Experimental blunt strike control method and device

Abstract

The invention relates to the technical field of medical experiments, discloses an animal strike experiment control method, and particularly relates to a blunt strike control method and device for an experiment. The position relation between the mark point and the striking part is obtained through the image processing technology, the striking part is controlled to reach the target position point, the striking operation of the mark point under the specific striking intensity is achieved by controlling the output power of the motor, the process is completely achieved based on the automation technology, manual operation and assistance are not needed, and the efficiency is high. The accuracy of strike operation in an experiment and the replicability of the device are improved, and the technical problem that manual operation depends on experimenters in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of medical experimental technology, and is a method for controlling animal blow experiments, and specifically is a method and device for controlling blunt blows for experiments. Background Art

[0002] Animal injury experimental devices are mainly used to cause trauma to animals. Animal injuries include closed and open animal brain injuries, open brain injuries and animal muscle strains. At present, the implementation of animal injury experimental devices is mainly through artificial external force damage, or by using simple external force striking equipment to strike the animals. However, the above striking cannot accurately control the striking force regardless of whether it is artificial external force or mechanical external force, and because it is difficult to accurately control the striking position and striking force of large animals, the effects of the above two striking experiments are not good at present. Summary of the invention

[0003] In order to solve the technical problems existing in the prior art, the embodiments of the present application provide a method and device for controlling blunt force blows for experiments, which can realize automatic and accurate control of external force blows to animals and the blow positions.

[0004] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0005] In a first aspect, a method for controlling blunt force blows for experiments is provided, which is applied to a blow experiment system. The blow experiment system is used to perform external force blow experiments on animal models. The blow experiment system includes a blow device, a power device and a control device. The blow device includes a first moving component, a second moving component, a blow unit and an image acquisition unit. The first moving component is used to drive the blow unit to move along a first direction, and the second moving component is used to drive the blow unit to move along a second direction. The first direction is a lateral movement direction, and the second direction is a vertical movement direction. The blow unit is used to apply external force to the animal model, and the image acquisition unit is used to acquire an image of the animal model. The image acquisition unit is a depth camera. The power device includes a first motor, a second motor and a third motor respectively connected to the first moving component, the second moving component and the blow unit, the control device is respectively connected to the image acquisition unit and the first motor, the second motor and the third motor. The method is applied to the control device, and the method includes the following steps: acquiring the initial image based on the image acquisition unit, and determining whether the animal model is completely displayed in the initial image; when the animal model is not completely displayed in the initial image, adjusting the focal length of the image acquisition unit, and acquiring an updated image based on the image acquisition unit after adjusting the focal length until the animal model is completely displayed in the initial image; when the animal model is completely displayed in the initial image, determining the initial image as a target image, and identifying a marking point on the animal model in the target image; acquiring a first world coordinate of the target point, determining a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinate and the camera coordinate of the image acquisition unit, and determining a third relative position relationship between the marking point and the striking unit based on a second relative position relationship between the striking unit and the camera, and moving the striking unit to the target position point based on the third relative position relationship.

[0006] Furthermore, the method also includes: obtaining striking target data to control the striking part to strike, the striking target data including striking frequency and striking intensity; obtaining the striking intensity to control the striking part to strike includes: obtaining the mass of the striking part, determining the acceleration of the striking part based on the striking intensity, and determining the output power of the third motor based on the acceleration and a preset acceleration-power curve.

[0007] Furthermore, determining whether the animal model is fully represented in the initial image includes: performing edge detection on the initial image, determining the image edge of the animal model, and judging the continuity of the image edge; when the image edge is continuous, the animal model is fully represented in the initial image; when the image edge is discontinuous, the animal model is not fully represented in the initial image.

[0008] Furthermore, the identifying of the marking points on the animal model in the target image includes: obtaining a template image of the marking points, performing template matching between the template image and the target image, obtaining multiple similarities of the template image on the target image and corresponding similar images, and determining the similar image with the highest similarity as the marking point image based on the similarity ranking and marking it on the target image.

[0009] Furthermore, obtaining the first world coordinate of the marking point includes: obtaining a marking point depth map corresponding to the similar point based on the current focal length of the image acquisition unit, converting the marking point depth map into a marking point point cloud map, and determining the first world coordinate of the marking point based on the marking point point cloud map.

