Relay action time measuring method based on rotation target tracking

Abstract

The application relates to the technical field of relays, and discloses a relay action time measuring method based on rotating target tracking, which is used for improving the accuracy when analyzing the action time of a relay. The method comprises the following steps: synchronously triggering a target relay and a high-speed image acquisition device; collecting action images of the target relay through the high-speed image acquisition device to obtain an action image set; performing filtering processing on the action image set to obtain a filtering image set; performing dynamic contact analysis on each filtering image to determine the dynamic contact center coordinate data corresponding to each filtering image in the filtering image set; performing static contact analysis on each filtering image to determine the static contact center coordinate data and the inclination angle corresponding to each filtering image; and performing action time analysis on the target relay through the dynamic contact center coordinate data corresponding to each filtering image and the static contact center coordinate data corresponding to each filtering image to determine a target action time set.

Description

Technical Field

[0001] This invention relates to the field of relay technology, and in particular to a method for measuring relay action time based on rotating target tracking. Background Technology

[0002] A relay is an electrical switch that controls the switching state of a circuit through electromagnetic force. The invention and application of relays have greatly promoted the development of electrical automation technology. In the past few decades, with the rapid development of industrial automation and information technology, relay technology has also been widely applied and developed. The pull-in and release time of a relay refers to the time required for the relay to fully engage after receiving a control signal, and the time required for the relay to fully release after the control signal disappears. This time is crucial for relay applications. For applications requiring high-speed response, such as automated production lines and robots, the pull-in and release time of relays needs to be very short. If the pull-in and release time of the relay is too long, it will cause a delay in the control signal, thereby affecting the response speed and working efficiency of the equipment.

[0003] Existing methods for measuring the pull-in and release time of relays mainly rely on manual observation or current calculation. Manual observation has low accuracy and is inefficient and costly, especially in precision control applications where it is impossible to observe manually. Current calculation is a more commonly used method with relatively high accuracy, but it requires a dedicated measurement circuit, which has a significant impact on the relay circuit and its operation. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method for measuring relay action time based on rotating target tracking, which solves the technical problem of low accuracy in analyzing relay action time.

[0005] This invention provides a method for measuring the actuation time of a relay based on rotating target tracking, comprising: synchronously triggering a target relay and a high-speed image acquisition device using a synchronous timing controller; acquiring a set of actuation images of the target relay using the high-speed image acquisition device; filtering the set of actuation images to obtain a set of filtered images; performing dynamic contact analysis on each filtered image in the set to determine the center coordinate data of the dynamic contact corresponding to each filtered image; performing static contact analysis on each filtered image in the set to determine the center coordinate data and tilt angle of the static contact corresponding to each filtered image; and performing actuation time analysis on the target relay using the center coordinate data of the dynamic contact corresponding to each filtered image and the center coordinate data of the static contact corresponding to each filtered image to determine the target actuation time set.

[0006] In this invention, the step of filtering the action image set to obtain a filtered image set includes: performing image feature analysis on the action image set to determine target image features; performing convolution kernel parameter analysis on the target image features to determine target convolution kernel parameters; performing a convolution operation on each action image in the action image set based on the target convolution kernel parameters to obtain a set of pixel values; and performing normalization processing on the action image set using the set of pixel values ​​to obtain the filtered image set.

[0007] In this invention, the step of performing dynamic touch point analysis on each filtered image in the filtered image set to determine the dynamic touch point center coordinate data corresponding to each filtered image in the filtered image set includes: performing circular detection on each filtered image in the filtered image set to determine a target circular region in each filtered image; and performing dynamic touch point analysis on each filtered image in the filtered image set using the target circular region in each filtered image to determine the dynamic touch point center coordinate data corresponding to each filtered image in the filtered image set.

[0008] In this invention, the step of performing static touch point analysis on each filtered image in the filtered image set to determine the static touch point center coordinates and tilt angle corresponding to each filtered image in the filtered image set includes: performing temporal classification on the filtered image set, including an initial frame image and a non-initial frame image set; performing static touch point region analysis on the initial frame image using a target detection algorithm to determine the target static touch point region; and performing static touch point analysis on each filtered image in the filtered image set using the target static touch point region to determine the static touch point center coordinates and tilt angle corresponding to each filtered image in the filtered image set.

