A method and apparatus for blunt impact control for experimental use

Abstract

The application relates to the technical field of medical experiments, and discloses a blunt hitting control method and device for experiments. The position relationship between a mark point and a hitting part is obtained through image processing technology, the hitting part is controlled to a target position point, and the hitting operation under a specific hitting intensity of the mark point is realized by controlling the output power of a motor. The process is completely realized based on automation technology, manual operation and assistance are not needed, the accuracy of the hitting operation in the experiment and the replicability of the device are improved, and the technical problem that manual operation of an experimental personnel is relied on in the prior art is overcome.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical experiments, and is a kind of animal impact experiment control method, in particular to a blunt impact control method and device for experiments. BACKGROUND

[0002] Animal injury experiment device is mainly used for producing trauma on animals. Animal injury includes making closed and open animal brain injury, open brain injury and animal muscle strain. At present, the impact of animal injury experiment device is mainly implemented by artificial external force injury or by simple external force impact equipment to impact the animals. However, the above impact implementation, whether artificial external force or mechanical external force, cannot accurately control the impact force, and because of the difficulty in accurately controlling the impact position and impact force of large animals, the effect of the above two impact experiments is not good. SUMMARY

[0003] In order to solve the technical problems existing in the prior art, the present application provides an experimental blunt impact control method and device, which can realize the automatic and accurate control of the external impact and impact position of animals.

[0004] In order to achieve the above purpose, the technical scheme adopted by the embodiments of the present application is as follows:

[0005] In a first aspect, a blunt impact control method for experiments is provided, which is applied to a blunt impact experimental system for performing an external force impact experiment on an animal model. The blunt impact experimental 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 component, and an image acquisition component. The first moving component is configured to drive the striking component to move in a first direction. The second moving component is configured to drive the striking component to move in a second direction. The first direction is a horizontal moving direction, and the second direction is a vertical moving direction. The striking component is configured to apply an external force to the animal model. The image acquisition component is configured to acquire an image of the animal model. The image acquisition component is a depth camera. The power device comprises a first motor, a second motor, and a third motor connected to the first moving component, the second moving component, and the striking component, respectively. The control device is connected to the image acquisition component and the first motor, the second motor, and the third motor. The method is applied to the control device and comprises the following steps: acquiring an initial image based on the image acquisition component and determining whether the animal model is fully displayed in the initial image. When the animal model is not fully displayed in the initial image, adjusting the focal length of the image acquisition component and acquiring an updated image based on the image acquisition component with the adjusted focal length until the animal model is fully displayed in the initial image. When the animal model is fully displayed in the initial image, determining the initial image as a target image and identifying a marker 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 marker point and the image acquisition component based on the first world coordinate and a camera coordinate of the image acquisition component, and determining a third relative position relationship between the marker point and the striking component based on a second relative position relationship between the striking component and the camera. Moving the striking component to a target position point based on the third relative position relationship.

[0006] Further, the method further comprises: acquiring striking target data to control the striking component to strike, wherein the striking target data comprises a striking frequency and a striking intensity; and acquiring the striking intensity to control the striking component to strike, which comprises: acquiring a mass of the striking component, determining an acceleration of the striking component based on the striking intensity, and determining an output power of the third motor based on the acceleration and a pre-set acceleration-power curve.

[0007] Further, the determining whether the animal model is complete in the initial image comprises: performing edge detection on the initial image to determine an image edge of the animal model, judging continuity of the image edge, and determining that the animal model is complete in the initial image when the image edge is continuous, and determining that the animal model is not complete in the initial image when the image edge is discontinuous.

[0008] Further, the identifying the marker point on the animal model in the target image comprises: obtaining a template image of the marker point, performing template matching on the template image and the target image, obtaining a plurality of similarities and corresponding similar images of the template image in the target image, and determining that a similar image with the highest similarity is a marker point image based on the similarity ranking and marking the marker point on the target image.

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

[0010] Further, the converting the marker point depth map into a marker point point cloud map and determining the first world coordinate of the marker point based on the marker point point cloud map comprises: obtaining depth information of the image acquisition unit relative to the marker point, and intrinsic parameters, a rotation matrix and a translation matrix of the image acquisition unit, obtaining a two-dimensional coordinate of any one pixel point on the marker point depth map, and obtaining the first world coordinate of the marker point based on the following formula: wherein Z C is the depth information, R and T represent the extrinsic rotation matrix and the translation matrix respectively, f x , f y , u0 and v0 are intrinsic parameters of the image acquisition unit, X w , y w and Z w are the first world coordinate.

