Method, device, equipment and storage medium for determining the motion angle of rotor and pendulum

Abstract

The present invention relates to the field of mechanical technology, and discloses a method, device, equipment and storage medium for determining the motion angle of a rotor and a pendulum block. The method comprises: determining pixel position coordinates according to a current rotational motion image; performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates; classifying and processing the current translational image through a target pixel setting function; calculating a target focus area image according to the resolution of the current translational image to obtain the rotor motion angle and the pendulum block motion angle; since the present invention performs polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function, performs binarization processing on the current translational image according to the target pixel setting function, and then calculates the rotor and pendulum block motion angles based on the resolution of the current translational image, compared with the prior art of measuring the motion angle through an angle sensor, the accuracy of determining the rotor and pendulum block motion angles can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to a method, device, equipment and storage medium for determining the motion angles of a rotor and a pendulum block. Background Art

[0002] With the continuous development of shock absorber technology, shock absorbers are widely used in different fields, such as machinery, especially centrifugal pendulum shock absorbers. Centrifugal pendulum shock absorber (CPVA) is a shock absorber installed between the engine and the transmission to reduce the torsional vibration caused by the engine speed change. With the continuous improvement of people's living standards, in order to meet people's needs, centrifugal pendulum shock absorbers are also constantly optimized. At present, the optimization method for centrifugal pendulum shock absorbers is to establish a mathematical model of centrifugal pendulum shock absorbers to analyze the dynamic characteristics of shock absorbers under different structures and masses. However, the optimization method still needs to obtain the motion angles of the rotor and the pendulum block. The usual method for obtaining the motion angles of the rotor and the pendulum block is to install an angle sensor to measure their motion angles, but this will undoubtedly have a certain impact on the motion process of the two, so that the measurement results are inconsistent with the actual motion, resulting in the low accuracy of the final rotor and pendulum motion angles.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for determining the motion angles of the rotor and the pendulum block, aiming to solve the technical problem of low accuracy in determining the motion angles of the rotor and the pendulum block of a centrifugal pendulum device in the prior art.

[0005] To achieve the above object, the present invention provides a method for determining the motion angle of a rotor and a pendulum mass, the method comprising the following steps:

[0006] Determine the corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device;

[0007] Performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image;

[0008] Classify the current translation image using a target pixel setting function to obtain a target focus area image;

[0009] The target focus area image is calculated according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle.

[0010] Optionally, the step of determining corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device includes:

[0011] Selecting the current rotating motion image of the centrifugal pendulum device to obtain a target frame image;

[0012] Determine a current cross mark line according to the target frame image;

[0013] The corresponding intersection point is obtained through the current marking line of the cross, and the corresponding pixel position coordinates are obtained according to the intersection point.

[0014] Optionally, before determining the corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device, the method further includes:

[0015] Mark the centrifugal pendulum equipment according to a preset marking strategy to obtain the corresponding current marking line;

[0016] When the centrifugal pendulum device is in operation, the target high-speed camera device collects images of the centrifugal pendulum device according to the current marking line to obtain a current rotating motion image.

[0017] Optionally, performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image includes:

[0018] According to the pixel position coordinates, the current rotational motion image is converted into polar coordinates by using a target image coordinate conversion function to obtain polar coordinates corresponding to the pixel position coordinates;

[0019] A current translational motion image is generated according to the polar coordinates and the pixels of the current rotational motion image.

[0020] Optionally, the classifying process of the current translational image by using a target pixel setting function to obtain a target focus area image includes:

[0021] Classify the current translational image using a target pixel setting function to obtain a corresponding binary image;

[0022] Setting the binarized image according to a target binarization threshold;

[0023] According to the longitudinal direction of the polar coordinates, the binary image after setting is selected according to the current marker line pair to obtain the target focus area image.

[0024] Optionally, the calculating the target area of ​​interest image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle includes:

[0025] Setting a reference line on the target focus area image to obtain a set of pixel points on the reference line;

[0026] The pixel point set is screened according to the target pixel value and the pixel values ​​within a preset range to obtain the target pixel point;

[0027] Obtain the last frame motion position of the rotor and the last frame motion position of the pendulum;

[0028] The target pixel point, the previous frame motion position of the rotor, and the previous frame motion position of the pendulum are calculated according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum motion angle.