[0009] In this invention, the step of performing static touch point analysis on each filtered image in the filtered image set through the target static touch point region to determine the static touch point center coordinate data and tilt angle corresponding to each filtered image in the filtered image set includes: extracting feature points from the target static touch point region using a target detection algorithm to determine target feature points; performing static touch point analysis on the initial frame image through the target feature points to determine the static touch point center coordinate data and tilt angle corresponding to the initial frame image; performing static touch point analysis on each non-initial frame image in the non-initial frame image set through the target feature points to determine the static touch point center coordinate data and tilt angle corresponding to each non-initial frame image; and generating the static touch point center coordinate data and tilt angle corresponding to each filtered image in the filtered image set based on the static touch point center coordinate data and tilt angle corresponding to the initial frame image and the static touch point center coordinate data and tilt angle corresponding to each non-initial frame image.

[0010] In this invention, the step of analyzing the action time of the target relay using the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set to determine the target action time set includes: performing circular region analysis on the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set to determine the set of circular regions to be analyzed; performing rectangular region analysis on the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set to determine the set of rectangular regions to be analyzed; and performing action time analysis on the target relay using the set of circular regions to be analyzed and the set of rectangular regions to be analyzed to determine the target action time set.

[0011] In this invention, the step of performing action time analysis on the target relay using the set of circular regions to be analyzed and the set of rectangular regions to be analyzed to determine the target action time set includes: performing pairing processing on the set of circular regions to be analyzed and the set of rectangular regions to be analyzed to determine multiple sets of region images to be analyzed; and performing action time analysis on the target relay using the multiple sets of region images to be analyzed to determine the target action time set.

[0012] In this invention, the target relay and the high-speed image acquisition device are synchronously triggered; the high-speed image acquisition device acquires motion images of the target relay to obtain a set of motion images; the set of motion images is filtered to obtain a set of filtered images; dynamic contact analysis is performed on each filtered image to determine the center coordinate data of the dynamic contact corresponding to each filtered image in the set of filtered images; static contact analysis is performed on each filtered image to determine the center coordinate data of the static contact and the tilt angle corresponding to each filtered image; the action time of the target relay is analyzed using the center coordinate data of the dynamic contact and the center coordinate data of the static contact corresponding to each filtered image to determine the target action time set. In this invention, it is possible to achieve a 1000 This invention acquires images of the moving and stationary contacts of the target relay during its operation at a speed of 0 frames per second, achieving an accuracy of 0.1ms in measuring the engagement and release times. By employing a rotating target tracking algorithm to measure the engagement and release times of the target relay, it can track the stationary contacts during the relay's operation and obtain their angular changes. This allows for accurate determination of the position and contact time of the moving and stationary contacts, significantly improving measurement accuracy compared to other current methods. Synchronous timing control enables simultaneous triggering of the target relay and camera, placing them on the same timeline. This reduces the number of images, increases processing speed, and allows for analysis combining images with power-on / off times, resulting in more accurate results. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a relay action time measurement method based on rotating target tracking in an embodiment of the present invention.

[0015] Figure 2 This is a flowchart illustrating the action time analysis of the target relay in an embodiment of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 , Figure 1 This is a flowchart of a relay action time measurement method based on rotating target tracking according to an embodiment of the present invention, as shown below. Figure 1 As shown, the flowchart includes the following steps:

[0020] S101. Synchronous triggering of the target relay and high-speed image acquisition device is performed through a synchronous timing controller.

[0021] It should be noted that, in this embodiment of the invention, the server uses a microcontroller to build a synchronous trigger circuit, which can simultaneously emit two identical trigger pulses. One of the trigger pulses is connected to the electromagnetic circuit of the target relay, and the target relay is controlled to engage for 1.5 seconds and then release via a time relay. The other trigger pulse is then connected to the external trigger port of the high-speed image acquisition device, and the acquisition frequency is set to 10,000 frames / s. The control device acquires the relay action image for 3 seconds, which can realize the synchronization of the target relay action and image acquisition.