[0011] Further, the determining the first relative position relationship between the marker point and the image acquisition unit based on the first world coordinate and the camera coordinate of the image acquisition unit comprises: transforming the first world coordinate and the camera coordinate based on a transformation matrix to obtain the first relative position relationship between the marker point and the image acquisition unit.

[0012] Further, the moving the hitting part to the target position point based on the third relative position relationship comprises: determining a first direction displacement and a second direction displacement based on the third relative position relationship, and controlling 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 hitting control device for experiments is provided, which is applied to a hitting experiment system for hitting an animal model, the hitting experiment system comprising a hitting device, a power device and a control device. The hitting device comprises a first moving part, a second moving part, a hitting part and an image acquisition part. The first moving part is used to drive the hitting part to move in a first direction. The second moving part is used to drive the hitting part to move in a second direction. The first direction is a horizontal moving direction, and the second direction is a vertical moving direction. The hitting part is used to apply an external force to the animal model. The image acquisition part is used to acquire an image of the animal model, and the image acquisition part is a depth camera. The power device comprises a first motor, a second motor and a third motor connected with the first moving part, the second moving part and the hitting part respectively. The control device is connected with the image acquisition part and the first motor, the second motor and the third motor respectively. 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 part, and is used to determine whether the animal model is completely shown in the initial image. When the animal model is not completely shown in the initial image, the focal length of the image acquisition part is adjusted, and an updated image is acquired based on the image acquisition part after the focal length is adjusted until the animal model is completely shown in the initial image; a marker point identification module, which is used to determine the initial image as a target image when the animal model is completely shown in the initial image, and identify a marker point on the animal model in the target image; a position determination module, which is used to acquire a first world coordinate of the target point, determine a first relative position relationship between the marker point and the image acquisition part based on the first world coordinate and a camera coordinate of the image acquisition part, and determine a third relative position relationship between the marker point and the hitting part based on a second relative position relationship between the hitting part and the camera, and move the hitting part to a target position point based on the third relative position relationship.

[0014] Further, the device further comprises a hitting control module, which is used to acquire hitting target data and control the hitting part to hit.

[0015] In the technical scheme provided by the embodiment of the present application, the position relationship between the marking point and the striking part is obtained through image processing technology, the striking part is controlled to the target position point, and the output power of the motor is controlled to realize the striking operation under the specific striking intensity of the marking point. This process is completely realized based on automation technology, and does not need manual operation and assistance, thereby improving the accuracy of the striking operation in the experiment and the replicability of the device, and overcoming the technical problems in the prior art that rely on manual operation of the experiment personnel. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

[0018] Figure 1 is a schematic diagram of the striking experiment system structure provided by the embodiment of the present application.

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

[0020] Figure 3 is a schematic diagram of the blunt striking control method flow provided by the embodiment of the present application.

[0021] Figure 4 is a schematic diagram of the blunt striking control device structure provided by the embodiment of the present application.

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

[0023] In order to better understand the above technical solutions, the technical solutions of the present application will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present application and the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0024] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without these details. In other instances, well-known methods, procedures, systems, components, and / or circuits have not been described in detail in order to avoid unnecessarily obscuring aspects of the application.

[0025] The flow diagrams in the present application illustrate the execution processes performed by the system according to the embodiments of the present application. It should be explicitly understood that the execution processes of the flow diagrams can not be executed in sequence. Instead, these execution processes can be executed in reverse order or simultaneously. In addition, at least one other execution process can be added to the flow diagram. One or more execution processes can be deleted from the flow diagram.

[0026] Before the embodiments of the present application are further described, the terms and phrases involved in the embodiments of the present application are explained, which are applicable to the following explanations.

[0027] (1) In response to, for indicating the condition or state on which the executed operation depends, when the dependent condition or state is met, one or more operations executed can be real-time or have a set delay; in the absence of special instructions, there is no restriction on the execution order of multiple operations executed.

[0028] (2) Based on, for indicating the condition or state on which the executed operation depends, when the dependent condition or state is met, one or more operations executed can be real-time or have a set delay; in the absence of special instructions, there is no restriction on the execution order of multiple operations executed.