[0010] Furthermore, the step of converting the depth map of the marking point into a point cloud map of the marking point, and determining the first world coordinates of the marking point based on the point cloud map of the marking point, includes: obtaining the depth information of the image acquisition unit relative to the marking point, as well as the internal parameters, rotation matrix and translation matrix of the image acquisition unit, obtaining the two-dimensional coordinates of any pixel point on the depth map of the marking point, and obtaining the first world coordinates of the marking point based on the following formula: Where Z C is the depth information, R and T represent the external parameter rotation matrix and translation matrix respectively, f x 、f y , u0 and v0 are internal parameters of the image acquisition unit, X w ,y w and Z w is the first world coordinate.

[0011] Furthermore, determining the first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit includes: transforming the first world coordinates and the camera coordinates based on a transformation matrix to obtain the first relative position relationship between the marking point and the image acquisition unit.

[0012] Furthermore, moving the striking part to the target position point based on the third relative position relationship includes: determining a first direction displacement and a second direction displacement based on the third relative position relationship, and controlling the output power and working time of the first motor and the second motor based on the first direction displacement and the second direction displacement.

[0013] In a second aspect, a blunt impact control device for experiments is provided, which is applied to an impact experiment system. The impact experiment system is used to perform external force impact experiments on animal models. The impact test system includes a striking device, a power device and a control device. The striking device includes a first moving component, a second moving component, a striking unit and an image acquisition unit. The first moving component is used to drive the striking unit to move along a first direction, and the second moving component is used to drive the striking unit to move along a second direction. The first direction is a lateral moving direction, and the second direction is a vertical moving direction. The striking unit is used to apply external force to the animal model, and the image acquisition unit is used to acquire an image of the animal model. The image acquisition unit is a depth camera. The power device includes a first motor, a second motor and a third motor respectively connected to the first moving component, the second moving component and the striking unit, the control device is respectively connected to the image acquisition unit and the first motor, the second motor and the third motor, and the device is applied to the control device. The device includes: an image detection module, which acquires the initial image based on the image acquisition unit, and is used to determine whether the animal model is completely displayed in the initial image. When the animal model is not completely displayed in the initial image, the focus of the image acquisition unit is adjusted, and the image acquisition unit acquires an updated image based on the adjusted focus until the animal model is completely displayed in the initial image; a marker point recognition module, which is used to determine the initial image as a target image when the animal model is completely displayed in the initial image, and recognize the marker points on the animal model in the target image; a position determination module, which is used to acquire the first world coordinates of the target point, determine the first relative position relationship between the marker point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit, determine the third relative position relationship between the marker point and the striking unit based on the second relative position relationship between the striking unit and the camera, and move the striking unit to the target position point based on the third relative position relationship.

[0014] Furthermore, the device also includes: an attack control module, which is used to obtain attack target data to control the attack unit to attack.

[0015] In the technical solution provided in the embodiment of the present application, the positional relationship between the marking point and the striking part is obtained by image processing technology, the striking part is controlled to the target position point, and the striking operation at a specific striking intensity for the marking point is achieved by controlling the output power of the motor. This process is completely based on automation technology and does not require manual operation and assistance, which improves the accuracy of the striking operation in the experiment and the reproducibility of the device, and overcomes the technical problem of relying on manual operation of experimenters in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] The methods, systems and / or programs in the accompanying drawings will be further described according to exemplary embodiments. These exemplary embodiments will be described in detail with reference to the drawings. These exemplary embodiments are non-limiting exemplary embodiments, wherein example numbers represent similar mechanisms in the various views of the accompanying drawings.

[0018] Figure 1 It is a schematic diagram of the structure of the strike experiment system provided in the embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the relative animal model movement direction provided in the embodiment of the present application.

[0020] Figure 3 It is a schematic flow chart of the experimental blunt force blow control method provided in the embodiment of the present application.

[0021] Figure 4 It is a schematic diagram of the structure of an experimental blunt impact control device provided in an embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of the terminal device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to better understand the above technical scheme, the technical scheme of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0024] In the following detailed description, numerous specific details are set forth by way of example in order to provide a comprehensive understanding of the relevant guidance. However, it will be apparent to those skilled in the art that the present application may be practiced without these details. In other cases, well-known methods, procedures, systems, compositions and / or circuits have been described at a relatively high level, without detail, in order to avoid unnecessarily obscuring aspects of the present application.

