Event camera based vibration measurement method, apparatus, device and storage medium

Abstract

The application provides an event camera-based vibration measurement method and device, equipment and a storage medium. The method comprises the following steps: converting an event stream corresponding to a vibrating object collected by an event camera into a complex image; decomposing the complex image into a plurality of subbands of different scales and directions; calculating a phase change signal of the vibrating object in combination with phase information of each subband; and determining a vibration frequency of the vibrating object according to the phase change signal. Through implementation of the application, the vibration frequency of the object is measured by using a non-contact measurement method. The event camera has the characteristics of high time resolution and high dynamicity, can support capturing high-speed motion of the object under low brightness conditions, and the collected data is only related to the motion of the object, thereby reducing data redundancy. Therefore, the accuracy of the vibration measurement result is effectively improved, and the data processing amount is reduced.

Description

Technical Field

[0001] This application relates to the field of vibration detection technology, and in particular to a vibration measurement method, device, equipment and storage medium based on an event camera. Background Technology

[0002] Vibration measurement is a key technology for determining whether equipment is operating normally and whether there are any safety hazards. Therefore, the detection of the vibration frequency of the structure plays an important role in the vibration analysis of the equipment.

[0003] Traditional vibration measurement methods are typically contact-based, where an accelerometer is fixed to the object being measured to collect vibration signals. The vibration frequency is then analyzed based on the linear relationship between acceleration and vibration force. However, the weight of the accelerometer can affect the vibration behavior of the object, especially when measuring lightweight objects, leading to relatively low accuracy in the measured vibration frequency. Summary of the Invention

[0004] This application provides a vibration measurement method, apparatus, device, and storage medium based on an event camera, which can at least solve the problem of relatively low accuracy of measurement results caused by using contact measurement methods to measure the vibration of objects in related technologies.

[0005] The first aspect of this application provides a vibration measurement method based on an event camera, comprising: converting an event stream corresponding to a vibrating object acquired by the event camera into a complex image; decomposing the complex image into multiple sub-bands of different scales and directions; calculating the phase change signal of the vibrating object by combining the phase information of each sub-band; and determining the vibration frequency of the vibrating object based on the phase change signal.

[0006] A second aspect of this application provides a vibration measurement device based on an event camera, comprising: a conversion module for converting an event stream corresponding to a vibrating object acquired by the event camera into a complex image; a decomposition module for decomposing the complex image into multiple sub-bands of different scales and orientations; a calculation module for calculating the phase change signal of the vibrating object by combining the phase information of each sub-band; and a determination module for determining the vibration frequency of the vibrating object based on the phase change signal.

[0007] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory, and when the processor executes the computer program, it implements the steps of the vibration measurement method based on an event camera provided in the first aspect of this application.

[0008] The fourth aspect of this application provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the vibration measurement method based on an event camera provided in the first aspect of this application.

[0009] As can be seen from the above, according to the vibration measurement method, apparatus, equipment, and storage medium based on an event camera provided in this application, the event stream corresponding to the vibrating object acquired by the event camera is converted into a complex image; the complex image is decomposed into multiple sub-bands of different scales and directions; the phase change signal of the vibrating object is calculated by combining the phase information of each sub-band; and the vibration frequency of the vibrating object is determined based on the phase change signal. Through the implementation of this application, the vibration frequency of the object is measured using a non-contact measurement method. Furthermore, the event camera has high temporal resolution and high dynamic range, supporting the capture of high-speed motion of objects under low-light conditions. In addition, the acquired data is only related to the object's motion, reducing data redundancy. Therefore, the accuracy of vibration measurement is effectively improved, and the amount of data processing is reduced. Attached Figure Description

[0010] Figure 1 A schematic diagram illustrating an application scenario provided in one embodiment of this application;

[0011] Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0012] Figure 3 This is a schematic diagram of the basic flow of a vibration measurement method provided in an embodiment of this application;

[0013] Figure 4 A schematic diagram of an event flow provided in an embodiment of this application;

[0014] Figure 5 This application provides an embodiment of an image representation of pixel values ​​corresponding to an event stream.