[0029] Reference is made to Figure 1The embodiment of the present application provides a hitting experiment system 100 for performing external force hitting experiment on an animal model, wherein the animal model is made of silica gel material and other bionic materials, and can simulate muscle tissue, fat tissue and skin tissue of a real animal. The hitting experiment system comprises a hitting device 110, a power device 120 and a control device 130. The core component of the hitting device is a hitting part. The hitting part is a spherical or other shape blunt instrument made of metal material. In order to realize the hitting operation of the hitting part on different hitting positions, the hitting device further comprises a first moving component and a second moving component. The first moving component is used to drive the hitting part to move in a first direction, and the second moving component is used to drive the hitting part to move in a second direction. The first direction is a transverse direction relative to the animal model, and the second direction is a longitudinal direction relative to the animal model. In addition to the above components, the hitting device is further provided with an image acquisition part. The image acquisition part is used to acquire the image of the animal model. Specifically, the hitting experiment system in the embodiment of the present application needs to obtain the position relationship between the animal model and the hitting part. Therefore, the image acquisition part is a depth camera, which can obtain the depth information of the animal model relative to the image acquisition part, and the depth value of the image can be obtained in image processing. The above device is a component for performing hitting. The power source of the hitting in the embodiment of the present application is a motor. The first moving component, the second moving component and the hitting part are all provided with corresponding motors, which provide external power source for the movement of the components. The motor comprises a first motor, a second motor and a third motor arranged relative to the first moving component, the second moving component and the hitting part.

[0030] In the embodiment of the present application, the hitting experiment system is an automatic system, which can be automatically controlled based on different targets. The control device is further arranged in the hitting experiment system. The control device is connected with the image acquisition part, the first motor, the second motor and the third motor. The control device controls the image acquisition part to acquire images, and controls the first motor, the second motor and the third motor to output.

[0031] Reference Figure 2, the first direction and the second direction of the hitting device are shown in the figure, and the relative position relationship between the hitting device and the animal model 200 is that the animal model is placed in front of the hitting device, and the hitting device is fixedly arranged relative to the ground or the table top, and the hitting part moves along the first direction and the second direction under the driving of the first moving part and the second moving part. At the same time, the first direction and the second direction have two different sub-directions, and the sub-directions are opposite to each other. Because the animal model involved is a medium and large animal, the range of the hitting point that can be set is large, especially when multiple hitting points are hit in one experiment, different positions need to be adjusted. The first moving part and the second moving part of the embodiment of the application realize automatic movement, so as to realize accurate hitting.

[0032] In order to realize accurate positioning of the position relationship between the animal model and the hitting part, the image acquisition part is a depth camera in the embodiment of the application.

[0033] In order to realize the automatic control effect of the above structure, a precise control method needs to be configured, and the control method can be referred to in Figure 3 The control device in the hitting experiment system is also provided with an experimental blunt hitting control method, which is used to realize automatic blunt hitting experiment through image processing technology and motor control technology, and specifically includes the following steps:

[0034] Step S310. Obtain the initial image, and determine whether the animal model is completely shown in the initial image. When the animal model is not completely shown in the initial image, adjust the focal length of the image acquisition part, and collect an updated image based on the image acquisition part after adjusting the focal length until the animal model is completely shown in the initial image.

[0035] In the embodiment of the application, because the experimental object is a medium and large animal model, 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 part due to the limited field of view of the image acquisition part. Therefore, the image acquisition part needs to be focused. In the prior art, the focusing of the complete and incomplete images is manually performed. In the embodiment of the application, in order to reduce the complexity of manual operation and improve the overall processing speed, the focusing is realized through image technology.

[0036] Specifically, firstly, it is needed to determine whether the animal model is completely shown in the collected initial image. In the embodiment of the present application, this process is realized by acquiring the collected image to perform 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 is indicated that the animal model is completely shown in the initial image. When the image edge is discontinuous, it is indicated that the animal model is not completely shown in the initial image.

[0037] In the edge detection, firstly, the initial image is binarized in grayscale, and then the image binarized in grayscale is filtered by Gauss to smooth some non-edge regions with weak textures, so as to obtain more accurate edges. Then, the direction and size of the image gradient are calculated, wherein the image gradient represents the change amplitude of the pixel value between each pixel point. When the change is large, it is considered that the pixel point is at the edge position. After the direction and size of the gradient are obtained, the image is scanned to remove the points on the non-boundary, that is, each pixel is checked to see whether the gradient of the point is the largest among the points with the same gradient direction around the point. Through double-threshold selection and lag boundary tracking, it is determined which boundary is the real boundary. When the grayscale gradient of the image is higher than the maximum threshold, it is considered to be the real boundary. Those boundaries lower than the minimum threshold are discarded. If it is between the two thresholds, it is determined whether the point is connected to a point determined as the real boundary. If yes, it is considered to be a boundary point. If not, it is discarded.

