Exercise timing method and device, electronic equipment and storage medium

Abstract

The invention discloses an exercise timing method and device, electronic equipment and a storage medium, and relates to the technical field of detection. The method comprises the following steps: acquiring instantaneous state information of a target object at each moment in a motion process, wherein the motion process comprises a static state of the target object; for any moment, determining a state difference value of the moment according to the instantaneous state information of the moment and the instantaneous state information of the previous moment; determining a motion starting moment and a motion ending moment of the target object according to the state difference value of each moment and a critical value, wherein the critical value is determined according to the state difference value when the target object is in a static state; and determining the motion time of the target object according to the motion starting moment and the motion ending moment. Therefore, the precision of detecting the motion time of the moving object is improved.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a sports timing method, device, electronic device and storage medium. Background Art

[0002] In the aviation field, the retraction and extension time of an aircraft's landing gear is an important performance parameter of the aircraft. There are usually two ways to detect the retraction and extension time of an aircraft's landing gear. The first is to directly use a stopwatch to time it; the second is to install a sensor on the aircraft to time it.

[0003] However, the landing gear retraction and extension time obtained by using a stopwatch has a large error, and the data cannot meet the accuracy requirements of quality; when using sensor timing, the landing gear retraction and extension time obtained is recorded in the flight control computer, so it is inconvenient to read, which is not conducive to daily quality control and repair and maintenance work. Summary of the invention

[0004] The main purpose of the present application is to provide a motion timing method, device, electronic device and storage medium to improve the accuracy of detecting the motion time of a moving object.

[0005] To achieve the above objectives, the present application provides a sports timing method, comprising:

[0006] Acquire instantaneous state information of the target object at each moment during the motion process, wherein the motion process includes a static state and a motion state of the target object;

[0007] For any moment, determining the state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment;

[0008] Determine the start time and end time of the movement of the target object according to the state difference and the critical value at each moment, wherein the critical value is determined according to the state difference when the target object is in a stationary state;

[0009] The movement time of the target object is determined according to the movement start time and the movement end time.

[0010] Optionally, after acquiring the instantaneous state information of the target object at each moment during the movement process, the method further includes: performing data conversion on the instantaneous state information at each moment to obtain state parameters at each moment; for any moment, determining the state difference at that moment according to the instantaneous state information at that moment and the instantaneous state information at the previous moment, includes: performing a difference operation on the state parameters at that moment and the state parameters at the previous moment to obtain the state difference at that moment.

[0011] Optionally, determining the start time and end time of the movement of the target object according to the state difference and critical value at each moment includes: determining the stationary time interval of the target object during the movement according to the state difference at each moment; determining the critical value according to all the state difference values ​​corresponding to the stationary time interval; comparing the state difference values ​​at each moment with the critical value in chronological order, and taking the moment corresponding to the state difference value exceeding the critical value for the first time as the start time of the movement, and taking the moment corresponding to the state difference value exceeding the critical value for the last time as the end time of the movement.

[0012] Optionally, determining the critical value based on all the state difference values ​​corresponding to the static time interval includes: determining a state mean and a state variance of all the state difference values ​​within the static time interval; and determining the critical value based on the state mean and the state variance using a preset formula.

[0013] Optionally, the preset formula is:

[0014] L=M+nS

[0015] Wherein, L is the critical value, M is the state mean, S is the state variance, and n is the coefficient of the state variance.

[0016] Optionally, after determining the state difference at any moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment, the method further comprises: denoising the state difference at each moment by using a moving average algorithm.

[0017] Optionally, obtaining the instantaneous state information of the target object at each moment during the movement process includes: obtaining image data of the target object at each moment during the movement process; determining the instantaneous state information at each moment based on the image data at each moment; for the instantaneous state information at any moment, the instantaneous state information includes position information and color channel value of at least one pixel in the image data, and the position information in the instantaneous state information at each moment corresponds to the same.

[0018] In addition, to achieve the above-mentioned purpose, the present application also provides a motion timing device, including: an acquisition module, used to acquire the instantaneous state information of the target object at each moment during the motion process, and the motion process includes the static state and motion state of the target object; a first determination module, used to determine the state difference at any moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; a second determination module, used to determine the start time and end time of the motion of the target object according to the state difference and critical value at each moment, and the critical value is determined according to the state difference when the target object is in a static state; a motion time determination module, used to determine the motion time of the target object according to the start time and the end time of the motion.

[0019] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the motion timing method as described above is implemented.

[0020] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described motion timing methods.