[0022] S102. Acquire motion images of the target relay using a high-speed image acquisition device to obtain a set of motion images;

[0023] S103. Filter the action image set to obtain a filtered image set;

[0024] Specifically, the collected action image set is filtered. A convolution kernel is defined based on the image features to perform a convolution operation on each pixel in the image to obtain a new pixel value. The convolved image is then normalized to make the pixel value range between 0 and 255.

[0025] S104. Perform dynamic contact point analysis on each filtered image in the filtered image set to determine the center coordinate data of the dynamic contact point corresponding to each filtered image in the filtered image set.

[0026] Specifically, in the initial frame image, a circle detection is performed on the preprocessed image. A radius threshold for the circle is set, and the detected target circle is the relay moving contact. Then, in each filtered image in the filtered image set, the detected moving contact is dynamically tracked to obtain its displacement data. At the same time, the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set is determined.

[0027] S105. Perform static contact point analysis on each filtered image in the filtered image set to determine the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set.

[0028] The process involves analyzing static touch points in each filtered image within the filtered image set. First, a target detection algorithm is used in the initial frame of the filtered image set to detect the target static touch point region and extract its feature points. In subsequent frames, a feature point matching algorithm is used to match the target feature points in the current frame with those in the initial frame, obtaining estimates of the target region's position and rotation angle. Based on the feature point matching results, the target in the current frame is tracked, and the precise values ​​of the target region's position and rotation angle are obtained. Based on the target tracking results, the target's position and rotation angle in the next frame are predicted. Finally, the center coordinates and tilt angle of the static touch point corresponding to each filtered image in the filtered image set are determined.

[0029] S106. By analyzing the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set, the action time of the target relay is determined.

[0030] It should be noted that, in this embodiment of the invention, the server determines whether the moving and stationary contacts are in contact based on the calculation of the tracking data of the moving and stationary contacts. In the relay image, the moving contact is a circle, and the stationary contact is an inclined rectangle. The contact point of the moving and stationary contacts is the tangent point of the upper or lower edge of the circle and the rectangle. Therefore, the problem of determining whether the moving and stationary contacts are in contact can be transformed into determining whether the circle and the straight line are tangent. It is only necessary to calculate the distance from the center of the circle to the straight line. If this distance is greater than the radius of the circle, then the two are not tangent, and the moving and stationary contacts are not in contact. If this distance is equal to the radius of the circle, then the two are tangent, and the moving and stationary contacts are in contact. In the above way, the target relay is analyzed for action time by using the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set, and the target action time set is determined. The target action time set includes: the pull-in time and the release time.

[0031] By performing the above steps, the target relay and the high-speed image acquisition device are synchronously triggered; the high-speed image acquisition device acquires motion images of the target relay to obtain a motion image set; the motion image set is filtered to obtain a filtered image set; moving contact analysis is performed on each filtered image to determine the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set; stationary contact analysis is performed on each filtered image to determine the center coordinate data and tilt angle of the stationary contact corresponding to each filtered image; the motion time of the target relay is analyzed using the center coordinate data of the moving contact corresponding to each filtered image and the center coordinate data of the stationary contact corresponding to each filtered image to determine the target motion time set. In this invention, it is possible to achieve a 10 This invention acquires images of the moving and stationary contacts of the target relay at a speed of 000 frames / s during its operation, achieving an accuracy of 0.1ms in measuring the engagement and release times. By employing a rotating target tracking algorithm to measure the engagement and release times of the target relay, it can track the stationary contacts during the relay's operation and obtain their angular changes. This allows for accurate determination of the position and contact time of the moving and stationary contacts, significantly improving measurement accuracy compared to other current methods. Synchronous timing control enables simultaneous triggering of the target relay and camera, placing them on the same timeline. This reduces the number of images, increases processing speed, and allows for analysis combining images with power-on / off times, resulting in more accurate results.