[0025] Flowcharts are used in the present application to illustrate the execution process performed by the system according to the embodiment of the present application. It should be clearly understood that the execution process of the flowchart may not be performed in order. On the contrary, these execution processes may be performed in reverse order or simultaneously. In addition, at least one other execution process may be added to the flowchart. One or more execution processes may be deleted from the flowchart.

[0026] Before further describing the embodiments of the present invention in detail, the nouns and terms involved in the embodiments of the present invention are described. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations.

[0027] (1) In response, it is used to indicate the conditions or states on which the executed operations depend. When the dependent conditions or states are met, one or more operations executed may be in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations executed are executed.

[0028] (2) Based on is used to indicate the conditions or states on which the executed operations depend. When the dependent conditions or states are met, one or more operations executed may be in real time or have a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations executed are executed.

[0029] See also Figure 1, the embodiment of the present application provides a striking experiment system 100, which is used to perform an external force striking experiment on an animal model, wherein the animal model is made of silicone material and other bionic materials, and can simulate the muscle tissue, fat tissue and skin tissue of a real animal. The striking experiment system includes a striking device 110, a power device 120 and a control device 130, wherein the core component of the striking device is a striking part, wherein the striking part adopts a spherical or other shaped blunt instrument made of metal material, and in order to realize the striking operation of the striking part for striking parts at different positions, the striking device also includes a first moving part and a second moving part, wherein the first moving part is used to drive the striking part to move along a first direction, and the second moving part is used to drive the striking part to move along a second direction, wherein the first direction is horizontal relative to the animal model, and the second direction is longitudinal relative to the animal model. In addition to the above-mentioned components, the striking device is also provided with an image acquisition part, wherein the image acquisition part is used to acquire the image of the animal model. Specifically, the striking experiment system in the embodiment of the present application needs to obtain the positional relationship between the animal model and the striking part, so for the image acquisition part depth camera, the depth information of the animal model relative to the image acquisition part can be obtained, and the depth value of the image can be obtained in image processing. The above device is a component for performing striking, and the power source for striking in the embodiment of the present application comes from a motor, that is, the first moving part, the second moving part and the striking part are all equipped with corresponding motors to provide an external power source for their movement. The motors include a first motor, a second motor and a third motor arranged relative to the first moving part, the second moving part and the striking part.

[0030] In the embodiment of the present application, the strike experiment system is an automated system, which can be automatically controlled based on different targets. The strike experiment system also includes a control device, wherein the control device is respectively connected to the image acquisition unit, the first motor, the second motor and the third motor, the control device controls the image acquisition unit to perform image acquisition, and the control device controls the first motor, the second motor and the third motor to perform corresponding output.

[0031] See also Figure 2, as shown in the figure, the relative position relationship between the striking device and the animal model 200 is that the animal model is placed in front of the striking device, and the striking device is fixed relative to the ground or the table top, and its striking part moves along the first direction and the second direction driven by the first movable part and the second movable part. At the same time, the first direction and the second direction respectively have two different sub-directions, and the sub-directions are in opposite directions to each other. Because the animal models involved are medium and large animals, the range of striking points that can be set is relatively large, especially when multiple striking points are struck in an experiment, adjustments of different positions need to be made. The embodiment of the present application realizes automated movement through the first movable part and the second movable part, thereby achieving precise striking.

[0032] Furthermore, in order to achieve accurate positioning of the positional relationship between the animal model and the striking part, in the embodiment of the present application, the image acquisition part is a depth camera.

[0033] In order to achieve the effect of automatic control of the above structure, a precise control method needs to be configured. For this control method, please refer to Figure 3 The control device in the striking experiment system is also equipped with an experimental blunt striking control method, which is used to realize an automated blunt striking experiment through image processing technology and motor control technology, and specifically includes the following steps:

[0034] Step S310. Acquire the initial image and determine whether the animal model is completely displayed in the initial image. When the animal model is not completely displayed in the initial image, adjust the focal length of the image acquisition unit, and update the image acquired by the image acquisition unit after adjusting the focal length until the animal model is completely displayed in the initial image.

[0035] In the embodiment of the present application, because the experimental subjects are medium-to-large animal models, and different animal models have different sizes, for large animals, the image of the animal model may not be completely acquired by the image acquisition unit due to the limited field of view of the image acquisition unit, so the image acquisition unit needs to be focused. In the prior art, the focusing of whether the image acquisition is complete or incomplete is performed manually. In the embodiment of the present application, in order to reduce the complexity of manual operation and improve the overall processing speed, focusing is achieved through image technology.

