Flying chip detection method and device, electronic equipment and computer readable storage medium

Abstract

The invention is suitable for the technical field of flying chip detection, and provides a flying chip detection method and device, electronic equipment and a computer readable storage medium, and the flying chip detection method comprises the steps that all events detected by an event camera within a first preset time period starting from detection of a first event are recorded, a lens of the event camera faces the plane where a to-be-ground product is located, and the to-be-ground product is located; the event comprises changed position information and brightness information in the visual field of the event camera; constructing an event frame according to the position information and the brightness information included in each event; and under the condition that the linear track is detected in the event frame, prompting that flying chips are detected. According to the method, the computing power required for detecting the flying chips can be reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of flying chip detection, and in particular relates to a flying chip detection method, device, electronic device and computer-readable storage medium. Background Art

[0002] With the advancement of technology, the products we use in our daily lives are becoming increasingly sophisticated. However, during the actual production process, products may contain defects, such as uneven or uneven surfaces. To remove these defects, grinding can be used to remove the product. However, the grinding process generates flying chips, which often damage the ground product or other products. Therefore, detection of flying chips is necessary.

[0003] In existing flying chip detection methods, a high-speed camera with a macro lens is usually used to continuously shoot the grinding area when the grinding mechanism is working, and then flying chips are identified in each image obtained by the continuous shooting, such as using a pre-trained flying chip detection model to track the motion splashes in each image in real time.

[0004] However, using the above method to detect flying chips requires a high computing power. Summary of the Invention

[0005] The embodiments of the present application provide a flying debris detection method, device, electronic device, and computer-readable storage medium, which can solve the problem of high computing power required for flying debris detection in existing methods.

[0006] In a first aspect, an embodiment of the present application provides a flying debris detection method, comprising:

[0007] Recording each event detected by an event camera within a first preset time period starting from the detection of a first event, wherein the lens of the event camera is directed toward the plane where the product to be ground is located, and the event includes position information and brightness information that have changed within the field of view of the event camera;

[0008] constructing an event frame according to the position information and the brightness information included in each of the events;

[0009] When a straight line trajectory is detected in the event frame, it is indicated that flying chips are detected.

[0010] In an embodiment of the present application, each event detected by the event camera within a first preset time period starting from the detection of the first event is recorded, and an event frame is constructed based on the position information and brightness information included in each event. If it is determined that there is a straight line trajectory in the event frame, it is prompted that flying chips have been detected. Since the event camera only detects the position information and brightness information that have changed within its field of view, that is, it will not obtain the position information and brightness information that have not changed, and flying chips are generated when the grinding mechanism is grinding the grinding product, that is, the flying chips are moving, that is, when there are flying chips, it indicates that there is changed brightness information in the field of view of the event camera (the brightness of the flying chips is different from that of the surrounding environment). Therefore, the event camera can not only obtain the information of flying chips, but also reduce the probability of obtaining redundant information, thereby reducing the amount of data to be processed, and further reducing the computing power required for flying chips detection. In addition, since the movement trajectory of flying chips is straight for a period of time, the accuracy of the detection results can be improved by detecting the straight line trajectory of the event frame constructed by each event and prompting the presence of flying chips when a straight line trajectory is detected.

[0011] Optionally, before recording each event detected by the event camera within a first preset time period starting from detecting the first event, the method further includes:

[0012] Starting the event camera to detect an event;

[0013] The recording of each event detected by the event camera within a first preset time period starting from the detection of the first event includes:

[0014] When it is determined that the number of events detected by the event camera within the second preset time period starting from detecting the first event is greater than the number threshold, each event detected by the event camera within the first preset time period starting from detecting the first event is recorded.

[0015] By first determining the number of events detected by the event camera in the second preset time period and then selecting whether to record the events detected in the first preset time period, noise interference can be effectively reduced, thereby improving the accuracy of recorded events.

[0016] Optionally, before starting the event camera to detect an event, the method further includes:

[0017] Detecting whether the light intensity of the scene where the product to be ground is located is less than a preset minimum light intensity requirement;

[0018] When the light intensity is less than the minimum light intensity requirement, a fill light whose light coverage area includes the field of view of the event camera is turned on.

[0019] Since the light coverage area of ​​the fill light includes the field of view of the event camera, when it is determined that the light intensity is less than the preset minimum light intensity requirement, turning on the fill light can enhance the light intensity within the field of view of the event camera, thereby helping to improve the accuracy of the event camera in detecting events.

[0020] Optionally, before turning on the fill light whose light coverage area includes the field of view of the event camera, the method further includes:

[0021] The light waves in a wavelength band whose reflectivity to the material of the product to be ground is greater than a preset reflectivity threshold are used as the light waves of the fill light.