[0029] Optionally, the target pixel point, the previous frame motion position of the rotor, and the previous frame motion position of the pendulum are calculated by the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum motion angle, including:

[0030] Obtain corresponding rotor pixel points and swing block pixel points according to the target pixel points;

[0031] Performing mean calculation on the rotor pixel points to obtain a rotor pixel mean, and performing mean calculation on the swing block pixel points to obtain a swing block pixel mean;

[0032] The difference between the rotor pixel point mean and the rotor motion position of the previous frame is calculated to obtain the rotor motion position difference;

[0033] The difference between the mean value of the pixel points of the swing block and the motion position of the swing block in the previous frame is calculated to obtain the motion position difference of the swing block;

[0034] Calculating the rotor motion position difference by the resolution of the current translational image to obtain the corresponding rotor motion angle;

[0035] The swing block movement position difference is calculated according to the resolution of the current translation image to obtain the corresponding swing block movement angle.

[0036] In addition, to achieve the above-mentioned purpose, the present invention further proposes a device for determining the motion angle of a rotor and a pendulum mass, the device for determining the motion angle of a rotor and a pendulum mass comprising:

[0037] A determination module, used to determine corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device;

[0038] A conversion module, used for performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image;

[0039] A processing module, used for classifying the current translation image through a target pixel setting function to obtain a target focus area image;

[0040] A calculation module is used to calculate the target focus area image according to the resolution of the current translation image to obtain the corresponding rotor movement angle and pendulum block movement angle.

[0041] In addition, to achieve the above-mentioned objectives, the present invention also proposes a device for determining the angle of motion of a rotor and a pendulum mass, the device comprising: a memory, a processor, and a rotor and a pendulum mass motion angle determination program stored in the memory and executable on the processor, the rotor and a pendulum mass motion angle determination program being configured to implement the method for determining the angle of motion of a rotor and a pendulum mass as described above.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a program for determining the motion angle of a rotor and a pendulum mass is stored. When the program for determining the motion angle of a rotor and a pendulum mass is executed by a processor, the method for determining the motion angle of a rotor and a pendulum mass as described above is implemented.

[0043] The method for determining the motion angles of a rotor and a pendulum block proposed in the present invention determines corresponding pixel position coordinates according to a current rotational motion image of a centrifugal pendulum device; performs polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational image; classifies the current translational image through a target pixel setting function to obtain a target focus area image; calculates the target focus area image according to the resolution of the current translational image to obtain corresponding rotor motion angles and pendulum block motion angles; since the present invention performs polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function, binarizes the current translational image according to a target pixel setting function, and then calculates the rotor and pendulum block motion angles based on the resolution of the current translational image, compared with the prior art of measuring the motion angle through an angle sensor, the accuracy of determining the rotor and pendulum block motion angles can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the structure of a device for determining the rotor and pendulum motion angle in a hardware operating environment involved in an embodiment of the present invention;

[0045] Figure 2 It is a schematic flow chart of a first embodiment of a method for determining the motion angle of a rotor and a pendulum block of the present invention;

[0046] Figure 3 It is a schematic diagram of the overall process of an embodiment of a method for determining the motion angle of a rotor and a pendulum block of the present invention;

[0047] Figure 4 It is a schematic flow chart of a second embodiment of a method for determining the motion angle of a rotor and a pendulum block of the present invention;

[0048] Figure 5 It is a schematic flow chart of a third embodiment of a method for determining the motion angle of a rotor and a pendulum block of the present invention;

[0049] Figure 6 This is a schematic diagram of the functional modules of the first embodiment of the device for determining the motion angle of the rotor and the pendulum block of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a device for determining the rotor and pendulum motion angles in the hardware operating environment involved in the embodiment of the present invention.

[0053] like Figure 1 As shown, the device for determining the angle of motion of the rotor and the pendulum block may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art will understand that Figure 1The structure shown in does not constitute a limitation on the device for determining the angle of motion of the rotor and the pendulum mass, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0055] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a program for determining the motion angles of the rotor and the pendulum.