[0036] Specifically, it is first necessary to determine whether the animal model is fully represented in the collected initial image. In the embodiment of the present application, this process is performed by acquiring the collected image for edge detection, determining the image edge of the animal model, and then judging the continuity of the image edge. When the image edge is continuous, it means that the animal model is fully represented in the initial image; when the image edge is discontinuous, the animal model is not fully represented in the initial image.

[0037] For edge detection, the initial image is first grayscale binarized, and then the grayscale binarized image is Gaussian filtered to smooth some non-edge areas with weak textures to obtain more accurate edges. Then the image gradient direction and magnitude are calculated, where the image gradient expresses the magnitude of the change in the pixel value between each pixel point. If the change is large, it can be considered to be at the edge position. After obtaining the direction and magnitude of the gradient, the image is scanned to remove those points that are not on the boundary, that is, each pixel is checked to see whether the gradient of this point is the largest among the surrounding points with the same gradient direction. Through double threshold selection and hysteresis boundary tracking, determine which boundaries are real boundaries. When the grayscale gradient of the image is higher than the maximum threshold, it is considered to be a real boundary, and those boundaries below the minimum threshold will be discarded. If it is between the two, it depends on whether this point is connected to a point that is determined to be a real boundary point. If it is, it is considered to be a boundary point, and if not, it is discarded.

[0038] Through the above processing, the edge image of the animal model can be obtained, and then the connected domain of each pixel on the edge image is obtained, and it is determined whether each pixel has a domain. If each pixel has a domain, it means that this edge image is a complete edge of the animal model. If any pixel does not have a domain, it means that this edge image is an incomplete edge.

[0039] Through the above processing process, it is determined whether the animal model is completely represented in the initial image, and the focal length of the image acquisition unit is adjusted based on the preset focal length change scale, and the animal model image is acquired again based on the adjusted focal length, and it is determined according to the above processing process whether the animal model is completely represented in the image.

[0040] Step 320: When the animal model is completely represented in the initial image, the initial image is determined as a target image, and the marking points on the animal model are identified in the target image.

[0041] In the embodiment of the present application, the target image of the animal model is obtained after determination in step S310. Because the animal model is hit at the target position in the hitting experiment, a marking point is pre-set on the animal model. This marking point is specifically expressed based on different colors or special symbols, and this marking point information is pre-set in the control device. Therefore, before hitting, its position on the image needs to be determined, and before determining its position, the marking point needs to be identified.

[0042] Specifically, in the embodiment of the present application, the marking points on the target image and their positions on the image are determined by template matching and are marked by a marking frame.

[0043] The template matching process is to obtain the target image matrix of the target image and the template image matrix corresponding to the marked point, start from the starting point (0,0) of the target image matrix, and perform operations from left to right and from top to bottom. The out-of-bounds parts are filled with zeros to traverse and calculate all the correlation coefficient matrices. Find the maximum parameter in the correlation coefficient matrix. The position corresponding to the maximum parameter value is the center point, and the template matching result is determined based on the distribution of the center point. The matching result is marked on the target image in the form of a labeling box.

[0044] Step S330. Acquire the first world coordinates of the target point, determine a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit, determine a third relative position relationship between the marking point and the striking unit based on the second relative position relationship between the striking unit and the camera, and move the striking unit to the target position point based on the third relative position relationship.

[0045] Through the above processing, the marking point and its relative position on the image can be obtained. In order to perform the striking operation, it is also necessary to determine the positional relationship between the marking point and the striking part, and move the standby part to the front of the marking point based on this positional relationship.

[0046] Because the positional relationship between the image acquisition unit and the marking point can be realized through image technology, the image acquisition unit and the striking unit are fixed mechanisms, and the positional relationship between the two is also determined. Therefore, in this process, the positional relationship between the image acquisition unit and the marking point is first determined as the first relative positional relationship, and then because the image acquisition unit and the striking unit are fixed mechanisms, the second relative positional relationship between the two is known, and the third relative positional relationship, that is, the positional relationship between the marking point and the striking unit, can be converted through the first relative positional relationship and the second relative positional relationship, and the striking unit is moved to the target position point through the determined third positional relationship.