[0021] The motion timing method of the embodiment of the present application obtains the instantaneous state information of the target object at each moment before, during and after the motion process, and then determines the state difference between the instantaneous state information at each moment and the instantaneous state information at the corresponding previous moment, and determines the motion state change of the target object through the state difference at each moment, thereby determining the starting moment and the ending moment of the motion of the target object, and finally determines the motion time of the target object through the starting moment and the ending moment of the motion, thereby improving the accuracy of detecting the motion time of the moving object. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a scenario example of the motion timing method provided by this application;

[0023] Figure 2 is one of the flow charts of the sports timing method according to an embodiment of the present application;

[0024] Figure 3 This is the second flow chart of the sports timing method according to an embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of the state difference distribution of a specific example of this application;

[0026] Figure 5 This is the third flow chart of the sports timing method according to the embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the positional relationship between a landing gear and a camera in a specific example of the present application;

[0028] Figure 7 is a schematic structural diagram of a sports timing device according to an embodiment of the present application;

[0029] Figure 8 An example of a physical structure diagram of an electronic device is provided;

[0030] In the figure: 110, data collector; 120, sports timing system server; 700, sports timing device; 710, acquisition module; 720, first determination module; 730, second determination module; 740, sports time determination module; 810, processor; 820, communication interface; 830, memory; 840, communication bus.

[0031] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] During the two critical stages of takeoff and landing, the operation of the landing gear will directly affect flight safety. If there is a problem with the retraction and extension of the landing gear, it may lead to serious consequences. For example, if the landing gear is not retracted in time during takeoff, it will increase air resistance, reduce lift, affect the aircraft's climbing performance, and may even cause takeoff failure. If it is not lowered on time during landing, it may cause a landing without landing gear, which is extremely dangerous. Therefore, it is crucial to clarify and adhere to the time for retracting and extending the landing gear to ensure safety.

[0034] Usually, testing the retraction and extension time of an aircraft's landing gear can be used to verify the aircraft's safety, analyze and optimize its performance, and perform maintenance and troubleshooting. It can be seen that the retraction and extension time of an aircraft's landing gear is a very important performance parameter of an aircraft.

[0035] At present, there are two main ways to detect the retraction and extension time of aircraft landing gear: the first is to directly use a stopwatch to time, but this method has a large error and the time data obtained cannot meet the accuracy required by quality. The second method is to install a sensor on the aircraft for timing, and the time result obtained after the sensor timing will be recorded in the flight control computer, so it is inconvenient to read and not convenient for daily quality control and maintenance of the aircraft.

[0036] To this end, the embodiments of the present application provide a motion timing method, device, electronic device and storage medium, which obtain the instantaneous state information of the moving object during the movement process, analyze the changes in the motion state of the moving object, thereby finding the starting point and end point of the moving object, and then determining the movement time, thereby effectively improving the accuracy of detecting the movement time of the moving object and reducing errors.

[0037] For ease of understanding, this specification provides a scenario example of a sports timing method. The scenario example is applied in the following example: Figure 1 In the application environment shown, a data collector 110 and a sports timing system server 120 are included. The data collector 110 and the sports timing system server 120 can establish a communication connection through the Internet or the like.

[0038] In this scenario example, the data collector 110 can be a separate device or device such as a camera or sensor that can collect state information of a moving object, or can be a device integrated with a camera, a recorder, a sensor, etc. that can collect state information of a moving object. No specific restrictions are made here on the data collector 110. The data collector 110 can collect state information of the observed object at a preset collection frequency. The state information can be any information used to determine whether the object is in a moving state, such as color channel values ​​in image data, pitch and volume values ​​in audio data, displacement data, etc.

[0039] For example, if the state information is the color channel value in the image data, the object can be determined to be moving by monitoring the changes in the image pixels. If the object is moving, the pixel parameters at the same position in different images are different, which can be used to determine whether the object is moving. If the state information is displacement data, the object can be determined to be moving by whether the displacement data changes.

[0040] In this scenario example, the sports timing system may include separate clocks, data storage, computing units, controllers, and other devices. The sports timing system may also be integrated and run on a server (i.e., sports timing system server 120), and the sports timing system server 120 may include a clock, a data storage unit, a computing unit, and a control unit that are interconnected and communicated with each other. The sports timing system server 120 is not specifically limited here.

[0041] Specifically, taking the motion timing system server 120 as an example, the clock can be connected to the data collector 110, and the clock can continuously provide a clock signal to the data collector 110 according to a preset collection frequency; the data storage unit can be used to store the status information collected by the data collector 110 in a time sequence, and can also store the data output by the operation unit; the operation unit can be used to identify the start and end times of the movement of the observed object according to the status information at each moment, and calculate the movement time of the object; the control unit can be used to receive user instructions, set a fixed collection frequency, control the data collector 110 to start or stop working, and control the data storage unit to input or output data.