[0056] exist Figure 1 In the rotor and pendulum motion angle determination device shown, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the rotor and pendulum motion angle determination device of the present invention can be set in the rotor and pendulum motion angle determination device, and the rotor and pendulum motion angle determination device calls the rotor and pendulum motion angle determination program stored in the memory 1005 through the processor 1001, and executes the rotor and pendulum motion angle determination method provided in the embodiment of the present invention.

[0057] Based on the above hardware structure, an embodiment of a method for determining the motion angles of a rotor and a pendulum block of the present invention is proposed.

[0058] Reference Figure 2 , Figure 2 It is a schematic flow chart of the first embodiment of the method for determining the motion angle of the rotor and the pendulum block of the present invention.

[0059] In a first embodiment, the method for determining the motion angles of the rotor and the pendulum mass comprises the following steps:

[0060] Step S10, determining corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device.

[0061] It should be noted that the executor of this embodiment is the rotor and pendulum block motion angle determination device, and may also be other devices that can achieve the same or similar functions, such as a motion angle controller, etc. This embodiment does not limit this. In this embodiment, the motion angle controller is taken as an example for explanation.

[0062] It should be understood that the current rotational motion image refers to the image of the centrifugal pendulum device during the centrifugal rotational motion process. The centrifugal pendulum device can be a centrifugal pendulum shock absorber. The current rotational motion image is acquired by a target high-speed camera device. The frame rate of the target high-speed camera device is greater than or equal to 800FPS. The target high-speed camera device can be a high-speed camera or other high-speed camera devices. This embodiment does not limit this and takes a high-speed camera as an example for illustration.

[0063] It can be understood that the pixel position coordinate refers to the position of the pixel point of the target frame image in the current rotating motion image. The target frame image can be a frame image selected from the current rotating motion image. For example, the pixel position coordinate is (x c ,y c ).

[0064] Step S20 , performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image.

[0065] It can be understood that the current translational image refers to an image obtained by converting the current rotational motion image into a translational motion image, and the target image coordinate conversion function refers to a function for converting coordinates in an image. The target image coordinate conversion image may be the warpPolar function in opencv.

[0066] Further, step S20 includes: performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain polar coordinates corresponding to the pixel position coordinates; and generating a current translational image according to the polar coordinates and pixels of the current rotational motion image.

[0067] It should be understood that after obtaining the pixel position coordinates, the pixel position coordinates are used as the polar coordinate origin. At this time, the pixel position coordinates are located in the Cartesian coordinate system, and the current rotating motion image is transformed by the target image coordinate conversion function to obtain the polar coordinates corresponding to the pixel position coordinates. For example, the pixel position coordinates are (x c ,y c ), the polar coordinates are (θ, ρ), θ is the angle between the line connecting the pixel position coordinate and the origin of the coordinate system and the positive direction of the x-axis, ρ is the distance between the pixel position coordinate and the origin of the polar coordinate system in the Cartesian coordinate system. After obtaining the polar coordinates, the current translational image can be generated through the polar coordinates and the pixels of the current rotational motion image.

[0068] Step S30, classifying the current translational image through a target pixel setting function to obtain a target focus area image.

[0069] It should be understood that the target pixel setting function refers to a function for setting the pixel value of an image, which may be a threshold function in opencv, and the target area of ​​interest image refers to an area image where the pendulum block and the current mark line on the rotor are retained.

[0070] Further, step S30 includes: classifying the current translational image through a target pixel setting function to obtain a corresponding binary image; setting the binary image according to a target binarization threshold; selecting the binary image after setting according to the current marker line according to the longitudinal axis direction of the polar coordinates to obtain a target focus area image.

[0071] It can be understood that the target binarization threshold refers to the threshold for selecting the target focus area image, and the target binarization threshold can be 127. The binarized image refers to the image obtained by processing the current translational image through a binarization operation, that is, after obtaining the binarized image, the binarized image is set by the target binarization threshold, and then the image of the area marked with the current mark line on the pendulum block and the rotor is retained along the longitudinal axis (ρ axis) of the polar coordinate, that is, the target focus area image is obtained, and the target focus area image retains the current mark line as much as possible and deletes redundant and unnecessary images. In addition, the larger the pixel value, the lighter the corresponding color.