[0015] Figure 6 A schematic diagram of a phase change signal obtained by event stream conversion according to an embodiment of this application;

[0016] Figure 7 A schematic diagram of spectrum data provided in an embodiment of this application;

[0017] Figure 8 A detailed flowchart illustrating a vibration measurement method provided in an embodiment of this application;

[0018] Figure 9 This is a schematic diagram of the program modules of a vibration measurement device provided in an embodiment of this application. Detailed Implementation

[0019] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of the embodiments of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0023] The following will describe in detail, with reference to the accompanying drawings, an embodiment of the present application of a vibration measurement method, apparatus, device and storage medium based on an event camera.

[0024] To address the relatively low accuracy of vibration measurements achieved through contact-based methods in related technologies, this application provides an embodiment of a vibration measurement method based on an event camera, applicable to applications such as... Figure 1 The scenario shown may include an event camera 101 and an electronic device 102.

[0025] It is worth noting that the Event-based Vision Sensor (EVS) configured in the event camera 101 is a novel sensor that mimics the human retina, responding to pixel pulses caused by brightness changes due to motion. In other words, the event camera 101 asynchronously records brightness changes at pixels. When the brightness change exceeds a certain threshold, it outputs an event including coordinates (x, y), a timestamp (t), and event polarity (p, with values ​​of +1 and -1, representing increases and decreases in brightness, respectively). Each event is represented in the form e = (t, x, y, p). Therefore, it can capture scene brightness changes (i.e., light intensity changes) at an extremely high frame rate, recording events at specific times and locations in the image, forming an event stream rather than a frame stream. This solves the problems of information redundancy, large data storage requirements, and high real-time processing demands associated with traditional cameras. Furthermore, the electronic device 102 can be any terminal device with data processing capabilities, including but not limited to smartphones, tablets, laptops, and desktop computers.

[0026] In related technologies, when using traditional cameras for non-contact vibration measurement, there are usually two approaches. One is to use digital image correlation, which requires marking spot patterns on the surface of the object to be measured for tracking, making the overall measurement process quite cumbersome. The other is a phase-based method, which obtains vibration information by calculating the phase changes between traditional video frames. This method is limited by the imaging principle of traditional cameras, has poor ability to capture information of high-speed moving objects, cannot effectively capture motion information in low-light environments, and also generates a large amount of redundant data.

[0027] In this embodiment Figure 1 In the application scenario shown, an event camera 101 collects the corresponding event stream for a vibrating object, and then sends the collected event stream to an electronic device 102. The electronic device 102, upon receiving the event stream, executes the following vibration measurement method based on the event camera: First, the event stream collected by the event camera corresponding to the vibrating object is converted into a complex image; then, the complex image is decomposed into multiple sub-bands of different scales and directions; next, the phase change signal of the vibrating object is calculated by combining the phase information of each sub-band; finally, the vibration frequency of the vibrating object is determined based on the phase change signal. Because the event camera has high temporal resolution and high dynamic range, it can support capturing high-speed motion of objects under low-light conditions. Furthermore, the collected data is only related to the object's motion, reducing data redundancy. Therefore, this embodiment effectively improves the accuracy of vibration measurement, reduces the amount of data processing, and can obtain the object's vibration frequency more efficiently and quickly.

[0028] like Figure 2The diagram shown is a schematic representation of an electronic device according to an embodiment of this application. The electronic device mainly includes a memory 201 and a processor 202. The number of processors 202 can be one or more. The memory 201 stores a computer program 203 that can run on the processor 202. The memory 201 and the processor 202 are communicatively connected. When the processor 202 executes the computer program 203, it implements the aforementioned vibration measurement method based on an event camera.

[0029] It should be noted that memory 201 can be high-speed random access memory (RAM) or non-volatile memory, such as disk storage. Memory 201 is used to store executable program code, and processor 202 is coupled to memory 201.

[0030] One embodiment of this application also provides a computer-readable storage medium, which may be disposed in the aforementioned electronic device. The computer-readable storage medium may be as described above. Figure 2 The memory in the illustrated embodiment.

[0031] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the aforementioned vibration measurement method based on an event camera. Furthermore, the computer-readable storage medium can also be any medium capable of storing program code, such as a USB flash drive, external hard drive, read-only memory (ROM), RAM, magnetic disk, or optical disk.