[0042] With reference to the scenario examples of the sports timing method in the aforementioned embodiments, the sports timing method in the embodiments of the present application is described in detail below.

[0043] Figure 2 FIG. 1 is one of the flow charts of the sports timing method of the embodiment of the present application, and the sports timing method can be executed by the sports timing system server in the above embodiment. Figure 2 As shown, the motion timing method may include the following steps:

[0044] Step 210: Obtain instantaneous state information of the target object at each moment during the motion process.

[0045] Step 220: For any moment, determine the state difference at that moment according to the instantaneous state information at that moment and the instantaneous state information at the previous moment.

[0046] Step 230: Determine the start time and end time of the movement of the target object according to the state difference and the critical value at each time, and the critical value is determined according to the state difference when the target object is in a stationary state.

[0047] Step 240: Determine the movement time of the target object according to the movement start time and the movement end time.

[0048] First of all, it should be noted that the target object can be any movable object whose motion time needs to be detected, such as: aircraft landing gear, vehicles, etc. Secondly, the motion process described in this embodiment needs to include the static process and the motion process when the target object is not moving, and the static process needs to collect enough instantaneous state information. For example, the motion process can include the static process and the motion process before the target object moves, and can also include the static process after the target object moves. Finally, the instantaneous state information refers to information that can characterize the motion state of the target object, such as color channel values ​​in image data, pitch and volume values ​​in audio data, displacement data, etc.

[0049] In this embodiment, a data collector can be set up to collect information about the target object. The data collector can collect information about the target object in real time, or it can be controlled to start continuously collecting information about the target object before the target object is ready to move. For example, the landing gear of an aircraft will only move when the aircraft takes off or lands, so the data collector can be controlled to start collecting information before the aircraft is ready to take off or before the aircraft is ready to land.

[0050] In addition, the data collector can be any device or device that can collect state information of a moving object, such as a camera, a recorder, or a sensor. As an example, if the data collector is a camera, the camera can continuously collect image data of the target object, or directly record the target object to obtain video data, and then process the video data to obtain image data. As another example, if the data collector is a displacement sensor, the displacement sensor can continuously collect displacement data of the target object. When the displacement data does not change, it indicates that the target object is in a stationary state. If the displacement data changes, it indicates that the target object is in a moving state.

[0051] In step 210, the control unit in the sports timing system server can control the data collector to continuously collect the instantaneous state information of the target object. After the data collector collects and obtains the instantaneous state information at each moment, it can send all the instantaneous state information to the data storage unit in the sports timing system server. The data storage unit obtains the instantaneous state information of the target object at each moment and stores all the instantaneous state information; the computing unit in the sports timing system server can retrieve the required instantaneous state information from the data storage unit for computing or processing.

[0052] As an example, the control unit in the sports timing system server has a set fixed frequency f for information collection. The control unit can control the clock to send a signal to the data collector at the fixed frequency f; when the control unit sends a "start" command to the data collector, the data collector will start collecting the instantaneous state information of the target object at the fixed frequency f; when the control unit sends an "end" command to the data collector, the data collector will stop collecting. The instantaneous state information collected by the data collector can be transmitted to the sports timing system server in real time, or it can be uniformly transmitted to the sports timing system server after the collection is completed. The data storage unit of the sports timing system server can store each instantaneous state information in accordance with the time series.

[0053] In step 220, after the data storage unit stores the instantaneous state information of each moment in accordance with the time series, the computing unit can sequentially retrieve and process the instantaneous state information of each moment in accordance with the time series. Specifically, taking a certain moment as an example, the computing unit retrieves the instantaneous state information of this moment, and calculates the state difference between the instantaneous state information of this moment and the instantaneous state information of the previous moment; if the target object is in a stationary state at this moment, the state difference is theoretically zero, and if the target object is in a moving state at this moment, the state difference is not zero.

[0054] Furthermore, after the operation unit determines the state difference at each moment, the state difference at each moment can be compared with the critical value in sequence, so as to determine the start time and end time of the movement of the target object. It should be noted that the critical value can be determined based on all the state differences of the target object in the static state interval. The critical value is used to characterize the critical state difference of the target object from static to moving. When the state difference at a certain moment is less than or equal to the critical value, it indicates that the target object is still in a static state at this moment. When the state difference at a certain moment exceeds the critical value, it indicates that the target object is in a moving state at this moment.