[0032] In one specific embodiment, the process of executing step S103 may specifically include the following steps:

[0033] (1) Perform image feature analysis on the action image set to determine the target image features;

[0034] (2) Analyze the kernel parameters of the target image to determine the kernel parameters;

[0035] (3) Based on the target convolution kernel parameters, perform convolution operation on each action image in the action image set to obtain a set of pixel values;

[0036] (4) Normalize the action image set using the pixel value set to obtain the filtered image set.

[0037] Specifically, image feature analysis involves analyzing aspects such as color, texture, shape, and edges of an image to extract feature information that represents its content. In this step, a suitable feature extraction method needs to be selected to analyze the action image set, and based on the application scenario, the features that best represent the target action are chosen as the target image features. Based on the target image features, the convolution kernel parameters are analyzed and determined. It should be noted that the convolution kernel is a key component of a Convolutional Neural Network (CNN) used to extract image features. In this step, the convolution kernel parameters need to be analyzed and adjusted according to the target image features to achieve better convolution feature extraction results. A convolution operation is performed on each image in the action image set to obtain a set of pixel values. In this step, the determined convolution kernel parameters are used to perform a convolution operation on each image in the action image set, resulting in a set of pixel values ​​for each image. The convolution operation involves multiplying the convolution kernel by the image and then summing the results to obtain a new pixel value. The pixel value set is then normalized to obtain a filtered image set.

[0038] In one specific embodiment, the process of executing step S104 may specifically include the following steps:

[0039] (1) Perform circular detection on each filtered image in the filtered image set to determine the target circular region in each filtered image;

[0040] (2) Perform dynamic contact point analysis on each filtered image in the set of filtered images by using the target circular region in each filtered image to determine the center coordinate data of the dynamic contact point corresponding to each filtered image in the set of filtered images.

[0041] Specifically, a circular detection process is performed on each filtered image in the filter image set to determine the target circular region within each image. Circular detection refers to the process of identifying the target circular region in a filtered image. Commonly used methods include Hough transform and edge detection. This step obtains the position and size information of the target circular region in each filtered image, preparing for subsequent dynamic touch point analysis. Dynamic touch point analysis is then performed on each filtered image in the filter image set using the target circular region, determining the corresponding dynamic touch point center coordinates for each image. Based on the target circular region, the dynamic touch point center coordinates of each image in the filter image set can be further analyzed.

[0042] In one specific embodiment, the process of executing step S105 may specifically include the following steps:

[0043] (1) Perform temporal classification on the filtered image set, into initial frame images and non-initial frame image sets;

[0044] (2) The static touch point region of the target is determined by analyzing the static touch point region of the initial frame image through the target detection algorithm;

[0045] (3) Perform static contact point analysis on each filtered image in the filtered image set through the target static contact point area to determine the center coordinate data and tilt angle of the static contact point corresponding to each filtered image in the filtered image set.

[0046] Specifically, the filtered image set is temporally classified into initial frame images and non-initial frame image sets. Temporal classification refers to dividing each frame in the motion image set into initial frames and non-initial frames according to time sequence. Typically, the initial frame is the frame where the motion begins, while non-initial frames are the other frames between the beginning and end. This step divides the motion image set temporally, facilitating subsequent static touch point analysis and motion recognition tasks. Static touch point region analysis is performed on the initial frame images using object detection algorithms to determine the target static touch point regions. Static touch points refer to the positions where the hand or foot contacts the ground during motion. In the initial frame images, object detection algorithms (such as the YOLO object detection model and Faster R-CNN) can be used to analyze the static touch point regions, thereby determining the target static touch point regions in the initial frame images. Static touch point analysis is then performed on each filtered image in the filtered image set based on the target static touch point regions, determining the center coordinates and tilt angle of the corresponding static touch point in each filtered image.