[0022] Since the material of the product to be ground has a high reflectivity to the light waves radiated by the fill light, and a high reflectivity can enhance the brightness of the flying chips of the material, that is, enhance the contrast between the flying chips and the surrounding environment, therefore, the fill light determined by the above method can effectively improve the accuracy of the event camera in detecting flying chips after the fill light is turned on.

[0023] Optionally, the number of the event cameras is greater than 1, and the total area formed by the field of view of each event camera includes an area where flying chips may be generated when the grinding mechanism grinds the product to be ground;

[0024] The recording of each event detected by the event camera within a first preset time period starting from the detection of the first event includes:

[0025] For each of the event cameras, each event detected by the event camera within the first preset time period starting from detecting the first event is recorded.

[0026] By setting up multiple event cameras to detect events, the integrity of the detection results can be improved.

[0027] Optionally, the event further includes time information, and when a straight line track is detected in the event frame, prompting that flying debris is detected includes:

[0028] When a straight line track is detected in the event frame, it is detected whether the straight line track satisfies at least one of the following two conditions. If so, it is prompted that flying debris is detected:

[0029] detecting whether the starting position of the straight track is within a range of a preset length extending outward from an intercepting structure, wherein the intercepting structure is used to intercept flying chips generated when the grinding mechanism grinds the product to be ground;

[0030] It is detected whether the time information of each event on the linear trajectory is in a sequentially increasing relationship in a target direction, wherein the target direction is a direction corresponding to the starting position to the ending position of the linear trajectory.

[0031] Since the flying chips will inevitably fly outside the interception mechanism during the flying process, that is, the flying chips will gradually move away from the interception mechanism as time goes by. Therefore, when it is judged that the time information of the events on the straight line trajectory is in a sequentially increasing relationship in the direction from the starting position to the end position, it indicates that the direction corresponding to the straight line trajectory conforms to the law of flying chip movement, that is, the probability that the straight line trajectory is the movement trajectory of the flying chips is relatively high.

[0032] Optionally, the prompting that flying debris is detected includes:

[0033] Alarm by sound or light;

[0034] and / or,

[0035] The straight line trajectory is used as the motion trajectory of the flying chips and outputted.

[0036] Since prompts such as sound, light, and output linear motion trajectory are more convenient and intuitive, prompting in the above manner can enable the user to be notified of the event of detection of flying debris more quickly.

[0037] In a second aspect, an embodiment of the present application provides a flying debris detection device, comprising:

[0038] an event recording module, configured to record various events detected by an event camera within a first preset time period starting from the detection of a first event, wherein the lens of the event camera is directed toward the plane on which the product to be ground is located, and the events include position information and brightness information that have changed within the field of view of the event camera;

[0039] An event frame construction module, configured to construct an event frame according to the position information and the brightness information included in each event;

[0040] The flying debris prompt module is used to prompt that flying debris is detected when a straight line trajectory is detected in the event frame.

[0041] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute the method described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.

[0045] Figure 1 This is a flow chart of a flying debris detection method provided in one embodiment of the present application;

[0046] Figure 2 is a schematic diagram of a straight line trajectory existing in an event frame provided by an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of the field of view of two event cameras provided in one embodiment of the present application;

[0048] Figure 4 This is a schematic diagram of a scenario for performing flying debris detection using two event cameras and two fill lights, provided in one embodiment of the present application;

[0049] Figure 5 This is a structural diagram of a flying debris detection device provided by another embodiment of the present application;

[0050] Figure 6 This is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0051] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0052] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0053] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0054] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0055] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0056] During the production process, it may be necessary to grind the product to improve the qualified rate of the product leaving the factory. In the process of grinding the product, some flying chips will be generated, which will usually cause damage to the ground product or other products.

[0057] For example, the battery tabs are generally completed by welding, but due to various reasons such as the welding equipment, the welded tabs may not meet the requirements (such as the height difference of the weld exceeds the qualified threshold), so it is necessary to use a weld nodule removal device to grind them. When the weld nodule removal device uses a fast-rotating grinding wheel to grind the tab weld nodules, the ground-off residue will splash around at a very fast speed. Although there are rubber pads around the grinding wheel to act as a buffer and anti-splash, if the rubber pad is worn or not completely and tightly covered, some residue will splash out of the rubber pad, and the residue (i.e., flying chips) splashing out of the rubber pad will cause damage to the product.

[0058] In order to reduce damage to the product, flying chips need to be detected.