[0055] It can be understood that by finding the state difference at each moment that exceeds the critical value for the first time, the moment when the target object starts to move can be found; by finding the state difference at each moment that exceeds the critical value for the last time, the moment when the target object ends its movement can be found. Thus, through the subtle difference in state information, the start and end times of the movement can be accurately found, and then the accurate movement time of the target object can be obtained.

[0056] It is worth mentioning that the larger the fixed acquisition frequency of the data collector is, the more instantaneous state information is collected, and the higher the final motion time accuracy is.

[0057] Usually, the instantaneous state information of the target object may not be convenient to calculate directly, so it can be converted into an analyzable numerical object, such as a state feature array.

[0058] In some embodiments, after obtaining the instantaneous state information of the target object at each moment during the motion process in step 210, the motion timing method further includes: performing data conversion on the instantaneous state information at each moment to obtain the state parameter at each moment. In step 220, for any moment, determining the state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment may include: performing a difference operation on the state parameter at the moment and the state parameter at the previous moment to obtain the state difference at the moment.

[0059] In this embodiment, after the sports timing system obtains the instantaneous state information at each moment, the computing unit in the sports timing system server can first convert the instantaneous state information at each moment into a state parameter with state characteristics according to the time sequence. It should be noted that the state parameter can be represented by a sequence or a matrix, and the representation form of the state parameter is not specifically limited here.

[0060] As an example, if the instantaneous state information acquired by the data collector is the color channel value in the image data, the sports timing system server can store the image data at each moment in the image sequence p in chronological order. i (i=1,2,...,N), i represents the sequence value, and N represents the number of image data; further, each image data can be extracted by the operation unit to obtain the corresponding state parameter S i , state parameter S i It can be defined as a 3D array [m,n,k i ], where (m,n) is the coordinate of a pixel in the image data, k i =[r i ,g i ,b i ]|(m,n) is the color channel value of the pixel. It should be noted that the state parameter may include the state values ​​of all pixels in the image data, or may include the state values ​​of some pixels, or may include only the state value of one pixel, as long as the positions of the pixels in the state parameters at each moment correspond to the same.

[0061] Therefore, the instantaneous state information is converted into state parameters with state characteristic arrays, which makes it easier to calculate the motion time using the instantaneous state information.

[0062] Furthermore, after obtaining the state parameters at each moment, the state parameters at the current moment can be subtracted from the state parameters at the previous moment to obtain the state difference at the current moment. The state difference at the current moment can represent the gap between the state at the current moment and the state at the previous moment. If the target object is still in a stationary state at the current moment, the state difference at the current moment should be zero or close to zero. If the target object just starts to move at the current moment, the state difference at the current moment should change significantly. Therefore, the moment when the target object starts to move can be determined by judging the state difference, and the moment when the target object stops moving can also be determined.

[0063] Continuing to take the color channel value in the image data as the instantaneous state information as an example, when the state parameter S at each moment is obtained i Afterwards, the state difference can be calculated by:

[0064] Δti =|avg(abs(S i -S i-1 ))|(i=1,2,…N)

[0065] In the formula, Δt i is the state difference at the i-th moment, S i is the state parameter at the i-th moment, S i-1 is the state parameter at the i-1th moment, avg is the average function, and abs is the absolute value function.

[0066] The principle of the state difference formula is described in detail below through a specific example.

[0067] For example, if the state parameter is expressed in the form of a matrix, the state parameter may only include the color channel value k of the pixel point. i , if the state parameter only contains the color channel values ​​of four pixels, then the state parameter can be expressed as a 2*2 matrix, where each k i Each is a 1×3 matrix or a three-dimensional vector [r, g, b]. The state parameters at the first moment and the state parameters at the second moment can be specifically expressed as follows:

[0068]

[0069]

[0070] In the formula, Indicates the color channel value of a pixel at the first row and first column in the state parameter at the first moment. Indicates the color channel value of a pixel at a certain position in the first row and first column of the state parameter at the second moment. Further, the state difference value at the second moment can be obtained by subtracting the state parameter S1 from the state parameter S2:

[0071]

[0072] However, since the data is in matrix form, it cannot be used directly for control charts. Therefore, the state difference of each color channel can be averaged to obtain a single average state difference corresponding to each color channel:

[0073]

[0074] In the formula, y represents the number of rows in the state parameter matrix, z represents the number of columns in the state parameter matrix, and X i,j is the color channel value of the i-th row and j-th column, r, g, and b are color channels. Furthermore, the modulus of the vector obtained by averaging can be taken as the final state difference:

[0075]

[0076] Finally, the state difference Δt2 at the second moment is 9.233093.