[0047] In one specific embodiment, the process of performing static contact point analysis on each filtered image in the filtered image set through the target static contact point region to determine the static contact point center coordinates and tilt angle corresponding to each filtered image in the filtered image set specifically includes the following steps:

[0048] (1) The target static contact area is extracted using a target detection algorithm to determine the target feature points;

[0049] (2) Analyze the static contact points of the initial frame image by using the target feature points to determine the center coordinates and tilt angle of the static contact points corresponding to the initial frame image;

[0050] (3) Perform static contact point analysis on each non-initial frame image in the non-initial frame image set through target feature points, and determine the static contact point center coordinate data and tilt angle corresponding to each non-initial frame image.

[0051] (4) Based on the center coordinates and tilt angle of the static contact point corresponding to the initial frame image and the center coordinates and tilt angle of the static contact point corresponding to each non-initial frame image, generate the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set.

[0052] Specifically, feature points are extracted from the target static touch point region using object detection algorithms to determine target feature points. Feature point extraction refers to extracting representative key points from the image. In this step, object detection algorithms (such as the object detection models YOLO and Faster R-CNN) can be used to extract feature points from the target static touch point region to obtain more accurate and stable static touch point information. Static touch point analysis is then performed on the initial frame image using target feature points to determine the center coordinates and tilt angle of the static touch points corresponding to the initial frame image. Similarly, static touch point analysis is performed on each non-initial frame image in the non-initial frame image set using target feature points to determine the center coordinates and tilt angle of the static touch points corresponding to each non-initial frame image. Based on the center coordinates and tilt angle of the static contact point corresponding to the initial frame image, and the center coordinates and tilt angle of the static contact point corresponding to each non-initial frame image, the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set are generated.

[0053] In one specific embodiment, such as Figure 2 As shown, the process of executing step S106 can specifically include the following steps:

[0054] S201. Perform circular region analysis on the center coordinate data of the moving contact point corresponding to each filtered image in the filtered image set to determine the set of circular regions to be analyzed.

[0055] S202. Perform regional analysis on the center coordinate data of the static contact point corresponding to each filtered image in the filtered image set to determine the set of rectangular regions to be analyzed.

[0056] S203. Analyze the action time of the target relay by analyzing the set of circular regions to be analyzed and the set of rectangular regions to be analyzed, and determine the target action time set.

[0057] Specifically, it should be noted that in a relay image, the moving contact is a circle, and the stationary contact is an inclined rectangle. The contact point between the moving and stationary contacts is the point of tangency between the top or bottom edge of the circle and the rectangle. Therefore, determining whether the moving and stationary contacts are in contact can be transformed into determining whether the circle and the straight line are tangent. Calculate the distance from the center of the circle to the straight line. If this distance is greater than the radius of the circle, then the two are not tangent, and the moving and stationary contacts are not in contact; if this distance is equal to the radius of the circle, then the two are tangent, and the moving and stationary contacts are in contact.

[0058] Specifically, circular region analysis is performed on the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set to determine the set of circular regions to be analyzed. In this step, circular region analysis can be performed on the center coordinate data of the moving contact corresponding to each filtered image to determine the set of circular regions to be analyzed. Typically, the set of circular regions can be determined by calculating a circular region within a certain range around the moving contact. Rectangular region analysis is performed on the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set to determine the set of rectangular regions to be analyzed. Similarly, in this step, rectangular region analysis can be performed on the center coordinate data of the stationary contact corresponding to each filtered image to determine the set of rectangular regions to be analyzed. Typically, the set of rectangular regions can be determined by calculating a rectangular region within a certain range around the stationary contact. The target relay's operating time is analyzed using the set of circular regions and the set of rectangular regions to be analyzed to determine the target operating time set, which includes the engagement time and the release time.

[0059] In one specific embodiment, the process of executing step S203 may specifically include the following steps:

[0060] (1) Pair the set of circular regions to be analyzed and the set of rectangular regions to be analyzed to determine multiple sets of region images to be analyzed;

[0061] (2) The target relay is analyzed by multiple sets of images of the area to be analyzed to determine the target action time set.