[0072] Step S40, calculating the target focus area image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle.

[0073] It can be understood that the rotor motion angle refers to the angle of the rotor when it rotates. Similarly, the swing block motion angle refers to the angle of the swing block when it rotates. The resolution refers to the number of pixels in the vertical and horizontal directions of the image. For example, the resolution of the current translational image can be (θ max , ρ max ), the target area of ​​interest image includes an area of ​​interest image containing the rotor and an area of ​​interest image containing the pendulum, that is, the image of the area of ​​interest containing the rotor is calculated by the resolution of the current translational image to obtain the rotor movement angle, and the image of the area of ​​interest containing the pendulum is calculated by the resolution of the current translational image to obtain the pendulum movement angle.

[0074] It should be understood that reference Figure 3 , Figure 3It is a schematic diagram of the overall process, specifically: two vertically intersecting straight lines are marked on the rotor of the centrifugal pendulum device with the intersection point as the center of the circle, so that the center of the circle coincides with the rotation center of the rotor; the extension line is marked on the pendulum block, and then the video image data of the centrifugal pendulum device during movement is collected by the target high-speed camera device, and the video image data is used as the current rotational motion image, and the current rotational motion image is polar coordinate converted by the target image coordinate conversion function, and then the current translational image is binarized by the target pixel value setting function to obtain the target focus area image and the non-focus area image. At this time, the pixels of the non-focus area image need to be set to 0, and then the horizontal coordinates of the pixel points of the rotor on the reference line are counted, and then the current movement position of the rotor is obtained by the horizontal coordinates of the pixel points of the rotor, and the rotor movement angle is calculated in combination with the angular position of the rotor in the previous frame. Similarly, the horizontal coordinates of the pixel points of the pendulum block on the reference line are counted, and then the current movement position of the pendulum block is obtained by the horizontal coordinates of the pixel points of the pendulum block, and the movement angle of the pendulum block is calculated in combination with the angular position of the pendulum block in the previous frame.

[0075] This embodiment determines the corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device; performs polar coordinate conversion on the current rotational motion image through the target image coordinate conversion function according to the pixel position coordinates to obtain the current translational image; classifies the current translational image through the target pixel setting function to obtain the target focus area image; calculates the target focus area image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle; because this embodiment performs polar coordinate conversion on the current rotational motion image through the target image coordinate conversion function, binarizes the current translational image according to the target pixel setting function, and then calculates the rotor and pendulum block motion angles based on the resolution of the current translational image, compared with the prior art of measuring the motion angle through an angle sensor, it can effectively improve the accuracy of determining the rotor and pendulum block motion angles.

[0076] In one embodiment, if Figure 4 Based on the first embodiment, a second embodiment of the method for determining the motion angles of the rotor and the pendulum mass of the present invention is proposed. Step S10 includes:

[0077] Step S101, selecting the current rotating motion image of the centrifugal pendulum device to obtain a target frame image.

[0078] It should be understood that the target frame image refers to a frame image in the current rotational motion image. Specifically, after obtaining the current rotational motion image of the centrifugal pendulum device, any frame image in the current rotational motion image is selected to obtain the target frame image.

[0079] Furthermore, before step S101, it also includes: marking the centrifugal pendulum device according to a preset marking strategy to obtain a corresponding current marking line; when the centrifugal pendulum device is in operation, capturing an image of the centrifugal pendulum device according to the current marking line through a target high-speed camera device to obtain a current rotating motion image.

[0080] It can be understood that the preset marking strategy refers to the strategy for marking the centrifugal pendulum device, specifically marking the rotation center of the centrifugal pendulum device (located on the rotor), that is, taking the rotation center as the center of the circle, marking through the preset marking strategy, and the current marking line can be obtained, and it is known that it extends to the pendulum block. Then, when the centrifugal pendulum device is in operation, that is, the centrifugal pendulum device rotates, the image of the centrifugal pendulum device is collected by the target high-speed camera device at this time, and the current rotational motion image is obtained.