[0047] Therefore, for this step, the first relative position relationship, ie, the position relationship between the image acquisition unit and the marking point, is first determined.

[0048] For this process, the depth information of the image acquisition unit relative to the marking point is first obtained. Since the image acquisition unit is a depth camera, this information can be directly obtained through the current focal length of the image acquisition unit, and the depth map of the marking point corresponding to the marking point directly obtained by the image acquisition unit is obtained. The marking point depth map is then converted into a marking point point cloud map, and the first world coordinate corresponding to the marking point is determined based on the marking point point cloud map.

[0049] The first world coordinate is determined by obtaining the depth information of the image acquisition unit relative to the marking point, the internal parameters of the image acquisition unit, the rotation matrix and the translation matrix, and the two-dimensional coordinates of any pixel point on the depth map of the marking point based on the following formula: Where Z C is the depth information, R and T represent the external parameter rotation matrix and translation matrix respectively, f x 、f y , u0 and v0 are internal parameters of the image acquisition unit, X w ,y w and Z w is the first world coordinate.

[0050] The first world coordinates and the camera coordinates obtained are transformed based on the transformation matrix to obtain a first relative position relationship between the marking point and the image acquisition unit. Then, based on the determined second relative position relationship between the image acquisition unit and the striking unit, the first relative position relationship is transformed to obtain a third relative position relationship, which is the position relationship between the standby unit and the marking point.

[0051] The displacement in the first direction and the displacement in the second direction are determined by the third relative position relationship, and the displacement of the first motor and the second motor is controlled based on the displacement in the first direction and the displacement in the second direction, and is realized by the output power of the first motor and the second motor and the corresponding working time. This process is a motor control process and can be realized by using the existing PID control algorithm, and will not be described in detail in the embodiment of the present application. It can be understood that this process first determines the output power, and determines the movable speed of the first moving part and the second moving part based on the output power, and determines the corresponding working time based on the speed and the displacement in the first direction and the displacement in the second direction. Because this process control does not need to be completely accurate and has an acceptable error, it can be realized by using the existing PID control algorithm, and will not be described in detail in the embodiment of the present application.

[0052] Step S240: Acquire striking target data to control the striking unit to strike.

[0053] In the embodiment of the present application, the striking target data includes striking frequency and striking intensity, wherein the striking frequency can be realized based on a pre-set setting and can be realized by controlling the motor, which will not be described in detail. As for the control of striking intensity, the mass of the striking part is firstly obtained, and the corresponding acceleration can be determined based on the striking intensity and mass, and then the output power of the corresponding motor third motor is determined based on the acceleration and the pre-set acceleration-power curve, and the striking part is controlled to perform striking operation based on the output power.

[0054] The present application embodiment provides a method for controlling blunt force blows for experiments, which obtains the positional relationship between the marking point and the striking part through image processing technology, controls the striking part to the target position point, and realizes the striking operation under a specific striking intensity for the marking point by controlling the output power of the motor. This process is completely based on automation technology and does not require manual operation and assistance, thereby improving the accuracy of the striking operation in the experiment and the reproducibility of the device, and overcoming the technical problem of relying on manual operation of the experimenter in the prior art.

[0055] See also Figure 3 , providing an experimental blunt impact control device 400, the device comprising:

[0056] The image detection module 410 acquires the initial image based on the image acquisition unit, and is used to determine whether the animal model is completely represented in the initial image. When the animal model is not completely represented in the initial image, the focus of the image acquisition unit is adjusted, and the image acquisition unit acquires an updated image based on the adjusted focus until the animal model is completely represented in the initial image.

[0057] A marker point recognition module 420, configured to determine the initial image as a target image when the animal model is completely represented in the initial image, and to recognize marker points on the animal model in the target image;

[0058] A position determination module 430 is used to obtain a first world coordinate of the target point, determine a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinate and the camera coordinate of the image acquisition unit, determine a third relative position relationship between the marking point and the striking unit based on a second relative position relationship between the striking unit and the camera, and move the striking unit to a target position point based on the third relative position relationship;

[0059] The strike control module 440 is used to obtain strike target data to control the strike unit to strike.

