) and 11 (b), a cow (a cow in estrus) that has taken a multiplication-allowed behavior is estimated and then estrus. A case where a notification image (FIG. 12B) identifying the cow is transmitted to the terminal 70 has been described. However, not limited to this, the notification unit 30 creates a notification image in which a frame similar to the one-dot chain line frame in FIG. 11A is displayed on the two-dimensional image obtained while taking the multiplication action. Then, the notification screen including the created notification image may be transmitted to the terminal 70. In this case, the dairy farmer may identify the cow located on the lower side in the alternate long and short dash line frame as the estrus cow by enlarging the notification image or the like.

In the above embodiment, the case where the target for monitoring the multiplication behavior is a cow has been described, but the present invention is not limited to this. For example, male calves and castrated bulls may also perform multiplicative behavior, so these cows may be included in the surveillance. In addition, the monitoring target of the riding behavior may be an animal other than the cow, such as a horse or a pig, as long as it is an animal that performs the riding behavior during the estrus period.

(Modification example)
In the above embodiment, the case where the server 10 outputs the fact that the multiplication action has been performed to the terminal 70 has been described, but the present invention is not limited to this, and the server 10 is a cow lying on its stomach or lying down ( (Not limited to cows) may be detected and the detection result may be sent to the terminal 70.

Hereinafter, the details of this modification will be described with reference to the flowchart of FIG. Of the steps of FIG. 14, the steps corresponding to the steps of FIG. 6 are indicated with the same step numbers as those of FIG. Further, in this modified example, since the monitoring target is not limited to the cow as described above, the portion described as "cow" in FIG. 6 is described as "cow" in FIG. In the following description, it is assumed that the processing unit shown in FIG. 14 is executed by the processing unit, which is one of the functions of the server 10.

In the process of FIG. 14, the processing unit executes steps S10 to S14 in the same manner as in FIG. After that, when the process proceeds to step S16', the processing unit determines whether or not there is a cow whose height is less than the threshold value. The threshold value in this case is a value different from the threshold value used in step S16 of the above embodiment, and is, for example, 1 to the average body height of the cow (the average body height obtained based on the type of cow or the detected average body height). Is also a value multiplied by a small predetermined number (for example, 0.5). That is, in step S16', it is determined whether or not there is a cow lying prone or lying down.

If the determination in step S16'is denied, the process returns to step S10. On the other hand, if the determination in step S16'is affirmed, the process proceeds to step S20 through step S18. If the determination in step S20 is affirmed, the process proceeds to step S32, but if it is denied, the process proceeds to step S22. The processing of steps S22 to S28 is the same as that of steps S22 to S28 of FIG. That is, in steps S22 to S28, if there is a newly prone cow or a fallen cow, the processing unit newly creates an activity amount table 40 for that cow. On the other hand, when there is a cow that keeps lying down or lying down, the processing unit records (updates) new data in the activity amount table 40 of the cow.

On the other hand, when the determination in step S20 is affirmed and the process proceeds to step S32, the processing unit determines whether or not there is an action amount table 40 having a recording time of a predetermined time or longer. That is, in this step S32, it is determined whether or not there is a cow lying prone or lying down at substantially the same position. If the determination in step S32 is denied, the process returns to step S10, but if the determination is affirmed, the process proceeds to step S34'.

When the process proceeds to step S34', the processing unit determines the cow corresponding to the activity amount table whose recording time is a predetermined time or longer as a prone and fall candidate. Then, the processing unit creates a two-dimensional image showing the position of the prone or fallen candidate cow in the same manner as in the above embodiment, and notifies the terminal 70 of the notification screen as shown in FIG.

As described above, according to the present modification, it is possible to accurately detect the prone and fallen candidate cows and notify the fact. In this modified example, it is sufficient to notify that there is a prone or fallen candidate cow. That is, the processing unit may only notify the terminal 70 of the warning information that there are prone and fallen candidate cows without creating the notification screen including the notification image as shown in FIG.

In the above modified example, the case where the target for monitoring prone position and falling down is a cow has been described, but the present invention is not limited to this. That is, the prone and fall monitoring targets can be various animals other than cattle.

The above processing function can be realized by a computer. In that case, a program that describes the processing content of the function that the processing device should have is provided. By executing the program on a computer, the above processing function is realized on the computer. The program describing the processing content can be recorded on a computer-readable storage medium (excluding the carrier wave).

When a program is distributed, it is sold in the form of a portable storage medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. It is also possible to store the program in the storage device of the server computer and transfer the program from the server computer to another computer via the network.

The computer that executes the program stores, for example, the program recorded on the portable storage medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes the processing according to the program. The computer can also read the program directly from the portable storage medium and execute the process according to the program. In addition, the computer can sequentially execute processing according to the received program each time the program is transferred from the server computer.

The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the gist of the present invention.