[0032] like Figure 3 This is a basic flowchart of a vibration measurement method based on an event camera provided in an embodiment of this application. The vibration measurement method can be performed by… Figure 1 or Figure 2 The electronic device in the process executes the following steps:

[0033] Step 301: Convert the event stream corresponding to the vibrating object captured by the event camera into a complex image.

[0034] like Figure 4 The diagram shown illustrates an event flow provided in this embodiment. During vibration measurement in this embodiment, the vibrating object can be any object whose vibration behavior is to be measured. The event camera acquires the event flow relative to the vibrating object. The formulaic description of the event flow is as follows:

[0035]

[0036]

[0037] It should be understood that an event data in the event stream consists of (x, y, p, t), where x and y represent pixel coordinates, p represents event polarity, t represents timestamp, L(t) represents brightness (i.e. light intensity) at time t, and c represents the brightness change threshold of the event camera.

[0038] In practical applications, an event camera includes a pixel array composed of multiple pixels, each of which operates independently. An event is output only when a pixel detects a brightness change that reaches a brightness change threshold. In this embodiment, when log(L) x,y (t1))-log(L x,y When (t0))≥c, the event camera generates a positive event (i.e., an UP event), p=1, indicating that the brightness at the current moment is stronger than the previous moment; when log(L x,y (t1))-log(L x,y When (t0))≤-c, the event camera generates a negative event (i.e., a DN event), p=-1, indicating that the brightness at the current moment is weaker than the previous moment; when -c≤log(L x,y (t1))-log(L x,y When (t0))≤c, the event camera does not generate an event.

[0039] In one optional implementation of this embodiment, the event stream corresponding to the vibrating object captured by the event camera can be converted into a complex image based on a preset image conversion model; the image conversion model is expressed as:

[0040]

[0041] Where A represents amplitude, Let E(x,y,t) represent the phase vector, (x,y) represent the pixel coordinates, j represent the imaginary unit, e represent the natural constant, fft represent the Fourier transform, T represent the duration of the event stream, t0 represent the start time of the event stream, E(x,y,t) represent the sum of the event polarities from time t0 to time t, and c represent the brightness change threshold of the event camera. It is worth noting that in this embodiment, c can be 1. If, from time t0 to t1, there are events with polarities [+1,+1,-1] occurring at the coordinates (x0,y0), then E(x0,y0,t1) = 1.

[0042] like Figure 5 The image shown is an image representation of the pixel values ​​corresponding to the event stream provided in this embodiment. It should be noted that the objects undergoing Fourier transform in the above image conversion model have the following mathematical relationship:

[0043]

[0044] Where f(x,y) represents the pixel value.

[0045] Step 302: Decompose the complex image into multiple sub-bands of different scales and orientations.

[0046] Specifically, this embodiment can use the Complex Steerable Pyramid (CSP) algorithm to decompose the complex image into multiple subbands of different scales and directions, and convert them into the following amplitude A and phase. Format:

[0047]

[0048] Where r represents the scale, θ represents the direction, t represents the time sequence signal, x and y represent the coordinates on the sub-band after decomposition, and j represents the imaginary unit.

[0049] In a preferred embodiment, the parameters of CSP can be scale=1 and orientation=2. This parameter setting indicates that subband decomposition is performed on one scale and in two directions, resulting in two CSP subbands.

[0050] Step 303: Calculate the phase change signal of the vibrating object by combining the phase information of each sub-band.

[0051] In this embodiment, firstly, phase weighting calculation is performed on the phase vectors of each sub-band at different positions to obtain a weighted phase; then, a preset time offset is added to the weighted phases of different sub-bands to obtain aligned weighted phases; finally, all aligned weighted phases are integrated to obtain the phase change signal of the vibrating object.

[0052] On the one hand, this embodiment calculates the phase weight of the phase vector at different positions of each sub-band according to a preset weighted calculation formula to obtain the weighted phase; the weighted calculation formula is expressed as:

[0053]

[0054] Where, Φ i (r,θ,t) represents the weighted phase, and A represents the amplitude. Let (x,y) represent the phase vector, (x,y) represent the pixel coordinates, r represent the scale, θ represent the direction, t represent the timing signal, and i represent the sub-band index.