[0060] See also Figure 5, the above method can also be integrated into the provided terminal device 500, and the device may have relatively large differences due to different configurations or performances, and may include one or more processors 501 and memory 502, and the memory 502 may store one or more storage applications or data. Among them, the memory 502 can be a temporary storage or a permanent storage. The application stored in the memory 502 may include one or more modules (not shown in the figure), and each module may include a series of computer executable instructions in the terminal device. Furthermore, the processor 501 can be configured to communicate with the memory 502, and the terminal device executes a series of computer executable instructions in the memory 502. The terminal device may also include one or more power supplies 503, one or more wired or wireless network interfaces 504, one or more input / output interfaces 505, one or more keyboards 506, etc.

[0061] In a specific embodiment, the terminal device includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions in the device for predicting the risk of adverse prognosis of patients with acute myocardial infarction, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions:

[0062] Acquire the initial image, and determine whether the animal model is completely represented in the initial image, and when the animal model is not completely represented in the initial image, adjust the focal length of the image acquisition unit, and acquire an updated image based on the image acquisition unit after adjusting the focal length until the animal model is completely represented in the initial image;

[0063] When the animal model is completely represented in the initial image, determining the initial image as a target image, and identifying the marking points on the animal model in the target image;

[0064] Acquire the first world coordinates of the target point, determine a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit, determine a third relative position relationship between the marking point and the striking unit based on a second relative position relationship between the striking unit and the camera, and move the striking unit to the target position point based on the third relative position relationship;

[0065] The striking target data is acquired to control the striking unit to strike.

[0066] The following is a detailed introduction to the various components of the processor:

[0067] In this embodiment, the processor is an application specific integrated circuit (ASIC), or is configured to implement one or more integrated circuits of the embodiments of the present application, such as one or more microprocessors (digital signal processors, DSP), or one or more field programmable gate arrays (field programmable gate arrays, FPGA).

[0068] Optionally, the processor may execute various functions by running or executing a software program stored in the memory and calling data stored in the memory, such as executing the above-mentioned Figure 2 The method shown.

[0069] In a specific implementation, as an embodiment, the processor may include one or more microprocessors.

[0070] Among them, the memory is used to store the software program that executes the solution of the present application, and the execution is controlled by the processor. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0071] Optionally, the memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor, or may exist independently and be coupled to the processing unit through the interface circuit of the processor, and the embodiments of the present application do not specifically limit this.

[0072] It should be noted that the structure of the processor shown in this embodiment does not constitute a limitation on the device, and the actual device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0073] In addition, the technical effects of the processor can refer to the technical effects of the method described in the above method embodiment, which will not be repeated here.

[0074] It should be understood that the processor in the embodiments of the present application may be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0075] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0076] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0077] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0078] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0079] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0084] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks or optical disks.

[0085] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An experimental blunt force blow control method, characterized in that: The invention is applied to a striking experiment system, wherein the striking experiment system is used to perform an external force striking experiment on an animal model. The striking experiment system comprises a striking device, a power device and a control device. The striking device comprises a first moving component, a second moving component, a striking unit and an image acquisition unit. The first moving component is used to drive the striking unit to move along a first direction, and the second moving component is used to drive the striking unit to move along a second direction. The first direction is a lateral moving direction, and the second direction is a vertical moving direction. The striking unit is used to apply an external force to the animal model, and the image acquisition unit is used to acquire an image of the animal model. The image acquisition unit is a depth camera. The power device comprises a first motor, a second motor and a third motor respectively connected to the first moving component, the second moving component and the striking unit. The control device is respectively connected to the image acquisition unit and the first motor, the second motor and the third motor. The method is applied to the control device, and the method comprises the following steps: Acquire the initial image based on the image acquisition unit, and determine whether the animal model is completely represented in the initial image; when the animal model is not completely represented in the initial image, adjust the focus of the image acquisition unit, and acquire an updated image based on the image acquisition unit after adjusting the focus until the animal model is completely represented in the initial image; When the animal model is completely represented in the initial image, determining the initial image as a target image, and identifying the marking points on the animal model in the target image; Acquire the first world coordinates of the target point, determine a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit, determine a third relative position relationship between the marking point and the striking unit based on the second relative position relationship between the striking unit and the camera, and move the striking unit to the target position point based on the third relative position relationship.