[0081] Step S102: determining a current cross mark line according to the target frame image.

[0082] It can be understood that the cross current marker lines refer to marker lines existing in a cross form between current marker lines. Specifically, after obtaining the target frame image, the target frame image is searched to obtain the cross current marker lines.

[0083] Step S103, obtaining a corresponding intersection point through the current cross-marked lines, and obtaining a corresponding pixel position coordinate according to the intersection point.

[0084] It should be understood that the intersection point refers to the point where the current cross-intersecting marking lines intersect. For example, the current cross-intersecting marking lines are L1 and L2, and the point where L1 and L2 intersect is A, then A is the intersection point, and then the pixel position coordinate (x c ,y c ).

[0085] This embodiment obtains a target frame image by selecting the current rotational motion image of the centrifugal pendulum device; determines the current cross-shaped marking line according to the target frame image; obtains the corresponding intersection point through the current cross-shaped marking line, and obtains the corresponding pixel position coordinates according to the intersection point; because this embodiment selects the current rotational motion image, and then determines the current cross-shaped marking line according to the target frame image, and then obtains the pixel position coordinates according to the intersection point corresponding to the current marking line, the accuracy of the pixel position coordinates can be effectively improved.

[0086] In one embodiment, if Figure 5 Based on the first embodiment, a third embodiment of the method for determining the motion angles of the rotor and the pendulum mass of the present invention is proposed. Step S40 includes:

[0087] Step S401, setting a reference line on the target focus area image to obtain a set of pixel points on the reference line.

[0088] It can be understood that the pixel point set refers to a set of pixel points located on the reference line in the target area of ​​interest image. Specifically, after obtaining the target area of ​​interest image, multiple reference lines are set on the target area of ​​interest image. The reference line set in the area of ​​interest image containing the rotor is a red line, and the reference line set in the area of ​​interest image containing the pendulum block is a blue line.

[0089] Step S402: Screen the pixel point set according to the target pixel value and the pixel values ​​within a preset range to obtain the target pixel point.

[0090] It should be understood that the target pixel value and the pixel value within the preset range are the pixel values ​​of the pixel points in the screened pixel point set. The target pixel value can be 0, that is, a black pixel point, and the pixel value within the preset range refers to the pixel value of 5 consecutive pixels to the left and right of the current pixel point, all of which are 255. After the screening is completed, the target pixel point is obtained, which includes the rotor pixel point and the swing block pixel point. The rotor pixel point is orange and the swing block pixel point is green.

[0091] Step S403, obtaining the last frame movement position of the rotor and the last frame movement position of the pendulum.

[0092] It can be understood that the previous frame movement position of the rotor refers to the previous frame movement position when the rotor moves to the current position. Similarly, the previous frame movement position of the pendulum block refers to the previous frame movement position when the pendulum block runs to the current position.

[0093] Step S404, calculating the target pixel point, the previous frame motion position of the rotor, and the previous frame motion position of the pendulum according to the resolution of the current translational image, and obtaining corresponding rotor motion angles and pendulum motion angles.

[0094] It should be understood that after obtaining the last frame motion position of the rotor and the last frame motion position of the pendulum, the last frame motion position of the rotor and the current motion position are respectively calculated by difference. For example, the last frame motion position of the pendulum is θ 当前转子 , and the current motion position is θ orange , then the position difference of the pendulum motion Δθ orange =θ orange -θ 当前摆块 , similarly, the rotor's previous motion position is θ 当前转子 , and the current motion position is θ green , then the rotor motion position difference Δθ green =θ green -θ 当前转子, and then use the resolution of the current translational image to calculate Δθ orange and Δθ green Calculations are performed to obtain the corresponding pendulum block motion angle and rotor motion angle.