[0055] It should be noted that in this embodiment, phase weighting is calculated at different positions for each sub-band of the event stream to suppress the influence of noise. Additionally, Φ i (r,θ,t) represents the phase change of a one-dimensional vector over time t in the (r,θ) subband.

[0056] On the other hand, in order to avoid the mutual cancellation caused by the phase difference between different sub-bands, this embodiment needs to add a certain time offset to the phase vectors of different sub-bands to achieve phase alignment of the sub-bands. In this embodiment, the aforementioned time offset can be calculated based on a preset time offset calculation formula; the time offset calculation formula is expressed as:

[0057]

[0058] Among them, t i This represents the time offset of the i-th sub-band.

[0059] Furthermore, this embodiment integrates all aligned weighted phases based on a preset phase change calculation formula to obtain the phase change signal of the vibrating object; the phase change calculation formula is expressed as:

[0060]

[0061] in, This indicates a phase change signal.

[0062] like Figure 6 The diagram shown is a schematic of a phase change signal obtained by converting an event stream according to this embodiment. In this embodiment, the signal value corresponding to the current moment can be obtained by adding the weighted phases of all sub-bands of the event stream after alignment.

[0063] Step 304: Determine the vibration frequency of the vibrating object based on the phase change signal.

[0064] In this embodiment, a Fourier transform is performed on the phase-change signal to obtain the corresponding spectral data; after removing the DC component from the spectral data, the target frequency with the largest amplitude among the remaining frequencies of the spectral data is determined as the vibration frequency of the vibrating object. For example... Figure 7 The diagram shown is a schematic diagram of a spectrum data provided in this embodiment. In this embodiment, the signal value over a period of time is subjected to Fourier transform, and the frequency with the largest amplitude is calculated as the main frequency of the object's vibration.

[0065] In one optional embodiment of this example, after the step of determining the vibration frequency of the vibrating object based on the phase change signal, the method further includes: acquiring multiple vibration frequencies determined corresponding to multiple time-series continuous event streams of the vibrating object; determining vibration frequency change data of the vibrating object based on the multiple vibration frequencies, or calculating the average vibration frequency of the vibrating object based on the multiple vibration frequencies.

[0066] Specifically, the event stream mentioned in step 301 of this embodiment can be only a unit event stream in the complete event stream collected by the event camera within a specific time period. In this embodiment, the complete event stream can be divided into multiple temporally continuous unit event streams according to the unit time length. Next, each unit event stream is converted into a complex image according to the process of steps 301 to 304, and then decomposed into multiple sub-bands. The phase change signal is calculated by combining the phase information of multiple sub-bands. Finally, the vibration frequency of each unit time can be determined according to the phase change signal. Furthermore, for application scenarios with dynamic changes in vibration behavior, the vibration frequency change data of the vibrating object within a specific time period can be determined by combining multiple temporally continuous vibration frequencies. In addition, for application scenarios with stable vibration, the average value of vibration frequencies at multiple different time periods can be calculated, and the calculated average vibration frequency can be determined as the final vibration frequency of the vibrating object. This can avoid the random error of a single sampling data and improve the accuracy of vibration measurement results.

[0067] Figure 8 The method described in this application is a refined vibration measurement method based on an event camera, and the implementation process of this vibration measurement method includes the following steps:

[0068] Step 801: Based on the preset image conversion model, convert the event stream corresponding to the vibrating object acquired by the event camera into a complex image.

[0069] The image conversion model is represented as follows:

[0070]

[0071] Step 802: Decompose the complex image into multiple sub-bands of different scales and orientations.

[0072] In this embodiment, the CSP algorithm can be used to decompose the complex image into multiple sub-bands of different scales and directions, and convert them into the following amplitude A and phase. Format:

[0073]

[0074] Step 803: According to the preset weighted calculation formula, perform phase weighted calculation on the phase vector of each sub-band at different positions to obtain the weighted phase.

[0075] The weighted calculation formula is expressed as follows:

[0076]

[0077] Step 804: Calculate the time offset based on the preset time offset calculation formula.

[0078] The formula for calculating the time offset is as follows:

[0079]

[0080] Step 805: Add the calculated time offset to the weighted phase of different sub-bands to obtain the aligned weighted phase.