[0077] Figure 3 This is the second flow chart of the sports timing method of the embodiment of the present application. Figure 3 As shown, in some embodiments, determining the movement start time and movement end time of the target object according to the state difference and the critical value at each time in step 230 may include the following steps:

[0078] Step 310: Determine the static time interval of the target object during the motion process according to the state difference at each time.

[0079] Step 320: Determine a critical value according to all state differences corresponding to the static time interval.

[0080] Step 330: Compare the state difference at each moment with the critical value in chronological order, and take the moment corresponding to the state difference exceeding the critical value for the first time as the start time of the movement, and take the moment corresponding to the state difference exceeding the critical value for the last time as the end time of the movement.

[0081] Specifically, after obtaining the state difference at each moment, the continuous interval in which the state difference is almost unchanged can be used as the static time interval of the target object during the movement. It can be understood that when collecting the instantaneous state information of the target object, the instantaneous state information of the target object before and after the movement is also collected. Therefore, the state difference at each moment can basically present the three stages of "static-dynamic-static" in chronological order, and then there is a continuous interval in which the state difference has almost no fluctuation.

[0082] After determining the stationary time interval, all state differences within the stationary time interval can be used to calculate the critical value, that is, the state differences within the stationary time interval are used as a control group. In some embodiments, determining the critical value based on all state differences corresponding to the stationary time interval can include the following steps: determining the state mean and state variance of all state differences within the stationary time interval; and determining the critical value based on the state mean and state variance using a preset formula.

[0083] Specifically, the mean M and variance S of all state differences in the static time interval can be calculated first, and the method for calculating the mean and variance can adopt the existing method, which is not repeated here. After obtaining the mean M and variance S of all state differences in the static time interval, the preset formula, mean M and variance S are used to calculate the critical value.

[0084] In some implementations, the preset formula may be:

[0085] L=M+nS

[0086] Among them, L is the critical value, M is the state mean, S is the state variance, and n is the coefficient of the state variance. It should be noted that the value of n can be 2 or 3, and can also be determined artificially according to the actual environment and accuracy requirements, and no specific restrictions are made here.

[0087] It is understandable that the embodiment of the present application uses (but is not limited to) the method of using statistical process control (SPC) to find control limits to define the static time interval. That is, a control group representing static time is found, and the fluctuation interval of the state difference change at static time is [0, M+nS]. When the target object is in a static state, the probability of the state difference change in this interval is the highest. At this time, theoretically, exceeding the upper limit is a low-probability event. Once it occurs, it can be determined that the original static state has changed, otherwise it indicates that it is still in a static state.

[0088] In this embodiment, after obtaining the critical value, the critical value can be used to analyze whether there is a situation in the static time interval that exceeds the critical value, and to determine whether the state difference obeys the normal distribution. If there is a situation in the static time interval that exceeds the critical value, it is necessary to analyze the cause and make certain adjustments. As an example, the reason may be that the target object is observed to have abnormal movement or other foreign body movement in the static time interval (i.e., the control group). At this time, the abnormal instantaneous state information data segment can be directly trimmed. As another example, the reason may also be abnormal fluctuations caused by continuous external factors such as ambient light sources and vibrations. At this time, after eliminating these external influencing factors, the instantaneous state information of the target object during movement can be obtained again.

[0089] Figure 4 This is a schematic diagram of the state difference distribution of a specific example of this application. Figure 4 , the state difference at each moment can present an image similar to a normal distribution according to the time sequence. In this embodiment, it is also possible to determine whether the fluctuation of the static time interval is normal by observing whether the state difference distribution diagram obeys the normal distribution. If the state difference at each moment does not conform to the normal distribution, it is necessary to analyze the cause and make certain adjustments.

[0090] In some embodiments, after obtaining the state difference at each moment, the motion timing method may further include: using a moving average algorithm to perform denoising on the state difference at each moment. Specifically, when a large amount of noise is observed in the static time interval through the state difference distribution diagram, the moving average algorithm may be used to perform denoising on all state differences to make the state difference change more smoothly, thereby being able to more accurately determine the start and end times of the movement of the target object, and further being able to calculate the movement time with higher accuracy.

[0091] In step 240, after obtaining the movement start time and the movement end time, the movement time of the target object is determined according to the movement start time and the movement end time. It should be noted that the time in the embodiment of the present application can be represented by a sequence value.

[0092] Specifically, if the sequence value at the start of the movement is Ts, and the sequence value at the end of the movement is Te, then the sequence number T = Te-Ts of the movement process can be calculated first; after obtaining the sequence number of the movement process, the sequence number T is divided by the fixed frequency f when the data collector is collecting, and the movement time can be obtained.