2. The experimental blunt force blow control method according to claim 1, characterized in that: The method also includes: obtaining striking target data to control the striking part to strike, the striking target data including striking frequency and striking intensity; obtaining the striking intensity to control the striking part to strike includes: obtaining the mass of the striking part, determining the acceleration of the striking part based on the mass, and determining the output power of the third motor based on the acceleration and a preset acceleration-power curve.

3. The experimental blunt force blow control method according to claim 1, characterized in that: The determining whether the animal model is completely represented in the initial image includes: performing edge detection on the initial image, determining the image edge of the animal model, and judging the continuity of the image edge; when the image edge is continuous, the animal model is completely represented in the initial image; when the image edge is discontinuous, the animal model is not completely represented in the initial image.

4. The experimental blunt force blow control method according to claim 3, characterized in that: The identifying of the marking points on the animal model in the target image includes: obtaining a template image of the marking points, performing template matching between the template image and the target image, obtaining multiple similarities of the template image on the target image and corresponding similar images, and determining the similar image with the highest similarity as the marking point image based on the similarity ranking and marking it on the target image.

5. The experimental blunt force blow control method according to claim 4, characterized in that: The obtaining of the first world coordinate of the marking point includes: obtaining a marking point depth map corresponding to the marking point based on the current focal length of the image acquisition unit, converting the marking point depth map into a marking point point cloud map, and determining the first world coordinate of the marking point based on the marking point point cloud map.

6. The experimental blunt force blow control method according to claim 5, characterized in that: The step of converting the depth map of the marking point into a point cloud map of the marking point, and determining the first world coordinate of the marking point based on the point cloud map of the marking point, includes: obtaining the depth information of the image acquisition unit relative to the marking point, as well as the internal parameters, rotation matrix and translation matrix of the image acquisition unit, obtaining the two-dimensional coordinates of any pixel point on the depth map of the marking point, and obtaining the first world coordinate of the marking point based on the following formula: Where Z C is the depth information, R and T represent the external parameter rotation matrix and translation matrix respectively, f x 、f y , u0 and v0 are internal parameters of the image acquisition unit, X w ,y w and Z w is the first world coordinate.

7. The experimental blunt force blow control method according to claim 6, characterized in that: The determining of the first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit includes: transforming the first world coordinates and the camera coordinates based on a transformation matrix to obtain the first relative position relationship between the marking point and the image acquisition unit.

8. The experimental blunt force blow control method according to claim 7, characterized in that: The moving of the striking part to the target position point based on the third relative position relationship includes: determining a first direction displacement and a second direction displacement based on the third relative position relationship, and controlling the output power and working time of the first motor and the second motor based on the first direction displacement and the second direction displacement.

9. An experimental blunt force blow control device, characterized in that: Applied to a striking experiment system, the striking experiment system is used to perform an external force striking experiment on an animal model, the striking test system comprises a striking device, a power device and a control device, the striking device comprises a first moving component, a second moving component, a striking unit and an image acquisition unit, the first moving component is used to drive the striking unit to move along a first direction, the second moving component is used to drive the striking unit to move along a second direction, the first direction is a lateral moving direction, and the second direction is a vertical moving direction; the striking unit is used to apply an external force to the animal model, the image acquisition unit is used to acquire an image of the animal model, and the image acquisition unit is a depth camera; the power device comprises a first motor, a second motor and a third motor respectively connected to the first moving component, the second moving component and the striking unit, the control device is respectively connected to the image acquisition unit and the first motor, the second motor and the third motor, the device is applied to the control device, and the device comprises: an image detection module, which acquires the initial image based on the image acquisition unit, and is used to determine whether the animal model is completely represented in the initial image; when the animal model is not completely represented in the initial image, adjust the focus of the image acquisition unit, and acquire an updated image based on the image acquisition unit after adjusting the focus until the animal model is completely represented in the initial image; a marker point recognition module, configured to determine the initial image as a target image when the animal model is fully represented in the initial image, and to recognize the marker points on the animal model in the target image; A position determination module is used to obtain the first world coordinates of the target point, determine a first relative position relationship between the marking point and the image acquisition unit based on the first world coordinates and the camera coordinates of the image acquisition unit, determine a third relative position relationship between the marking point and the striking unit based on the second relative position relationship between the striking unit and the camera, and move the striking unit to the target position point based on the third relative position relationship.

10. The experimental blunt impact control device according to claim 9, characterized in that: The device also includes: The strike control module is used to obtain strike target data to control the strike unit to strike.

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