[0059] When detecting flying chips, if the grinding area is continuously photographed by a high-speed camera with a macro lens, and the flying chips are recognized by a pre-trained flying chip detection model for each image obtained by the shooting to achieve real-time tracking of the moving splash, it may consume a lot of computing power and still be difficult to capture a clear flying chip image. This is because the grinding mechanism does not necessarily generate flying chips when it is working. Therefore, there may be images that do not include flying chips in the various images obtained by continuous shooting with a high-speed camera. At this time, detecting flying chips in each image will result in a waste of computing resources. In addition, even if an image obtained by a high-speed camera includes flying chips, since the image must also include non-flying chip objects (i.e., background), it is also necessary to use a pre-trained flying chip detection model to track flying chips in a large number of images including non-flying chip objects, which also requires a lot of computing resources.

[0060] To reduce the computing resources consumed during flying debris detection, an embodiment of the present application provides a flying debris detection method. In this method, flying debris is detected by an event camera, and each event is compressed into an event frame. The event frame is then detected for a straight line trajectory. Finally, if a straight line trajectory is detected, a flying debris detection prompt is displayed.

[0061] Since the event camera only detects the position information and brightness information that have changed within its field of view, it will not record the position information that has not changed. Flying chips are generated when the grinding mechanism grinds the grinding product, that is, the flying chips are moving. Therefore, the event camera can not only record the information of flying chips, but also greatly reduce the amount of information to be recorded, thereby reducing the computing power required for flying chip detection.

[0062] The flying debris detection method provided in the embodiments of the present application is described below with reference to the accompanying drawings.

[0063] Figure 1 A schematic flow chart of a flying debris detection method provided in an embodiment of the present application is shown. The method can be applied to electronic devices and is described in detail as follows:

[0064] S11, recording each event detected by the event camera within a first preset time period starting from the detection of the first event, wherein the lens of the above-mentioned event camera is facing the plane where the product to be ground is located, and the above-mentioned event includes the position information and brightness information that have changed within the field of view of the above-mentioned event camera.

[0065] Among them, the event camera is a new type of visual sensor that is very sensitive to rapidly changing brightness (with a time resolution of microseconds). It works differently from traditional cameras and mainly records changes in pixel brightness rather than complete images. When the lens of the event camera is facing the plane where the product to be ground is located, and the product to be ground is ground and produces flying chips, the flying debris (i.e., flying chips) has different reflection intensities for light. Therefore, there will be a brightness difference between it and the surrounding objects in the field of view of the event camera, that is, the moving flying chips will cause the brightness of the corresponding pixel position of the event camera to change, and then generate corresponding events. Compared with standard cameras, event cameras have the characteristics of low latency, high dynamic range, low power consumption and high time resolution.

[0066] The first preset time period can be determined empirically or based on the rotational speed of the grinding mechanism (e.g., a grinding wheel). Considering that a higher rotational speed of the grinding wheel increases the speed of the flying chips, and that a higher speed of the flying chips shortens the time it takes for the flying chips to leave the field of view of the event camera, the first preset time period can be set to have an inverse correlation with the rotational speed of the grinding wheel. Optionally, the first preset time period can be set to 0.1 seconds.

[0067] In the embodiment of the present application, considering that when the product to be ground is ground, the flying chips generated fly out from the plane where the product to be ground is located, the lens of the event camera is facing the plane where the product to be ground is located, so that the event camera has the prerequisite for detecting the flying chips. When the product to be ground is ground, if flying chips are generated, then since the flying chips are in motion, that is, there will be a brightness change at the position where the flying chips exist in the grinding scene, the event camera will record the event. For example, if the event camera detects a brightness change for the first time at time t1, that is, an event is detected, the corresponding information is acquired, and the event is the first event detected by the event camera. Since the movement of flying chips will continue for a period of time, after the event camera detects the first event (that is, the flying chips are detected for the first time), the electronic device needs to record each event detected by the event camera within a period of time to achieve tracking of flying chips.

[0068] Optionally, the lens of the event camera is oriented perpendicularly to the plane of the product to be ground. Because the lens of the event camera is oriented perpendicularly to the plane of the product to be ground, the probability of distortion of event information detected by the event camera (i.e., distortion of event information detected by the event camera when the lens is not parallel to the plane of the product to be ground) can be greatly reduced.

[0069] S12: Construct an event frame according to the position information and the brightness information included in each of the events.

[0070] In an embodiment of the present application, an electronic device constructs an event frame, typically by compressing multiple events into the same event frame. When compressed into the same event frame, the maximum area range corresponding to the event frame is the area range corresponding to the maximum field of view of the event camera. Since the field of view of the same event camera remains unchanged when performing a flying debris detection, the position information of each event detected by the event camera is within the area range corresponding to the maximum field of view of the event camera. Therefore, the position information of each event can be matched to the corresponding position in the event frame, and then the corresponding brightness information can be recorded at the matched position, thus completing the construction of an event frame.