[0062] It should be noted that the set of circular regions to be analyzed and the set of rectangular regions to be analyzed are paired to determine multiple sets of region images to be analyzed. In this step, the set of circular regions to be analyzed and the set of rectangular regions to be analyzed are paired to determine multiple sets of region images to be analyzed. Typically, we can pair each circular region with its corresponding rectangular region to obtain a set of region images to be analyzed. The target relay is then analyzed using multiple sets of region images to determine the target action time set, which includes the pull-in time and the release time.

[0063] In this embodiment of the invention, the contact status is determined based on the calculation of tracking data of the moving and stationary contacts. In the relay image, the moving contact is a circle, and the stationary contact is an inclined rectangle. The contact point of the moving and stationary contacts is the point of tangency between the upper or lower edges of the circle and the rectangle. Therefore, the problem of determining whether the moving and stationary contacts are in contact can be transformed into determining whether the circle and the straight line are tangent. It is only necessary to calculate the distance from the center of the circle to the straight line. If this distance is greater than the radius of the circle, then they are not tangent, and the moving and stationary contacts are not in contact; if this distance is equal to the radius of the circle, then they are tangent, and the moving and stationary contacts are in contact. Taking the release process of the target relay as an example, let the coordinates of the center of the circle be... The coordinates of the contact point are The expression for the line containing the top or bottom edge of the rectangle is: Where A, B, and C are constant parameters in the linear expression, and since the line connecting the center of the circle to the point of contact is perpendicular to the straight line, its slope is the negative reciprocal of the slope of the straight line, thus we can obtain: Solving the two equations simultaneously yields the coordinates of the contact point:

[0064] ;

[0065] ;

[0066] The distance between the center of the circle and the two points of contact is then calculated, which gives the distance between the moving and stationary contacts. .

[0067] The relay's operating time is calculated according to the definition. Specifically, the distance curve between the center of the moving contact and the lower edge of the upper stationary contact is analyzed. When the distance is equal to the radius for the first time, the moving contact and the upper stationary contact make contact for the first time. If this image is the 1254th frame, then... =1254 / 10000=0.1254s=125.4ms, where, This refers to the time of the first contact between the moving contact and the upper stationary contact. The first contact time between the moving contact and the lower stationary contact is calculated. The distance curve between the center of the moving contact and the upper edge of the lower stationary contact, calculated in step five, is analyzed. When this distance equals the radius for the first time after power is cut off, the moving contact and the upper stationary contact make their first contact. This image is frame 15043. =15324 / 10000=1.5324s=1532.4ms, where, This refers to the time of the first contact between the moving contact and the lower stationary contact. In this embodiment of the invention, the relay energization and image acquisition are synchronized; therefore, they share the same time axis. The moment the relay is energized is also the start time of image acquisition, denoted as moment 0. =0, where, The image acquisition begins at this time; the relay's operating cycle is 3 seconds, and the time relay de-energizes the relay under test after 1.5 seconds. Therefore, the relay de-energizes at 1.5 seconds. =1.5s, If the target relay is de-energized at a given moment, then the activation time of this target relay is: Release time is .

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A method for measuring relay actuation time based on rotating target tracking, characterized in that, The methods include: The target relay and the high-speed image acquisition device are synchronously triggered by a synchronous timing controller. The high-speed image acquisition device is used to acquire motion images of the target relay to obtain a set of motion images. The set of motion images is filtered to obtain a set of filtered images; For each filtered image in the filtered image set, perform dynamic contact point analysis to determine the center coordinate data of the dynamic contact point corresponding to each filtered image in the filtered image set; Static contact point analysis is performed on each filtered image in the filtered image set to determine the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set. The target relay is analyzed for its operating time by using the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set, thereby determining the target operating time set. The server determines whether the moving and stationary contacts are in contact based on the tracking data of the moving and stationary contacts. In the relay image, the moving contact is a circle, and the stationary contact is an inclined rectangle. The contact point of the moving and stationary contacts is the point of tangency between the upper or lower edges of the circle and the rectangle. Therefore, the problem of determining whether the moving and stationary contacts are in contact can be transformed into determining whether the circle and the straight line are tangent. It is only necessary to calculate the distance from the center of the circle to the straight line. If this distance is greater than the radius of the circle, then the two are not tangent, and the moving and stationary contacts are not in contact. If this distance is equal to the radius of the circle, then the two are tangent, and the moving and stationary contacts are in contact. In this way, the target relay is analyzed for action time using the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set to determine the target action time set. The target action time set includes: the pull-in time and the release time.