Regarding the description of the above embodiments, the following additional notes will be further disclosed.
(Appendix 1) Distance images taken from above of the area where animals that take multiplication behavior during the estrus period exist are acquired at predetermined time intervals.
Based on the acquired first distance image, the range in which the animal whose height is equal to or higher than the reference value is photographed is specified.
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or more is the predetermined time or more, and it is the predetermined time or more. In the case, it is output that the animal photographed in the specified range has taken a riding action.
An action detection program that causes a computer to perform processing.
(Appendix 2) The output process is characterized in that an animal that has taken a multiplication-allowed behavior is estimated based on the height distribution within the specified range, and the estimated information on the animal is output. The behavior detection program described in Appendix 1.
(Appendix 3) The output process is described in Appendix 2, characterized in that an animal that has moved from the specified range in a direction determined based on the height distribution is estimated to be an animal that has taken a multiplication-allowed behavior. Behavior detection program.
(Appendix 4) The behavior detection program according to Appendix 2 or 3, wherein in the output process, a two-dimensional image specifying an animal that has taken the estimated multiplication-allowed behavior is output.
(Supplementary Note 5) The behavior detection program according to any one of Supplementary notes 1 to 4, wherein the reference value is a value determined based on the body height of the animal.
(Appendix 6) Distance images taken from above of the area where the animal exists are acquired at predetermined time intervals.
Based on the acquired first distance image, the range in which the animal whose height is below the reference value was photographed was specified.
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or less is the predetermined time or more, and it is the predetermined time or more. In some cases, inform information about the prone or fall of the animal,
An action detection program that causes a computer to perform processing.
(Appendix 7) Distance images taken from above of the area where animals that take multiplication behavior during the estrus period exist are acquired at predetermined time intervals.
Based on the acquired first distance image, the range in which the animal whose height is equal to or higher than the reference value is photographed is specified.
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or more is the predetermined time or more, and it is the predetermined time or more. In the case, it is output that the animal photographed in the specified range has taken a riding action.
A behavior detection method characterized in that a computer executes processing.
(Appendix 8) An acquisition unit that acquires distance images taken from above at predetermined time intervals of the area where animals that take multiplication behavior during the estrus period exist.
Based on the acquired first distance image, a specific part that specifies the range in which the animal whose height is equal to or higher than the reference value is photographed, and
Based on a plurality of distance images acquired after the first distance image, a determination unit for determining whether the time at which the height of the specified range indicates the reference value or more is equal to or longer than a predetermined time.
An output unit that outputs that the animal, which was photographed in the specified range, took a multiplication action when the time was longer than the predetermined time.
Behavior detection system with.
(Appendix 9) An estimation unit for estimating an animal that has taken a multiplicative behavior based on the height distribution within the range specified by the specific unit is provided.
The behavior detection system according to Appendix 8, wherein the output unit outputs information on an animal that has taken a multiplication-allowed behavior estimated by the estimation unit.
(Supplementary Note 10) The estimation unit is characterized in that an animal that has moved from the range specified by the specific unit in a direction determined based on the height distribution is estimated to be an animal that has taken a multiplication-allowed behavior. The behavior detection system according to 9.
(Supplementary Note 11) The behavior detection system according to Appendix 9 or 10, wherein the output unit outputs a two-dimensional image identifying an animal that has taken the multiplication-allowed behavior estimated by the estimation unit.
(Supplementary note 12) The behavior detection system according to any one of Supplementary note 8 to 11, wherein the reference value is a value determined based on the body height of the animal.

20 Distance image acquisition unit (acquisition unit)
24 Distance image analysis unit (part of specific unit, part of judgment unit)
26 Multiplication Behavior Judgment Department (part of specific part, part of judgment part)
28 Estrus cattle estimation department (estimation department)
30 Notification unit (output unit)
100 behavior detection system

Claims (7)

Distance images taken from above of the area where animals that take multiplication behavior during the estrus period exist are acquired at predetermined time intervals.
Based on the acquired first distance image, the range in which the animal whose height is equal to or higher than the reference value is photographed is specified.
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or more is the predetermined time or more, and it is the predetermined time or more. In the case, it is output that the animal photographed in the specified range has taken a riding action.
An action detection program that causes a computer to perform processing. According to claim 1, the output process estimates an animal that has taken a multiplication-allowed behavior based on a height distribution within the specified range, and outputs the estimated information on the animal. The described behavior detection program. The behavior detection according to claim 2, wherein in the output process, an animal that has moved from the specified range in a direction determined based on the height distribution is estimated to be an animal that has taken a multiplication-allowed behavior. program. The behavior detection program according to claim 2 or 3, wherein in the output process, a two-dimensional image specifying an animal that has taken the estimated multiplication-allowed behavior is output. The behavior detection program according to any one of claims 1 to 4, wherein the reference value is a value determined based on the body height of the animal. Distance images taken from above of the area where animals that take multiplication behavior during the estrus period exist are acquired at predetermined time intervals.
Based on the acquired first distance image, the range in which the animal whose height is equal to or higher than the reference value is photographed is specified.
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or more is the predetermined time or more, and it is the predetermined time or more. In the case, it is output that the animal photographed in the specified range has taken a riding action.
A behavior detection method characterized in that a computer executes processing. An acquisition unit that acquires distance images taken from above at predetermined time intervals of the area where animals that take multiplication behavior during the estrus period exist.
Based on the acquired first distance image, a specific part that specifies the range in which the animal whose height is equal to or higher than the reference value is photographed, and
Based on a plurality of distance images acquired after the first distance image, it is determined whether or not the time at which the height of the specified range indicates the reference value or more is the predetermined time or more, and it is the predetermined time or more. In the case, an output unit that outputs that the animal photographed in the specified range has taken a multiplication action, and
Behavior detection system with.

Images