[0071] Optionally, when the field of view of the event camera is large, for example, it can cover the areas corresponding to different components, a corresponding number of event frames can be constructed according to the number of different areas. In this way, when each event frame is subsequently detected separately, the flying debris in different areas can be quickly determined.

[0072] S13 , when a straight line track is detected in the event frame, prompting that flying debris is detected.

[0073] Specifically, the linear trajectory of the event frame can be detected based on the brightness information of the event frame. Figure 2 As shown, assuming that each point represents the location information of an event, then Figure 2 It can be seen that the trajectory formed by each point is almost parallel to the straight line where the arrow is located. At this time, it can be determined that Figure 2 Because flying debris moves along a straight or nearly straight trajectory during its splashing process, the user is prompted with the presence of a flying debris detection notification when a straight trajectory is detected. It should be noted that an event frame may include one or more straight trajectory paths, depending on the number of flying debris paths, which is not limited here.

[0074] In an embodiment of the present application, each event detected by the event camera within a first preset time period starting from the detection of the first event is recorded, and an event frame is constructed based on the position information and brightness information included in each event. If it is determined that there is a straight line trajectory in the event frame, it is prompted that flying chips have been detected. Since the event camera only detects the position information and brightness information that have changed within its field of view, that is, it will not obtain the position information and brightness information that have not changed, and flying chips are generated when the grinding mechanism is grinding the grinding product, that is, the flying chips are moving, that is, when there are flying chips, it indicates that there is changed brightness information in the field of view of the event camera (the brightness of the flying chips is different from that of the surrounding environment). Therefore, the event camera can not only obtain the information of flying chips, but also reduce the probability of obtaining redundant information, thereby reducing the amount of data to be processed, and further reducing the computing power required for flying chips detection. In addition, since the movement trajectory of flying chips is straight for a period of time, the accuracy of the detection results can be improved by detecting the straight line trajectory of the event frame constructed by each event and prompting the presence of flying chips when a straight line trajectory is detected.

[0075] In some embodiments, the working scene of the event camera may contain noise, such as floating dust, which may cause the event camera to mistakenly identify the presence of flying debris and thus record the event. Therefore, in order to improve the accuracy of the recorded event, it is necessary to perform denoising before recording the event, that is, before the above step S11, the following steps are also included:

[0076] A1. Start the above event camera to detect events.

[0077] Specifically, the event camera's event detection can be started or stopped by a device having a control function. Alternatively, considering the low cost of a programmable logic controller (PLC), the PLC can be selected to start or stop the event camera's event detection.

[0078] When the above-mentioned first event is detected, it is determined whether the number of events detected by the above-mentioned event camera within a second preset time period starting from the detection of the above-mentioned first event is greater than a preset number threshold, wherein the above-mentioned second preset time period is greater than the sampling period of the above-mentioned event camera, and the above-mentioned second preset time period is shorter than the above-mentioned first preset time period.

[0079] Among them, the second preset time period and the preset quantity threshold can be set according to actual conditions. For example, assuming that the first preset time period is 0.1 seconds, the second preset time period can be set to 0.001 seconds (greater than the sampling period of the event camera), and the preset quantity threshold can be set to 3.

[0080] Correspondingly, the above step S11 includes:

[0081] When it is determined that the number of events detected by the event camera within the second preset time period starting from the detection of the first event is greater than the number threshold, each event detected by the event camera within the first preset time period starting from the detection of the first event is recorded.

[0082] Specifically, assume that the event camera detects the first event (let's call it Event 1) at time t1. The events detected during the time period from t1 to t2 (i.e., the second preset time period) are Event 1, Event 2, Event 3, and Event 4. If the preset number threshold is 3, and the number of detected events is 4, which is greater than 3, then each event detected by the event camera during the time period from t1 to t3 (i.e., the first preset time period) is recorded.

[0083] Of course, if it is determined that the number of events detected within the second preset time period is not greater than the preset number threshold, the event detected by the event camera is determined to be a false touch event, that is, an event triggered by noise. At this time, the event detected by the event camera is not recorded.

[0084] In this embodiment of the present application, only when it is determined that the number of events detected by the event camera during the first preset time period, starting from the detection of the first event, is the event camera recorded? Because the movement of flying debris can persist for a period of time, if the event camera detects fewer events in a shorter period of time, the probability that the object triggering detection is flying debris is low. In other words, by first determining the number of events detected by the event camera during the second preset time period before deciding whether to record events detected during the first preset time period, noise interference can be effectively reduced, thereby improving the accuracy of recorded events.