2. The relay action time measurement method based on rotating target tracking according to claim 1, characterized in that, The step of filtering the action image set to obtain a filtered image set includes: Image feature analysis is performed on the set of action images to determine the target image features; The kernel parameters of the target convolution are determined by analyzing the features of the target image. Based on the target convolution kernel parameters, a convolution operation is performed on each action image in the action image set to obtain a set of pixel values; The set of motion images is normalized using the set of pixel values ​​to obtain a set of filtered images.

3. The relay action time measurement method based on rotating target tracking according to claim 1, characterized in that, The step of performing dynamic contact point analysis on each filtered image in the filtered image set to determine the center coordinate data of the dynamic contact point corresponding to each filtered image in the filtered image set includes: Perform circular detection on each filtered image in the filtered image set to determine the target circular region in each filtered image; By analyzing the target circular region in each filtered image, dynamic contact point analysis is performed on each filtered image in the set of filtered images to determine the center coordinate data of the dynamic contact point corresponding to each filtered image in the set of filtered images.

4. The relay action time measurement method based on rotating target tracking according to claim 1, characterized in that, The step of performing static contact point analysis on each filtered image in the filtered image set to determine the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set includes: The filtered image set is classified temporally into initial frame images and non-initial frame image sets; The initial frame image is analyzed for static touch point regions using a target detection algorithm to determine the target static touch point regions. By analyzing the static contact points of each filtered image in the set of filtered images through the target static contact point region, the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the set of filtered images are determined.

5. The relay action time measurement method based on rotating target tracking according to claim 4, characterized in that, The step of performing static contact point analysis on each filtered image in the filtered image set through the target static contact point region to determine the static contact point center coordinates and tilt angle corresponding to each filtered image in the filtered image set includes: Feature points are extracted from the target static contact area using a target detection algorithm to determine the target feature points; By analyzing the static touch points of the initial frame image using the target feature points, the center coordinates and tilt angle of the static touch points corresponding to the initial frame image are determined. By analyzing the static touch points of each non-initial frame image in the non-initial frame image set using the target feature points, the center coordinates and tilt angle of the static touch points corresponding to each non-initial frame image are determined. Based on the center coordinates and tilt angle of the static contact point corresponding to the initial frame image and the center coordinates and tilt angle of the static contact point corresponding to each non-initial frame image, the center coordinates and tilt angle of the static contact point corresponding to each filtered image in the filtered image set are generated.

6. The relay action time measurement method based on rotating target tracking according to claim 1, characterized in that, The step of analyzing the action time of the target relay using the center coordinate data of the moving contact corresponding to each filtered image in the filtered image set and the center coordinate data of the stationary contact corresponding to each filtered image in the filtered image set to determine the target action time set includes: Perform circular region analysis on the center coordinate data of the moving touch point corresponding to each filtered image in the filtered image set to determine the set of circular regions to be analyzed. Perform rectangular region analysis on the center coordinate data of the static touch point corresponding to each filtered image in the filtered image set to determine the set of rectangular regions to be analyzed. The target relay's action time set is determined by analyzing the set of circular regions to be analyzed and the set of rectangular regions to be analyzed.

7. The relay action time measurement method based on rotating target tracking according to claim 6, characterized in that, The step of performing action time analysis on the target relay using the set of circular regions to be analyzed and the set of rectangular regions to be analyzed, and determining the target action time set, includes: The set of circular regions to be analyzed and the set of rectangular regions to be analyzed are paired to determine multiple sets of region images to be analyzed. The target relay is analyzed by performing action time analysis on the multiple sets of images of the region to be analyzed, and the target action time set is determined.

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