[0081] Step 806: Based on the preset phase change calculation formula, integrate all aligned weighted phases to obtain the phase change signal of the vibrating object.

[0082] The formula for calculating phase change is as follows:

[0083]

[0084] Step 807: Perform a Fourier transform on the phase-change signal to obtain the corresponding spectrum data.

[0085] Step 808: After removing the DC component from the spectrum data, determine the target frequency with the largest amplitude among the remaining frequencies in the spectrum data as the vibration frequency of the vibrating object.

[0086] It should be understood that the sequence number of each step in this embodiment does not imply the order in which the steps are executed. The execution order of each step should be determined by its function and internal logic, and should not constitute a unique limitation on the implementation process of this application embodiment.

[0087] Figure 9 This application provides an embodiment of a vibration measurement device based on an event camera. This vibration measurement device can be used to implement the event camera-based vibration measurement method described in the foregoing embodiments. The vibration measurement device mainly includes:

[0088] The conversion module 901 is used to convert the event stream corresponding to the vibrating object acquired by the event camera into a complex image;

[0089] The decomposition module 902 is used to decompose a complex image into multiple sub-bands of different scales and orientations;

[0090] The calculation module 903 is used to calculate the phase change signal of the vibrating object by combining the phase information of each sub-band;

[0091] The determination module 904 is used to determine the vibration frequency of the vibrating object based on the phase change signal.

[0092] In some embodiments of this example, the conversion module is specifically used to: convert the event stream corresponding to the vibrating object acquired by the event camera into a complex image based on a preset image conversion model; the image conversion model is expressed as:

[0093]

[0094] In some implementations of this embodiment, the calculation module is specifically used to: perform phase weighting calculation on the phase vector of each sub-band at different positions to obtain a weighted phase; add a preset time offset to the weighted phase of different sub-bands to obtain an aligned weighted phase; and integrate all aligned weighted phases to obtain the phase change signal of the vibrating object.

[0095] Furthermore, in some embodiments of this example, the calculation module is specifically used to: perform phase weighting calculation on the phase vectors of each sub-band at different positions according to a preset weighting calculation formula to obtain a weighted phase; the weighting calculation formula is expressed as:

[0096]

[0097] Furthermore, in some other embodiments of this example, the calculation module is also used to: calculate the time offset based on a preset time offset calculation formula; the time offset calculation formula is expressed as:

[0098]

[0099] Furthermore, in some other embodiments of this example, the calculation module is specifically used to: integrate all aligned weighted phases based on a preset phase change calculation formula to obtain the phase change signal of the vibrating object; the phase change calculation formula is expressed as:

[0100]

[0101] In some embodiments of this example, the determining module is specifically used to: perform Fourier transform on the phase change signal to obtain the corresponding spectrum data; after removing the DC component from the spectrum data, determine the target frequency with the largest amplitude among the remaining frequencies of the spectrum data as the vibration frequency of the vibrating object.

[0102] In some embodiments of this example, the vibration measuring device further includes: an acquisition module, configured to acquire multiple vibration frequencies determined based on a multi-segment time-series continuous event stream of the vibrating object; correspondingly, the determination module is further configured to: determine the vibration frequency change data of the vibrating object based on the multiple vibration frequencies, or calculate the average vibration frequency of the vibrating object based on the multiple vibration frequencies.

[0103] It should be noted that the vibration measurement methods in the foregoing embodiments can all be implemented based on the vibration measurement device provided in this embodiment. Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process of the vibration measurement device described in this embodiment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0104] Based on the technical solution of the above embodiments of this application, the event stream corresponding to the vibrating object acquired by the event camera is converted into a complex image; the complex image is decomposed into multiple sub-bands of different scales and directions; the phase change signal of the vibrating object is calculated by combining the phase information of each sub-band; and the vibration frequency of the vibrating object is determined based on the phase change signal. Through the implementation of this application's solution, the vibration frequency of the object is measured using a non-contact measurement method. Furthermore, the event camera has high temporal resolution and high dynamic range, supporting the capture of high-speed motion of objects under low-light conditions. In addition, the acquired data is only related to the object's motion, reducing data redundancy. Therefore, the accuracy of vibration measurement is effectively improved, and the amount of data processing is reduced.