[0093] As an example, the data collector collects the instantaneous state information of the target object at a fixed frequency of 60fps, that is, the instantaneous state information is collected every 1 / 60 second. The instantaneous state information obtained at each moment can be stored in time series, that is, p i (i=1,2,…,N), if the instantaneous state information p is determined according to the state difference and the critical value 15 The corresponding moment is the start moment of the movement, and the instantaneous state information p 65 The corresponding moment is the end moment of the movement, then the sequence value at the start moment of the movement is 15, and the sequence value at the end moment of the movement is 195. Further, it can be calculated that the sequence number T of the movement process is 180. Dividing the sequence number T of the movement process by the fixed frequency 60fps, the movement time can be obtained as 3 seconds.

[0094] Therefore, the error of the motion time obtained by the motion timing method of the embodiment of the present application is 1 / f seconds, that is, the greater the fixed frequency collected by the data collector, the higher the accuracy of the motion time will be, thereby effectively improving the accuracy of detecting the motion time of the object.

[0095] Figure 5 This is the third flow chart of the sports timing method of the embodiment of the present application. Figure 5 As shown, in some embodiments, obtaining instantaneous state information of the target object at each moment during the motion process in step 210 may include the following steps:

[0096] Step 510: Acquire image data of the target object at each moment during its motion.

[0097] Step 520: Determine the instantaneous state information at each moment according to the image data at each moment.

[0098] It should be noted that, for the instantaneous state information at any moment, the instantaneous state information includes the position information and color channel value of a pixel in at least one image data, and the position information in the instantaneous state information at each moment is the same.

[0099] In an embodiment of the present application, the data collector may be a camera device, which may collect image data of a target object at a fixed frequency and output the image data to a motion timing system server. The motion timing system server determines instantaneous state information at each moment based on the image data at each moment, where the instantaneous state information may be the color channel value of a pixel in the image data.

[0100] The following is an application scenario of detecting the retraction and extension time of an aircraft landing gear, taking image data as an example, to further introduce the motion time timing method of an embodiment of the present application.

[0101] First, you can install a tripod-mounted camera on the aircraft. Figure 6 is a schematic diagram of the positional relationship between the landing gear and the camera of a specific example of the present application, Figure 6 The landing gear 610 and the camera 620 are included. Figure 6 As shown, the position of the camera 620 can be set to any position that can capture the entire process of retracting and extending the landing gear 610.

[0102] In this embodiment, the camera 620 can only shoot the process of retracting and extending the landing gear 610. Other surrounding objects and backgrounds should be stationary during the shooting process, or can be isolated by using a baffle or a curtain. In addition, the color of the far end of the landing gear 610 should be significantly different from the color of the aircraft body and the background, so as to be more conducive to identifying the retracting and extending time of the landing gear 610.

[0103] Furthermore, the camera 620 can be set to shoot at a fixed time interval, for example, f is the number of frames per second (i.e., fixed frequency) (FPS), and the fixed time interval is 1 / f seconds. In this case, the time interval between two adjacent frames of images during video shooting is fixed.

[0104] In this embodiment, the sports timing system server and the camera 620 may establish a communication connection via wired / wireless means.

[0105] The control unit in the motion timing system server can control the camera 620 to start or end recording. When the camera 620 starts recording, it can be considered that each frame of the recording is a record of the motion state of the object at a fixed time interval. After the recording is completed, each frame of image data is marked in chronological order.

[0106] The camera 620 stores each frame of image data in a time sequence on a storage card, and then exports and outputs each frame of image data to a sports timing system server via a wired / wireless method, and the sports timing system server further processes each image data.

[0107] In this embodiment, the video can be observed first, and the image data with obvious foreign object movement before and after the landing gear 610 starts to move can be deleted. In addition, for abnormal movement outside the movement path of the landing gear 610 during the movement, the corresponding part of the data can be marked or masked with the same color. Finally, the image data sequence p can be obtained. i (i=1,2,…,N).

[0108] Furthermore, the computing unit in the sports timing system server can determine the corresponding state parameter S according to the image data of each frame. i . State parameter S i It can be defined as a 3D array [m,n,k i ], where (m,n) is the coordinate of a pixel in the image data, k i =[r i ,g i ,b i ]|(m,n) is the color channel value of the pixel.

[0109] After obtaining the state parameter S corresponding to each frame of image data i Afterwards, the state difference of the current frame can be calculated based on the state parameters of the current frame and the previous frame:

[0110] Δt i =|avg(abs(S i -S i-1 ))(i=1,2,…N)

[0111] It is understandable that when the landing gear is stationary and the light is stable in the image, the color change of the corresponding pixel between two adjacent frames should be minimal. i ), the fluctuation range of this variable can be roughly regarded as fixed, so Δt in this period of time can be i Defined as the control group. When the landing gear moves, the color of some pixels on the motion trajectory changes dramatically, Δt i The fluctuation amplitude of will increase significantly. Therefore, whether the landing gear moves is converted into the variable Δt i The question is whether it is in the fluctuation range when it is stationary.