[0038] Through the above processing process, the edge image of the animal model can be obtained. Then, the connected domain of each pixel point on the edge image is acquired, and it is determined whether each pixel point has a field. If each pixel point has a field, it is indicated that the edge image is the complete edge of the animal model. If any pixel point does not have a field, it is indicated that the edge image is the incomplete edge.

[0039] Through the above processing process, it is determined whether the animal model is completely shown in the initial image. The focal length of the image acquisition unit is adjusted based on the pre-set focal length change scale. The image of the animal model is collected again based on the adjusted focal length. It is determined whether the animal model is completely shown in the image according to the above processing process.

[0040] Step 320. When the animal model is completely shown in the initial image, the initial image is determined as a target image, and the marker 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 step S310. Because the target position of the animal model is hit in the hitting experiment, a mark point is pre-set on the animal model, the mark point is specifically represented based on different colors or special symbols, and the mark point information is pre-set in the control device. Therefore, the position of the mark point on the image needs to be determined before hitting, and the mark point needs to be identified before the position is determined.

[0042] Specifically, in the embodiment of the present application, the mark point on the target image and the position of the mark point on the image are determined by template matching, and are labeled by a label frame.

[0043] In the processing process of template matching, a target image matrix of the target image and a template image matrix corresponding to the mark point are obtained, starting from the starting point (0, 0) of the target image matrix, from left to right and from top to bottom, traversing the zero-overflow part, and calculating all correlation coefficient matrices. The maximum parameter in the correlation coefficient matrix is found, and the position corresponding to the maximum parameter value is the center position point. The template matching result is determined based on the distribution of the center position point. The matching result is labeled on the target image in the form of a label frame.

[0044] Step S330. Obtain the first world coordinate of the target point, determine the first relative position relationship between the mark point and the image acquisition unit based on the first world coordinate and the camera coordinate of the image acquisition unit, determine the third relative position relationship between the mark point and the hitting unit based on the second relative position relationship between the hitting unit and the camera, and move the hitting unit to the target position point based on the third relative position relationship.

[0045] Through the above processing, the mark point and the relative position of the mark point on the image can be obtained. In order to perform the hitting operation, the position relationship between the mark point and the hitting unit also needs to be determined, and the standby unit is moved to the front of the mark point based on the position relationship.

[0046] Because the position relationship between the image acquisition unit and the mark point can be realized by image technology, the image acquisition unit and the hitting unit are fixed mechanisms, and the position relationship between the two is also determined. Therefore, the position relationship between the image acquisition unit and the mark point is first determined as the first relative position relationship, and then because the image acquisition unit and the hitting unit are fixed mechanisms, the second relative position relationship between the two is known. The third relative position relationship, i.e., the position relationship between the mark point and the hitting unit, is converted by the first relative position relationship and the second relative position relationship, and the hitting unit is moved to the target position point by the determined third position relationship.

[0047] Therefore, the first relative position relationship between the image acquisition unit and the marker point is determined first.

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

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

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

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

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

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

[0054] The step S310 to step S340 in the embodiment of the present application provides a blunt striking control method for experiments, the position relationship between the marking point and the striking part is acquired by the image processing technology, the striking part is controlled to the target position point, and the striking operation under the specific striking intensity of the marking point is achieved by controlling the output power of the motor. This process is completely achieved based on the automation technology, and does not need manual operation and assistance, thereby improving the accuracy of the striking operation in the experiment and the replicability of the device, and overcoming the technical problem of the prior art which depends on the manual operation of the experiment personnel.

[0055] Referring to Figure 3 , a blunt striking control device 400 for experiments is provided, and the device includes:

[0056] An image detection module 410 acquires the initial image based on the image acquisition part, and is used to determine whether the animal model is completely shown in the initial image. When the animal model is not completely shown in the initial image, the focal length of the image acquisition part is adjusted, and the updated image is acquired based on the image acquisition part after the focal length is adjusted until the animal model is completely shown in the initial image.

[0057] A marking point identification module 420 is used to determine the initial image as a target image when the animal model is completely shown in the initial image, and identify the marking point on the animal model in the target image.