[0095] Further, step S404 includes: obtaining corresponding rotor pixel points and pendulum block pixel points according to the target pixel points; performing mean calculation on the rotor pixel points to obtain the rotor pixel point mean, and performing mean calculation on the pendulum block pixel points to obtain the pendulum block pixel point mean; performing difference calculation between the rotor pixel point mean and the rotor's previous frame motion position to obtain the rotor motion position difference; performing difference calculation between the pendulum block pixel point mean and the previous frame motion position of the pendulum block to obtain the pendulum block motion position difference; calculating the rotor motion position difference by the resolution of the current translational image to obtain the corresponding rotor motion angle; calculating the pendulum block motion position difference by the resolution of the current translational image to obtain the corresponding pendulum block motion angle.

[0096] It can be understood that the rotor pixel point refers to the pixel point containing the rotor in the target pixel point. Similarly, the pendulum block pixel point refers to the pixel point containing the pendulum block in the target pixel point. After obtaining the rotor pixel point and the pendulum block pixel point, the rotor pixel point and the pendulum block pixel point are averaged respectively to obtain the rotor pixel point average and the pendulum block pixel point average. At this time, the rotor pixel point average is the current motion position of the rotor, and the pendulum block pixel average is the current motion position of the pendulum block. Then, the rotor pixel point average is subtracted from the rotor's previous frame motion position to obtain the rotor motion position difference, and the pendulum block pixel point average is subtracted from the pendulum block's previous frame motion position to obtain the pendulum block motion position difference.

[0097] It should be understood that after the rotor motion position difference is obtained, the rotor motion position difference is calculated by the resolution of the current translation image to obtain the rotor motion angle, specifically: rotor motion angle = 360°*Δθ green / θ max , the resolution of the current translational image is (θ max , ρ max ), after obtaining the swing block motion position difference, the swing block motion position difference is calculated by the resolution of the current translational image to obtain the swing block motion angle, specifically: swing block motion angle = 360°*Δθ orange / θ max .

[0098] In this embodiment, a reference line is set on the target area of ​​interest image to obtain a set of pixel points on the reference line; the pixel point set is filtered according to the target pixel value and the pixel value within a preset range to obtain the target pixel point; the last frame movement position of the rotor and the last frame movement position of the pendulum are obtained; the target pixel point, the last frame movement position of the rotor and the last frame movement position of the pendulum are calculated by the resolution of the current translational image to obtain the corresponding rotor movement angle and the pendulum movement angle; because in this embodiment, the pixel point set on the reference line is filtered by the target pixel value and the pixel value within a preset range, and then the target pixel point, the last frame movement position of the rotor and the last frame movement position of the pendulum are calculated by the resolution of the current translational image, the error of the obtained rotor and pendulum movement angles can be effectively reduced without affecting the movement of the rotor and the pendulum.

[0099] In addition, an embodiment of the present invention further proposes a storage medium, on which a program for determining the motion angle of a rotor and a pendulum mass is stored. When the program for determining the motion angle of a rotor and a pendulum mass is executed by a processor, the steps of the method for determining the motion angle of a rotor and a pendulum mass as described above are implemented.

[0100] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0101] In addition, refer to Figure 6 The embodiment of the present invention further provides a device for determining the motion angle of a rotor and a pendulum mass, the device for determining the motion angle of a rotor and a pendulum mass comprising:

[0102] The determination module 10 is used to determine the corresponding pixel position coordinates according to the current rotation motion image of the centrifugal pendulum device.

[0103] The conversion module 20 is used to perform polar coordinate conversion on the current rotational motion image according to the pixel position coordinates through a target image coordinate conversion function to obtain a current translational motion image.

[0104] The processing module 30 is used to perform classification processing on the current translation image through a target pixel setting function to obtain a target focus area image.

[0105] The calculation module 40 is used to calculate the target area of ​​interest image according to the resolution of the current translation image to obtain the corresponding rotor movement angle and pendulum block movement angle.

[0106] This embodiment determines the corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device; performs polar coordinate conversion on the current rotational motion image through the target image coordinate conversion function according to the pixel position coordinates to obtain the current translational image; classifies the current translational image through the target pixel setting function to obtain the target focus area image; calculates the target focus area image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle; because this embodiment performs polar coordinate conversion on the current rotational motion image through the target image coordinate conversion function, binarizes the current translational image according to the target pixel setting function, and then calculates the rotor and pendulum block motion angles based on the resolution of the current translational image, compared with the prior art of measuring the motion angle through an angle sensor, it can effectively improve the accuracy of determining the rotor and pendulum block motion angles.