[0085] In some embodiments, considering that the grinding mechanism is usually located indoors and the light indoors is usually dim, in order to increase the light intensity when the event camera is working, before the above A1, the following steps are further included:

[0086] B1. Detect whether the light intensity of the scene where the product to be ground is located is less than a preset minimum light intensity requirement.

[0087] B2. When the light intensity is less than the minimum light intensity requirement, turn on the fill light whose light coverage area includes the field of view of the event camera.

[0088] When the fill light is turned on, it can enhance the light intensity within the field of view of the event camera. The fill light can be an incandescent lamp, a light emitting diode (LED), an infrared lamp, etc.

[0089] Specifically, a light intensity meter (or other device capable of obtaining light intensity) can be used to obtain the light intensity of the scene where the product to be ground is located. The electronic device then obtains the corresponding light intensity from the light intensity meter and compares the obtained light intensity with a preset minimum light intensity requirement. If the obtained light intensity is less than the preset minimum light intensity requirement, the fill light is turned on. Otherwise, if the fill light is already on and it is determined that the light intensity of the scene where the product to be ground is located is greater than the preset maximum light intensity requirement, the already turned-on fill light is turned off. The light coverage area of ​​the fill light includes the field of view of the event camera, so that after the fill light is turned on, the light intensity at each location within the field of view of the event camera is enhanced.

[0090] In the embodiment of the present application, since the light coverage area of ​​the fill light includes the field of view of the event camera, when it is determined that the light intensity is less than the preset minimum light intensity requirement, turning on the fill light can enhance the light intensity within the field of view of the event camera, thereby helping to improve the accuracy of the event camera in detecting events.

[0091] In some embodiments, considering that different materials generally have different reflectivities for light waves of different wavelengths, and the higher the reflectivity of a moving material, the more obvious the brightness contrast between the material and the surrounding environment, light waves of a high reflectivity wavelength band may be selected as the light waves of the fill light. That is, before turning on the fill light whose light coverage area includes the field of view of the event camera, the following steps may be further included:

[0092] The light waves in the wavelength band whose reflectivity of the material of the product to be ground is greater than a preset reflectivity threshold value are used as the light waves of the fill light.

[0093] Specifically, a suitable fill light can be selected based on the material of the product being ground. For example, if the material being ground is aluminum, the infrared reflectivity of aluminum is very high (0.95-0.98). This means that infrared wavelengths can significantly enhance the characteristics of flying chips. Therefore, when the material being ground is aluminum, infrared wavelengths can be selected as the fill light. In this case, the fill light is an infrared lamp.

[0094] In the embodiment of the present application, since the material of the product to be ground has a high reflectivity to the light waves radiated by the fill light, and the high reflectivity can enhance the brightness of the flying chips of the material, that is, enhance the contrast between the flying chips and the surrounding environment, therefore, the fill light determined by the above method can effectively improve the accuracy of the event camera in detecting flying chips after the fill light is turned on, such as improving the accuracy of the detected position information.

[0095] In some embodiments, before using event cameras to detect flying chips, the number of event cameras required is first determined. Specifically, the field of view of the event camera is adjusted. If the area corresponding to the field of view of one event camera includes the entire area where flying chips may be generated when the grinding mechanism grinds the product to be ground, then only one event camera is required for flying chip detection. If the area corresponding to the field of view of one event camera does not include the entire area where flying chips may be generated, then the number of event cameras needs to be increased. That is, the number of event cameras is set to be greater than 1, and the total area formed by the field of view of each of the above-mentioned event cameras includes the area where flying chips may be generated when the grinding mechanism grinds the above-mentioned product to be ground. At this time, the above-mentioned step S11 includes:

[0096] For each of the event cameras, various events detected by the event camera within the first preset time period starting from the detection of the first event are recorded.

[0097] Specifically, when multiple event cameras are used to detect flying chips generated when grinding a product to be ground, the electronic device will record the events detected by each event camera. Figure 3 As shown in FIG, it is assumed that the area corresponding to “31” is the field of view corresponding to event camera 1, the area corresponding to “32” is the field of view corresponding to event camera 2, and the area where the slash line is located is the area where flying debris may appear. Figure 3 It can be seen that due to the grinding mechanism (such as grinding wheel --- Figure 3 Because the black circle in the middle is blocked, the field of view of event camera 1 can only detect flying chips on one side of the product to be ground (0° to 180° scene), and the field of view of event camera 2 can only detect flying chips on the other side of the product to be ground (180° to 360° scene). In other words, only two event cameras are needed to achieve full-range (i.e., 0° to 360°) flying chip detection of the product to be ground. In this case, only two event cameras need to be set up for flying chip detection. In other words, the electronic device needs to record the qualified events detected by event camera 1 and event camera 2 respectively.

