Three-dimensional measuring system for animals using structured light

• US 6,377,353 B1
• Filed: 03/07/2000
• Issued: 04/23/2002
• Est. Priority Date: 03/07/2000
• Status: Expired due to Fees

• Current Assignee: Pheno Imaging Incorporated
• Original Assignee: Pheno Imaging Incorporated
• Inventors: Ellis, James S.
• Primary Examiner(s): Pham, Hoa Q.
• Application Number:
  US09/520,024
• Time in Patent Office: 777 Days
• Field of Search: 356/601, 356/603, 356/608, 356/614, 356/616, 356/622, 356/627, 356/396, 356/397, 348/135, 348/552, 250/559.2, 250/559.21, 250/559.22
• US Class Current: 356/603
• CPC Class Codes: A01K 11/006 Automatic identification systems for animals, e.g. electronic devices, transponders for animals identification systems for access to feeding pens A01K1/0209; ear tags with electronic identification means A01K11/004
• CPC Class Codes: A01K 29/00 Other apparatus for animal husbandry
• CPC Class Codes: G01B 11/2504 Calibration devices
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns

Abstract

A system measures the three-dimensional linear, angular and volumetric characteristics of an animal or carcass, such as a beef animal. The system uses light spots from a structured light camera to measure multiple points on the animal. The system locates the vertical, horizontal and depth dimension for each point and uses this data to calculate the desired linear and volumetric measurements for conformation of the animal by combining measurements of some of the light spots projected on the animal. The system also provides rapid consecutive three-dimensional motion pictures of the animal.

Claims

1. A system for measuring linear and volumetric characteristics of an animal, the system comprising:

image projection means for projecting a plurality of structured light elements toward the animal to reflect therefrom;

image receiving means for receiving the reflected structured light elements and providing vertical and horizontal dimension data for each of the reflected structured light elements; and

computer means for receiving the vertical and horizontal dimension data, for determining distance data comprising a distance between each of said structured light elements and a distance between the image receiving means and each of said structured light elements, and for measuring linear and volumetric characteristics of the animal using said distance data.

2. The system of claim 1 further comprising:

means connected to the computer means for capturing an image of the animal wherein the image contains identifying markings of the animal.

3. The system of claim 1 wherein said computer means further comprises means for computing, from the distance data, a volume of at least one portion of the animal.

4. The system of claim 1 wherein said computer means further comprises means for determining a rating of the animal.

5. The system of claim 1 wherein said computer means further comprises means for determining a radius of curvature of at least one area of the animal.

6. The system of claim 1 wherein said structured light elements comprise circular spots of light.

7. The system of claim 1 wherein said structured light elements comprise linear bands of light.

8. The system of claim 1 wherein said structure light elements comprise vertical linear bands of light projected at a first time and horizontal linear bands of light projected at a second time.

9. The system of claim 1 further comprising means for receiving at least two images of the animal, and further wherein said computer means determines at least one movement characteristic of the animal from said at least two images.

10. A method for measuring linear and volumetric characteristics of an animal, the method comprising the steps of:

(a) projecting a plurality of structured light pattern elements toward the animal to reflect therefrom;

(b) receiving structured light pattern elements reflected from the animal;

(c) measuring vertical and horizontal dimension data for each of the reflected structured light pattern elements received in step (b);

(d) measuring a distance between each of said structured light pattern elements received in step (b);

(e) measuring a distance between the image receiving means and each of said structured light pattern elements received in step (b); and

(f) measuring linear and volumetric characteristics of the animal from results of said measuring in steps (c), (d), and (e).

11. The method of claim 10 further comprising:

(g) capturing an image of the animal wherein the image shows identifying marks of the animal.

12. The method of claim 10 wherein step (f) further comprises the step of computing, from the data of steps (c), (d), and (e), a volume of at least one portion of the animal.

13. The method of claim 10 further comprising the step of determining a rating of the animal.

14. The method of claim 10 further comprising the step of for determining a radius of curvature of at least one area of the animal.

15. The method of claim 10 wherein step (a) further comprises projecting circular spots of light as said structured light pattern elements.

16. The method of claim 10 wherein step (a) further comprises projecting linear bands of light as said structured light pattern elements.

17. The method of claim 10 wherein step (a) further comprises projecting horizontal linear bands of light as said structured light patterns and step (f) further comprises the following step (f0) performed before step (f):

(f0) repeating steps (a) through (e) while projecting vertical linear bands of light as said structured light pattern elements in step (a) and wherein said linear and volumetric characteristics are measured from the results of said horizontal linear bands and said vertical linear bands.

18. The method of claim 10 further comprising the steps of:

(g) repeating steps (a) through (f) to measure a second image of the animal; and

(h) measuring at least one movement characteristic of the animal from said measurements of said two images.

19. A system for measuring linear and volumetric characteristics of an animal, the system comprising:

a projector for projecting a plurality of structured light elements toward the animal to reflect therefrom;

a camera for receiving receive the reflected structured light elements and providing vertical and horizontal dimension data for each of the reflected structured light elements; and

a computer for receiving the vertical and horizontal dimension data, for determining distance data comprising a distance between each of said structured light elements and a distance between the image receiving means and each of said structured light pattern elements, and for measuring linear and volumetric characteristics of the animal using said distance data.

20. The system of claim 19 further comprising:

a capturing system connected to the computer means for capturing an image of the animal wherein the image contains identifying markings of the animal.

21. The system of claim 19 wherein said computer further determines a volume of at least one portion of the animal.

22. The system of claim 19 wherein said computer further determines a rating of the animal.

23. The system of claim 19 wherein said computer further determines a radius of curvature of at least one area of the animal.

24. The system of claim 19 wherein said structured light elements comprise circular spots of light.

25. The system of claim 19 wherein said structured light elements comprise linear bands of light.

26. The system of claim 19 wherein said structure light elements comprise vertical linear bands of light projected at a first time and horizontal linear bands of light projected at a second time.

27. The system of claim 19 wherein said camera receives at least two images of the animal, and further wherein said computer system determine s at least one movement characteristic of the animal from said at least two images.