[0058] A position determination module 430 is used to acquire the first world coordinates of the target point, determine the first relative position relationship between the marking point and the image acquisition part based on the first world coordinates and the camera coordinates of the image acquisition part, and determine the third relative position relationship between the marking point and the striking part based on the second relative position relationship between the striking part and the camera, and move the striking part to the target position point based on the third relative position relationship.

[0059] A striking control module 440 is used to acquire the striking target data to control the striking part to perform the striking.

[0060] Referring to Figure 5The above method can also be integrated into the terminal device 500 provided, and the device can have great differences due to different configurations or performances, and can include one or more processors 501 and memories 502, and the memories 502 can store one or more stored application programs or data. The memory 502 can be temporary storage or persistent storage. The application programs stored in the memory 502 can include one or more modules (not shown in the figure), and each module can include a series of computer executable instructions in the terminal device. Further, the processor 501 can be configured to communicate with the memory 502, and execute a series of computer executable instructions in the memory 502 on the terminal device. The terminal device can 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, and the like.

[0061] In one specific embodiment, the terminal device includes a memory, and one or more programs, wherein one or more programs are stored in the memory, and the one or more programs can include one or more modules, and each module can include a series of computer executable instructions in the acute myocardial infarction patient adverse prognosis risk prediction device, and the one or more processors are configured to execute the one or more programs, and the one or more programs include computer executable instructions for:

[0062] Acquiring the initial image, and determining whether the animal model is fully displayed in the initial image, when the animal model is not fully displayed in the initial image, adjusting the focal length of the image acquisition unit, and collecting an updated image based on the image acquisition unit after adjusting the focal length until the animal model is fully displayed in the initial image;

[0063] When the animal model is fully displayed in the initial image, the initial image is determined as a target image, and a marker point on the animal model is identified in the target image;

[0064] Acquiring a first world coordinate of the target point, determining a first relative position relationship between the marker point and the image acquisition unit based on the first world coordinate and a camera coordinate of the image acquisition unit, and determining a third relative position relationship between the marker 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 a target position point based on the third relative position relationship;

[0065] Acquiring striking target data to control the striking unit to strike.

[0066] The various components of the processor will be specifically introduced as follows:

[0067] In the embodiment, the processor is an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the application, for example, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs).

[0068] Optionally, the processor can execute various functions by running or executing software programs stored in the memory, and calling data stored in the memory, for example, executing the above-mentioned Figure 2 method.

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

[0070] The memory is configured to store software programs for implementing the schemes of the application, and the processor is configured to control the execution. The specific implementation can refer to the above-mentioned method embodiments, and details are not described herein.

[0071] Optionally, the memory can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, an optical disk storage (including a compact disk, a laser disc, an optical disc, a digital versatile disc, a 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 desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited to this. The memory can be integrated with the processor, or can exist independently, and is coupled to the processing unit through an interface circuit of the processor. The embodiments of the application are not limited in this regard.

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

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

[0074] It should be understood that the processor in the embodiments of the present application can 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 gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

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

[0076] The above-described embodiments can be implemented in part or in whole through software, hardware (e.g., circuitry), firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When loaded and executed by a computer, the computer instructions or computer programs can cause the computer to perform the processes or functions described above. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. 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, such as from a website, a computer, a server, or a data center to another website, computer, server, or data center through a wired (e.g., infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium or a collection of medium accessible by a computer or a data storage device such as a server, data center, etc. that includes one or more of the available medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., 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 "multiple" means two or more. "At least one of the following (one)" or the like means any combination of the items, including a single item (one) or a combination of multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0078] It should be understood that the size of the sequence number of the above-described processes in various embodiments of the present application does not mean the order of execution, and the execution order of the processes should be determined by their functions and inherent 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 can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0081] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method 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, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

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

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

[0084] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art or the part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various program code storage media.