[0105] It should be noted that the apparatuses and methods disclosed in the several embodiments provided in this application can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0106] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0107] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0108] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0109] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0110] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0111] The above is a description of the vibration measurement method, apparatus, device and storage medium based on event camera provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vibration measurement method based on an event camera, characterized in that, include: Convert the event stream corresponding to the vibrating object captured by the event camera into a complex image; The complex image is decomposed into multiple sub-bands of different scales and orientations; Phase weighting calculation is performed on the phase vector of each sub-band at different positions to obtain a weighted phase; a preset time offset is added to the weighted phase of different sub-bands to obtain an aligned weighted phase; all the aligned weighted phases are integrated to obtain the phase change signal of the vibrating object. The vibration frequency of the vibrating object is determined based on the phase change signal.

2. The vibration measurement method according to claim 1, characterized in that, The step of converting the event stream corresponding to the vibrating object captured by the event camera into a complex image includes: Based on a preset image conversion model, the event stream corresponding to the vibrating object captured by the event camera is converted into a complex image; the image conversion model is expressed as: ) in, Indicates amplitude, Represents the phase vector. The pixel coordinates are represented by , j represents the imaginary unit, e represents the natural constant, fft represents the Fourier transform, and T represents the duration of the event stream. This indicates the start time of the event stream. express Time to The sum of the polarities of events at any given moment. This represents the brightness change threshold of the event camera.

3. The vibration measurement method according to claim 1, characterized in that, The step of performing phase weighting calculation on the phase vectors at different positions of each sub-band to obtain the weighted phase includes: According to a preset weighted calculation formula, the phase vectors of each sub-band at different positions are weighted to obtain the weighted phase; the weighted calculation formula is expressed as: in, Indicates the weighted phase, Indicates amplitude, Represents the phase vector, represents the pixel coordinate position, and r represents the scale. The direction is indicated by t, the timing signal is indicated by t, and the sub-band index is indicated by i.

4. The vibration measurement method according to claim 3, characterized in that, Before the step of adding a preset time offset to the weighted phases of different sub-bands to obtain aligned weighted phases, the method further includes: The time offset is calculated based on a preset time offset calculation formula; the time offset calculation formula is expressed as follows: in, This represents the time offset of the i-th sub-band.

5. The vibration measurement method according to claim 4, characterized in that, The step of integrating all the aligned weighted phases to obtain the phase change signal of the vibrating object includes: Based on a preset phase change calculation formula, all the aligned weighted phases are integrated to obtain the phase change signal of the vibrating object; the phase change calculation formula is expressed as: in, This represents the phase change signal.

6. The vibration measurement method according to any one of claims 1 to 5, characterized in that, The step of determining the vibration frequency of the vibrating object based on the phase change signal includes: Perform a Fourier transform on the phase-change signal to obtain the corresponding spectral data; After removing the DC component from the spectrum data, the target frequency with the largest amplitude among the remaining frequencies of the spectrum data is determined as the vibration frequency of the vibrating object.

7. The vibration measurement method according to any one of claims 1 to 5, characterized in that, After the step of determining the vibration frequency of the vibrating object based on the phase change signal, the method further includes: Obtain multiple vibration frequencies corresponding to a multi-segment temporally continuous event stream based on the vibrating object; The vibration frequency variation data of the vibrating object is determined based on multiple vibration frequencies, or the average vibration frequency of the vibrating object is calculated based on multiple vibration frequencies.

8. A vibration measurement device based on an event camera, characterized in that, include: The conversion module is used to convert the event stream corresponding to the vibrating object captured by the event camera into a complex image; The decomposition module is used to decompose the complex image into multiple sub-bands of different scales and orientations; The calculation module is used to perform phase weighting calculation on the phase vector of each sub-band at different positions to obtain a weighted phase; add a preset time offset to the weighted phase of different sub-bands to obtain an aligned weighted phase; and integrate all the aligned weighted phases to obtain the phase change signal of the vibrating object. The determining module is used to determine the vibration frequency of the vibrating object based on the phase change signal.

9. An electronic device, characterized in that, Includes memory and processor, of which: The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the vibration measurement method based on an event camera as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps in the event camera-based vibration measurement method according to any one of claims 1 to 7.

Images