[0107] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0108] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the method for determining the motion angles of the rotor and the pendulum block provided in any embodiment of the present invention, and will not be repeated here.

[0109] In one embodiment, the determination module 10 is also used to select the current rotating motion image of the centrifugal pendulum device to obtain a target frame image; determine the current cross-crossing mark line according to the target frame image; obtain the corresponding intersection through the current cross-crossing mark line, and obtain the corresponding pixel position coordinates according to the intersection.

[0110] In one embodiment, the determination module 10 is also used to mark the centrifugal pendulum device according to a preset marking strategy to obtain a corresponding current marking line; when the centrifugal pendulum device is in operation, the image of the centrifugal pendulum device is captured according to the current marking line by a target high-speed camera device to obtain a current rotating motion image.

[0111] In one embodiment, the conversion module 20 is further used to perform polar coordinate conversion on the current rotational motion image according to the pixel position coordinates through a target image coordinate conversion function to obtain polar coordinates corresponding to the pixel position coordinates; and generate a current translational image according to the polar coordinates and pixels of the current rotational motion image.

[0112] In one embodiment, the processing module 30 is also used to classify the current translational image through a target pixel setting function to obtain a corresponding binary image; set the binary image according to a target binarization threshold; select the binary image after setting according to the current marker line according to the longitudinal axis direction of the polar coordinates to obtain a target focus area image.

[0113] In one embodiment, the calculation module 40 is further used to set a reference line on the target area of ​​interest image to obtain a set of pixel points on the reference line; filter the set of pixel points according to the target pixel value and the pixel value within a preset range to obtain the target pixel point; obtain the previous frame movement position of the rotor and the previous frame movement position of the pendulum block; calculate the target pixel point, the previous frame movement position of the rotor and the previous frame movement position of the pendulum block through the resolution of the current translational image to obtain the corresponding rotor movement angle and pendulum block movement angle.

[0114] In one embodiment, the calculation module 40 is further used to obtain corresponding rotor pixel points and pendulum block pixel points according to the target pixel points; perform mean calculation on the rotor pixel points to obtain the rotor pixel point mean, and perform mean calculation on the pendulum block pixel points to obtain the pendulum block pixel point mean; perform difference calculation between the rotor pixel point mean and the rotor's previous frame motion position to obtain the rotor motion position difference; perform difference calculation between the pendulum block pixel point mean and the previous frame motion position of the pendulum block to obtain the pendulum block motion position difference; calculate the rotor motion position difference by the resolution of the current translational image to obtain the corresponding rotor motion angle; calculate the pendulum block motion position difference by the resolution of the current translational image to obtain the corresponding pendulum block motion angle.

[0115] Other embodiments of the device for determining the angle of motion of the rotor and the pendulum block of the present invention or methods for implementing the device can refer to the above-mentioned method embodiments, which will not be repeated here.

[0116] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0117] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0119] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for determining the motion angle of a rotor and a pendulum block, characterized in that: The method for determining the motion angle of the rotor and the pendulum block comprises the following steps: Determine the corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device; Performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image; Classify the current translation image using a target pixel setting function to obtain a target focus area image; Calculating the target focus area image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle; The process of classifying the current translational image by using a target pixel setting function to obtain a target focus area image includes: Classify the current translational image using a target pixel setting function to obtain a corresponding binary image; Setting the binarized image according to a target binarization threshold; According to the vertical axis direction of the polar coordinates, the binary image after setting is selected according to the current marker line pair to obtain the target focus area image; The step of calculating the target focus area image according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum block motion angle includes: Setting a reference line on the target focus area image to obtain a set of pixel points on the reference line; The pixel point set is screened according to the target pixel value and the pixel values ​​within a preset range to obtain the target pixel point; Obtain the last frame motion position of the rotor and the last frame motion position of the pendulum; The target pixel point, the previous frame motion position of the rotor, and the previous frame motion position of the pendulum are calculated according to the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum motion angle.