[0098] It should be noted that if the total area formed by the fields of view of the two event cameras cannot include all areas where flying debris may be generated, the number of event cameras needs to be further increased.

[0099] Optionally, the number of fill lights in the embodiment of the present application is the same as the number of event cameras.

[0100] like Figure 4 As shown, it is assumed that the number of event cameras is 2 and the number of fill lights is also 2. Figure 4 In the figure, "41" represents event camera 41, "42" represents event camera 42, "43" represents fill light 43, "44" represents fill light 44, "45" represents flying chips, "46" represents grinding mechanism (such as grinding wheel), and "47" represents interception mechanism (such as rubber pad). Figure 4 In the figure, the lens directions of event camera 41 and event camera 42 are perpendicular to the plane where the product to be ground is located (i.e., the plane where flying chips are generated), and the light generated by fill light 43 and fill light 44 can respectively enhance the light intensity within the field of view of event camera 41 and event camera 42.

[0101] In some embodiments, the above event also includes time information, and the above S13 includes:

[0102] When a straight line track is detected in the event frame, it is detected whether the straight line track satisfies at least one of the following two conditions. If so, it is prompted that flying debris is detected:

[0103] (1) Detect whether the starting position of the above-mentioned straight line trajectory is within the range of a preset length extended outward by the interception structure, wherein the above-mentioned interception structure is used to intercept flying chips generated when the above-mentioned grinding mechanism grinds the above-mentioned product to be ground.

[0104] The starting position of the linear trajectory refers to the position pointed to by the earliest position information corresponding to the time information of each event that constitutes the event frame. For example, suppose the events that constitute the event frame are Event 1, Event 2, and Event 3. The time information and position information corresponding to each event are: Time Information 1, Position Information 1; Time Information 2, Position Information 2; Time Information 3, Position Information 3. If Event 1 is the first event detected by the event camera, then Time Information 1 is the earliest time, and the starting position of the linear trajectory is the position pointed to by Position Information 1.

[0105] The interception structure is a structure for intercepting flying chips, and the interception mechanism can be a rubber pad. Since the flying chips will not damage other products when they are still within the interception structure, only the flying chips that fly out of the interception structure are detected.

[0106] like Figure 3 As shown, assuming that the boundary of the ellipse is the boundary of the interception structure, the white area enclosed by the ellipse is the area within the interception structure, and the area where the slash line is located is the area obtained after the interception structure extends outward by a preset length, then detect whether the starting position of the straight line trajectory is within the area where the slash line is located.

[0107] The preset length can be set according to actual conditions and can be set to a fixed value, such as 0.5 cm. Of course, considering that the faster the rotation speed of the grinding mechanism, the faster the flying chips, that is, the greater the distance the flying chips fly in the same time, the preset length can be set to have a positive correlation with the rotation speed of the grinding mechanism, that is, the greater the rotation speed of the grinding mechanism, the larger the preset length.

[0108] In the embodiment of the present application, considering that the flying chips are flying outward from the grinding mechanism, when it is determined that the starting position of the straight-line trajectory is within the range of a preset length extending outward from the interception structure, it indicates that the first event corresponding to the execution trajectory is detected within this range. At this time, it is highly likely that the straight-line trajectory is the movement trajectory of the flying chips.

[0109] (2) Detect whether the time information of each of the above events on the above linear trajectory is in a sequentially increasing relationship in a target direction, wherein the above target direction is the direction corresponding to the starting position to the ending position of the above linear trajectory.

[0110] The end position is the position pointed to by the position information contained in the last event detected by the event camera.

[0111] Here, increasing in sequence means that the time pointed to by each piece of time information becomes later and later.

[0112] Since the flying chips will inevitably fly outside the interception mechanism during the flying process, that is, the flying chips will gradually move away from the interception mechanism as time passes. Therefore, when it is determined that the time information of the events on the straight line trajectory is in a sequentially increasing relationship in the direction from the starting position to the end position, it indicates that the direction corresponding to the straight line trajectory conforms to the law of flying chip movement, that is, the probability that the straight line trajectory is the movement trajectory of the flying chips is relatively high. When it is determined that the time information of the events on the straight line trajectory is not in a sequentially increasing relationship in the direction from the starting position to the end position, it indicates that it may be caused by flickering lights (such as flickering fill lights) or vibrations of the event camera or the product to be ground (such as battery tabs). At this time, there is no prompt that flying chips are detected.