[0112] The state difference Δt corresponding to each frame i Plotting can yield something like Figure 4 From the graph, we can see that the graph can clearly show the three areas of "stillness-movement-stillness". Figure 4 It can also be seen from the figure that when i∈[1,100], the landing gear 610 is in a stationary state, and the landing gear 610 can be 100The mean M and variance S of the state difference in this static time interval are calculated, and then the critical value L=M+nS can be calculated.

[0113] After calculating the critical value L, L can be used to analyze whether there is a situation where the critical value is exceeded between two static time intervals. If so, the cause is analyzed and adjustments are made. If the adjustment measures involve environmental changes in the state record, image data collection is restarted.

[0114] Furthermore, the state difference corresponding to the first frame can be compared with the critical value in chronological order to find out the sequence value Ts corresponding to the state difference that exceeds the critical value for the first time and the sequence value Te corresponding to the state difference that exceeds the critical value for the last time; and Ts and Te can be used to calculate the sequence number T = Te-Ts passed by the landing gear 610 during the movement.

[0115] After obtaining the sequence number T during the movement of the landing gear 610 , the movement time of the landing gear 610 can be obtained by dividing the sequence number T during the movement of the landing gear 610 by the fixed frequency f.

[0116] Therefore, by analyzing the state changes of the landing gear at the minimum interval time, the start and end time of the landing gear movement can be quickly located, thereby obtaining a higher timing accuracy.

[0117] Figure 7 Schematic diagram of the structure of a sports timing device according to an embodiment of the present application.

[0118] like Figure 7 As shown, the motion timing device 700 may include an acquisition module 710, a first determination module 720, a second determination module 730 and a motion time determination module 740. The acquisition module 710 is used to acquire the instantaneous state information of the target object at each moment in the motion process, and the motion process includes the static state and the motion state of the target object; the first determination module 720 is used to determine the state difference at any moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; the second determination module 730 is used to determine the motion start moment and the motion end moment of the target object according to the state difference and the critical value at each moment, and the critical value is determined according to the state difference when the target object is static; the motion time determination module 740 is used to determine the motion time of the target object according to the motion start moment and the motion end moment.

[0119] In some embodiments, the acquisition module 710 is also used to: perform data conversion on the instantaneous state information at each moment to obtain the state parameters at each moment; the first determination module 720 is specifically used to: perform a difference operation on the state parameters at a moment and the state parameters at the previous moment to obtain the state difference at the moment.

[0120] In some embodiments, the second determination module 730 is specifically used to: determine the stationary time interval of the target object during the movement according to the state difference at each moment; determine the critical value according to all the state difference values ​​corresponding to the stationary time interval; compare the state difference value at each moment with the critical value in chronological order, and take the moment corresponding to the state difference value exceeding the critical value for the first time as the start time of the movement, and take the moment corresponding to the state difference value exceeding the critical value for the last time as the end time of the movement.

[0121] In some implementations, the second determination module 730 is further specifically used to: determine a state mean and a state variance of all state differences within the stationary time interval; and determine a critical value based on the state mean and the state variance using a preset formula.

[0122] In some implementations, the preset formula is:

[0123] L=M+nS

[0124] Among them, L is the critical value, M is the state mean, S is the state variance, and n is the coefficient of the state variance.

[0125] In some implementations, the first determination module 720 is further specifically configured to: perform denoising processing on the state difference at each moment using a moving average algorithm.

[0126] In some embodiments, the acquisition module 710 is also specifically used to: acquire image data of the target object at each moment during the movement process; determine the instantaneous state information at each moment based on the image data at each moment; for the instantaneous state information at any moment, the instantaneous state information includes the position information and color channel value of a pixel point in at least one image data, and the position information in the instantaneous state information at each moment corresponds to the same.

[0127] Thus, the instantaneous state information of the target object at each moment before, during and after the movement process is obtained through the acquisition module 710, and the first determination module 720 then determines the state difference between the instantaneous state information at each moment and the instantaneous state information at the corresponding previous moment. The second determination module 730 determines the change in the movement state of the target object through the state difference at each moment, thereby determining the starting moment and the ending moment of the movement of the target object. Finally, the movement time determination module 740 determines the movement time of the target object through the starting moment and the ending moment of the movement, thereby improving the accuracy of detecting the movement time of the moving object.