2. The method for determining the rotor and pendulum motion angle according to claim 1, characterized in that: The method of determining corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device includes: Selecting the current rotating motion image of the centrifugal pendulum device to obtain a target frame image; Determine a current cross mark line according to the target frame image; The corresponding intersection point is obtained through the current marking line of the cross, and the corresponding pixel position coordinates are obtained according to the intersection point.

3. The method for determining the rotor and pendulum motion angle according to claim 2, characterized in that: Before determining the corresponding pixel position coordinates according to the current rotating motion image of the centrifugal pendulum device, the method further includes: Mark the centrifugal pendulum equipment according to the preset marking strategy to obtain the corresponding current marking line; When the centrifugal pendulum device is in operation, the target high-speed camera device collects images of the centrifugal pendulum device according to the current marking line to obtain a current rotating motion image.

4. The method for determining the motion angle of the rotor and the pendulum mass according to claim 1, characterized in that: The step of performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image includes: According to the pixel position coordinates, the current rotational motion image is converted into polar coordinates by using a target image coordinate conversion function to obtain polar coordinates corresponding to the pixel position coordinates; A current translational motion image is generated according to the polar coordinates and the pixels of the current rotational motion image.

5. The method for determining the motion angle of the rotor and the pendulum mass according to claim 1, characterized in that: The target pixel point, the previous frame motion position of the rotor, and the previous frame motion position of the pendulum are calculated by the resolution of the current translational image to obtain the corresponding rotor motion angle and pendulum motion angle, including: Obtain corresponding rotor pixel points and swing block pixel points according to the target pixel points; Performing mean calculation on the rotor pixel points to obtain a rotor pixel mean, and performing mean calculation on the swing block pixel points to obtain a swing block pixel mean; The difference between the rotor pixel point mean and the rotor motion position of the previous frame is calculated to obtain the rotor motion position difference; The difference between the mean value of the pixel points of the swing block and the motion position of the swing block in the previous frame is calculated to obtain the motion position difference of the swing block; Calculating the rotor motion position difference by the resolution of the current translational image to obtain the corresponding rotor motion angle; The swing block movement position difference is calculated according to the resolution of the current translation image to obtain the corresponding swing block movement angle.

6. A device for determining the motion angle of a rotor and a pendulum block, characterized in that: The device for determining the rotor and pendulum motion angle comprises: A determination module, used to determine corresponding pixel position coordinates according to the current rotational motion image of the centrifugal pendulum device; A conversion module, used for performing polar coordinate conversion on the current rotational motion image through a target image coordinate conversion function according to the pixel position coordinates to obtain a current translational motion image; A processing module, used for classifying the current translation image through a target pixel setting function to obtain a target focus area image; A calculation module, used to calculate the target area of ​​interest image according to the resolution of the current translation image to obtain the corresponding rotor motion angle and pendulum block motion angle; The processing module is further used to classify the current translation image through a target pixel setting function to obtain a corresponding binary image; set the binary image according to a target binary threshold; select the set binary image according to the current marker line according to the longitudinal axis direction of the polar coordinates to obtain a target focus area image; The calculation module is also used to set a reference line on the target focus area image to obtain a set of pixel points on the reference line; filter the set of pixel points according to the target pixel value and the pixel value within a preset range to obtain the target pixel point; obtain the previous frame movement position of the rotor and the previous frame movement position of the pendulum block; calculate the target pixel point, the previous frame movement position of the rotor and the previous frame movement position of the pendulum block through the resolution of the current translational image to obtain the corresponding rotor movement angle and pendulum block movement angle.

7. A device for determining the angle of motion of a rotor and a pendulum, characterized in that: The device for determining the rotor and pendulum motion angle comprises: a memory, a processor and a rotor and pendulum motion angle determination program stored in the memory and executable on the processor, wherein the rotor and pendulum motion angle determination program is configured to implement a rotor and pendulum motion angle determination method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a rotor and pendulum mass motion angle determination program, which, when executed by a processor, implements a rotor and pendulum mass motion angle determination method as described in any one of claims 1 to 5.

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