[0113] In some embodiments, in the above S13, prompting that flying debris is detected includes:

[0114] An alarm is issued through sound or light; and / or the straight line trajectory is output as a motion trajectory of the flying debris.

[0115] Specifically, an alarm can be issued by emitting sound or light to alert the user of the detection of flying debris. Furthermore, the detected linear trajectory can be output so that the user can visually view the movement trajectory of the flying debris and make appropriate manual interventions, such as setting a higher interception mechanism in the direction of more flying debris.

[0116] In the embodiment of the present application, the detection of flying chips is prompted by alarming and / or outputting a straight line trajectory. Since these prompts are more convenient and intuitive, the prompts in the above manner can enable the user to be informed of the event of detection of flying chips more quickly.

[0117] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0118] Corresponding to the flying debris detection method described in the above embodiment, Figure 5 A structural block diagram of a flying chip detection device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0119] Reference Figure 5 The flying debris detection device 5 includes: an event recording module 51, an event frame construction module 52, and a flying debris prompting module 53.

[0120] The event recording module 51 is used to record various events detected by the event camera within a first preset time period starting from the detection of the first event, wherein the lens of the above-mentioned event camera is facing the plane where the product to be ground is located, and the above-mentioned events include position information and brightness information that have changed within the field of view of the above-mentioned event camera.

[0121] The event frame construction module 52 is configured to construct an event frame according to the position information and the brightness information included in each of the events.

[0122] The flying debris prompting module 53 is configured to prompt that flying debris is detected when a straight line trajectory is detected in the event frame.

[0123] In an embodiment of the present application, each event detected by the event camera within a first preset time period starting from the detection of the first event is recorded, and an event frame is constructed based on the position information and brightness information included in each event. If it is determined that there is a straight line trajectory in the event frame, it is prompted that flying chips have been detected. Since the event camera only detects the position information and brightness information that have changed within its field of view, that is, it will not obtain the position information and brightness information that have not changed, and flying chips are generated when the grinding mechanism is grinding the grinding product, that is, the flying chips are moving, that is, when there are flying chips, it indicates that there is changed brightness information in the field of view of the event camera (the brightness of the flying chips is different from that of the surrounding environment). Therefore, the event camera can not only obtain the information of flying chips, but also reduce the probability of obtaining redundant information, thereby reducing the amount of data to be processed, and further reducing the computing power required for flying chips detection. In addition, since the movement trajectory of flying chips is straight for a period of time, the accuracy of the detection results can be improved by detecting the straight line trajectory of the event frame constructed by each event and prompting the presence of flying chips when a straight line trajectory is detected.

[0124] In some embodiments, the flying debris detection device 5 provided in the embodiments of the present application further includes:

[0125] The event camera starting module is used to start the event camera to detect events before each event detected by the event recording camera within a first preset time period starting from the detection of the first event.

[0126] an event quantity comparison module, configured to, upon detecting the first event, determine whether the number of events detected by the event camera within a second preset time period starting from the detection of the first event is greater than a preset quantity threshold, wherein the second preset time period is greater than a sampling period of the event camera and is shorter than the first preset time period;

[0127] Correspondingly, the event recording module 51 is specifically used for:

[0128] When it is determined that the number of events detected by the event camera within the second preset time period starting from the detection of the first event is greater than the number threshold, each event detected by the event camera within the first preset time period starting from the detection of the first event is recorded.

[0129] In some embodiments, the flying debris detection device 5 provided in the embodiments of the present application further includes:

[0130] The light intensity detection module is used to detect whether the light intensity of the scene where the product to be ground is located is less than a preset minimum light intensity requirement before the event camera is started to perform event detection.

[0131] The fill light turning on module is used to turn on the fill light whose light coverage area includes the field of view of the event camera when the light intensity is less than the minimum light intensity requirement.

[0132] In some embodiments, the flying debris detection device 5 provided in the embodiments of the present application further includes:

[0133] The light wave determination module of the fill light is used to use the light wave in the wavelength band whose reflectivity of the material of the product to be ground is greater than a preset reflectivity threshold as the light wave of the fill light before turning on the fill light whose light coverage area includes the field of view of the event camera.

[0134] In some embodiments, the number of the event cameras is greater than one, and the total area formed by the field of view of each of the event cameras includes an area where flying chips may be generated when the grinding mechanism grinds the product to be ground; the event recording module 51 is specifically used to:

[0135] For each of the event cameras, various events detected by the event camera within the first preset time period starting from the detection of the first event are recorded.