[0128] It should be noted that for details not disclosed in the sports timing device of this embodiment, please refer to the details disclosed in the embodiment of the sports timing method in the embodiments of this specification, and no further details will be given here.

[0129] Based on the above embodiments, Figure 8An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the motion timing method, which includes: obtaining the instantaneous state information of the target object at each moment in the motion process, the motion process includes the static state of the target object; for any moment, determining the state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; determining the motion start moment and the motion end moment of the target object according to the state difference and the critical value at each moment, the critical value is determined according to the state difference when the target object is in the static state; determining the motion time of the target object according to the motion start moment and the motion end moment.

[0130] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0131] On the basis of the above embodiments, on the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the motion timing method provided by the above methods, which method includes: obtaining instantaneous state information of the target object at each moment during the motion process, and the motion process includes the static state of the target object; for any moment, determining the state difference at that moment according to the instantaneous state information at that moment and the instantaneous state information at the previous moment; determining the start moment and end moment of the motion of the target object according to the state difference and critical value at each moment, and the critical value is determined according to the state difference when the target object is in a static state; determining the motion time of the target object according to the start moment and the end moment of the motion.

[0132] On the basis of the above embodiments, on another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the motion timing method provided by the above methods, the method comprising: obtaining instantaneous state information of the target object at each moment during the motion process, the motion process including the static state of the target object; for any moment, determining the state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; determining the start moment and end moment of the motion of the target object according to the state difference and critical value at each moment, the critical value being determined according to the state difference when the target object is in a static state; determining the motion time of the target object according to the start moment and the end moment of the motion.

[0133] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0134] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

Claims

1. A sports timing method, characterized in that: include: Acquire instantaneous state information of the target object at each moment during the motion process, wherein the motion process includes the static state of the target object; For any moment, determining the state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; Determine the start time and end time of the movement of the target object according to the state difference and the critical value at each moment, wherein the critical value is determined according to the state difference when the target object is in a stationary state; The movement time of the target object is determined according to the movement start time and the movement end time.

2. The sports timing method according to claim 1, characterized in that: After acquiring the instantaneous state information of the target object at each moment during the motion process, the method further includes: Performing data conversion on the instantaneous state information at each moment to obtain the state parameters at each moment; The determining, for any moment, a state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment, comprises: A difference operation is performed between the state parameter at the moment and the state parameter at the previous moment to obtain the state difference value at the moment.

3. The sports timing method according to claim 1, characterized in that: The step of determining the start time and the end time of the movement of the target object according to the state difference and the critical value at each time moment includes: Determining a stationary time interval of the target object during the motion process according to the state difference at each moment; Determine the critical value according to all the state differences corresponding to the stationary time interval; The state difference at each moment is compared with the critical value in chronological order, and the moment corresponding to the state difference exceeding the critical value for the first time is taken as the start time of the movement, and the moment corresponding to the state difference exceeding the critical value for the last time is taken as the end time of the movement.

4. The sports timing method according to claim 3, characterized in that: The determining the critical value according to all the state differences corresponding to the stationary time interval includes: Determine a state mean and a state variance of all the state differences within the static time interval; The critical value is determined by using a preset formula and according to the state mean and the state variance.

5. The sports timing method according to claim 4, characterized in that: The preset formula is: L=M+nS Wherein, L is the critical value, M is the state mean, S is the state variance, and n is the coefficient of the state variance.

6. The sports timing method according to claim 1, characterized in that: After determining the state difference at any moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment, the method further includes: The state difference at each moment is denoised using a moving average algorithm.

7. The sports timing method according to any one of claims 1 to 6, characterized in that: The step of obtaining instantaneous state information of the target object at each moment during the motion process includes: Acquire image data of the target object at each moment during the movement; The instantaneous state information at each moment is determined according to the image data at each moment; for the instantaneous state information at any moment, the instantaneous state information includes the position information and color channel value of at least one pixel in the image data, and the position information in the instantaneous state information at each moment corresponds to the same.

8. A sports timing device, characterized in that: include: An acquisition module, used to acquire instantaneous state information of a target object at each moment during a motion process, wherein the motion process includes a static state and a motion state of the target object; A first determination module, configured to determine, for any moment, a state difference at the moment according to the instantaneous state information at the moment and the instantaneous state information at the previous moment; A second determination module is used to determine the start time and the end time of the movement of the target object according to the state difference and the critical value at each time, and the critical value is determined according to the state difference when the target object is in a stationary state; A movement time determination module is used to determine the movement time of the target object according to the movement start time and the movement end time.

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

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the sports timing method according to any one of claims 1 to 7 is implemented.

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