[0136] In some embodiments, the event also includes time information, and the flying debris prompt module 53 is specifically used to:

[0137] When a straight line track is detected in the event frame, it is detected whether the straight line track satisfies at least one of the following two conditions. If so, it is prompted that flying debris is detected:

[0138] detecting whether the starting position of the linear trajectory is within a range of a preset length extending outward from an interception structure, wherein the interception structure is used to intercept flying chips generated when the grinding mechanism grinds the product to be ground;

[0139] It is detected whether the time information of each of the events on the linear trajectory is in a sequentially increasing relationship in a target direction, wherein the target direction is a direction corresponding to the starting position to the ending position of the linear trajectory.

[0140] In some embodiments, the above prompt of detecting flying debris includes:

[0141] Alarm by sound or light;

[0142] and / or,

[0143] The above straight line trajectory is used as the motion trajectory of the flying chips and output.

[0144] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0145] Figure 6 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one processor is shown in the figure), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, wherein the processor 60 implements the steps of any of the above-mentioned method embodiments when executing the computer program 62.

[0146] The electronic device 6 can be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device can include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that Figure 6 This is merely an example of the electronic device 6 and does not constitute a limitation on the electronic device 6 . The electronic device 6 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 6 may also include input and output devices, network access devices, etc.

[0147] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0148] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 61 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 6. Furthermore, the memory 61 may also include both an internal storage unit of the electronic device 6 and an external storage device. The memory 61 is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is about to be output.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0150] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0151] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0152] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps of the above-mentioned method embodiments when executing the computer program product.

[0153] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0154] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0155] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0156] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0158] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A flying debris detection method, characterized in that: include: Recording each event detected by an event camera within a first preset time period starting from the detection of a first event, wherein the lens of the event camera is directed toward the plane where the product to be ground is located, and the event includes position information and brightness information that have changed within the field of view of the event camera; constructing an event frame according to the position information and the brightness information included in each of the events; When a straight line trajectory is detected in the event frame, it is indicated that flying chips are detected.

2. The flying debris detection method according to claim 1, wherein: Before recording each event detected by the event camera within a first preset time period starting from detecting the first event, the method further includes: Starting the event camera to detect an event; The recording of each event detected by the event camera within a first preset time period starting from the detection of the first event includes: When it is determined that the number of events detected by the event camera within the second preset time period starting from detecting the first event is greater than the number threshold, each event detected by the event camera within the first preset time period starting from detecting the first event is recorded.

3. The flying debris detection method according to claim 2, wherein: Before starting the event camera to detect an event, the method further includes: Detecting whether the light intensity of the scene where the product to be ground is located is less than a preset minimum light intensity requirement; When the light intensity is less than the minimum light intensity requirement, a fill light whose light coverage area includes the field of view of the event camera is turned on.

4. The flying debris detection method according to claim 3, wherein: Before turning on the fill light whose light coverage area includes the field of view of the event camera, the method further includes: The light waves in a wavelength band whose reflectivity to the material of the product to be ground is greater than a preset reflectivity threshold are used as the light waves of the fill light.

5. The flying debris detection method according to any one of claims 1 to 4, characterized in that: The number of the event cameras is greater than 1, and the total area formed by the field of view of each event camera includes an area where flying chips may be generated when the grinding mechanism grinds the product to be ground; The recording of each event detected by the event camera within a first preset time period starting from the detection of the first event includes: For each of the event cameras, each event detected by the event camera within the first preset time period starting from detecting the first event is recorded.

6. The flying debris detection method according to any one of claims 1 to 5, characterized in that: The event further includes time information. When a straight line track is detected in the event frame, prompting that flying debris is detected includes: When a straight line track is detected in the event frame, it is detected whether the straight line track satisfies at least one of the following two conditions. If so, it is prompted that flying debris is detected: detecting whether the starting position of the straight track is within a range of a preset length extending outward from an intercepting structure, wherein the intercepting structure is used to intercept flying chips generated when the grinding mechanism grinds the product to be ground; It is detected whether the time information of each event on the linear trajectory is in a sequentially increasing relationship in a target direction, wherein the target direction is a direction corresponding to the starting position to the ending position of the linear trajectory.

7. The flying debris detection method according to any one of claims 1 to 6, characterized in that: The prompt that flying debris is detected includes: Alarm by sound or light; and / or, The straight line trajectory is used as the motion trajectory of the flying chips and outputted.

8. A flying debris detection device, characterized in that: include: an event recording module, configured to record various events detected by an event camera within a first preset time period starting from the detection of a first event, wherein the lens of the event camera is directed toward the plane on which the product to be ground is located, and the events include position information and brightness information that have changed within the field of view of the event camera; An event frame construction module, configured to construct an event frame according to the position information and the brightness information included in each event; The flying debris prompt module is used to prompt that flying debris is detected when a straight line trajectory is detected in the event frame.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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