[0085] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An experimental blunt impact control method, characterized in that, An impact testing system is applied to conduct external force impact experiments on animal models. The system includes an impact device, a power device, and a control device. The impact device comprises a first moving component, a second moving component, an impact part, and an image acquisition part. The first moving component moves the impact part along a first direction, and the second moving component moves the impact part along a second direction. The first direction is a lateral movement direction, and the second direction is a vertical movement direction. The impact part applies external force to the animal model. The image acquisition part, which is a depth camera, acquires images of the animal model. The power device includes a first motor, a second motor, and a third motor connected to the first moving component, the second moving component, and the impact part, respectively. The control device is connected to the image acquisition part and the first motor, the second motor, and the third motor, respectively. The method is applied to the control device and includes the following steps: The image acquisition unit acquires an initial image and determines whether the animal model is fully represented in the initial image. If the animal model is not fully represented in the initial image, the focal length of the image acquisition unit is adjusted, and an updated image is acquired based on the adjusted focal length until the animal model is fully represented in the initial image. Specifically, this includes: performing edge detection on the initial image to determine the image edges of the animal model, judging the continuity of the image edges, and determining that the animal model is fully represented in the initial image when the image edges are continuous; and that the animal model is not fully represented in the initial image when the image edges are discontinuous. Specifically, this includes: acquiring the connected components of each pixel on the edge image and determining whether each pixel has a neighborhood. If each pixel has a neighborhood, it indicates that this edge image is a complete edge of the animal model; if any pixel does not have a neighborhood, it indicates that this edge image is an incomplete edge. The focal length of the image acquisition unit is adjusted based on a preset focal length change scale, and the animal model image is acquired again based on the adjusted focal length. The process described above is then used to determine whether the animal model is fully represented in the image. When the animal model is fully represented in the initial image, the initial image is determined as the target image, and the marker points on the animal model are identified in the target image; The first world coordinates of the target point are obtained. Based on the first world coordinates and the camera coordinates of the image acquisition unit, the first relative positional relationship between the marker point and the image acquisition unit is determined. Based on the second relative positional relationship between the strike unit and the camera, the third relative positional relationship between the marker point and the strike unit is determined. Based on the third relative positional relationship, the strike unit is moved to the target position point.

2. The experimental blunt impact control method according to claim 1, characterized in that, The method further includes: acquiring target data and controlling the striking part to strike, wherein the target data includes striking frequency and striking intensity; acquiring the striking intensity and controlling the striking part to strike includes: acquiring 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 impact control method according to claim 1, characterized in that, The step of identifying the marker points on the animal model in the target image includes: obtaining a template image of the marker 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; determining the most similar image as the marker point image based on the similarity ranking and marking it on the target image.

4. The experimental blunt impact control method according to claim 3, characterized in that, The step of obtaining the first world coordinates of the marker point includes: obtaining a marker point depth map corresponding to the marker point based on the current focal length of the image acquisition unit, converting the marker point depth map into a marker point cloud map, and determining the first world coordinates of the marker point based on the marker point cloud map.

5. The experimental blunt impact control method according to claim 4, characterized in that, The step of converting the marker point depth map into a marker point cloud map and determining the first world coordinates of the marker points based on the marker point cloud map includes: acquiring the depth information of the image acquisition unit relative to the marker points, as well as the intrinsic parameters of the image acquisition unit, rotation matrix, and translation matrix; acquiring the two-dimensional coordinates of any pixel on the marker point depth map; and obtaining the first world coordinates of the marker points based on the following formula: ,in For depth information, R and T represent the extrinsic rotation and translation matrices, respectively. , , and This is an internal parameter of the image acquisition unit. , and Use first-world coordinates.

6. The experimental blunt impact control method according to claim 5, characterized in that, Determining the first relative positional 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 includes: transforming the first world coordinates and the camera coordinates based on a transformation matrix to obtain the first relative positional relationship between the marker point and the image acquisition unit.

7. The experimental blunt impact control method according to claim 6, characterized in that, Moving the striking part to the target position based on the third relative position relationship includes: determining a first directional displacement and a second directional 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 directional displacement and the second directional displacement.

8. An experimental blunt impact control device, characterized in that, An impact testing system is applied to conduct external force impact experiments on animal models. The system includes an impact device, a power device, and a control device. The impact device comprises a first moving component, a second moving component, an impact part, and an image acquisition part. The first moving component moves the impact part along a first direction, and the second moving component moves the impact part along a second direction. The first direction is a lateral movement direction, and the second direction is a vertical movement direction. The impact part applies external force to the animal model. The image acquisition part, which is a depth camera, acquires images of the animal model. The power device includes a first motor, a second motor, and a third motor connected to the first moving component, the second moving component, and the impact part, respectively. The control device is connected to the image acquisition part and the first, second, and third motors, respectively. The device is applied to the control device, which includes: The image detection module acquires an initial image based on the image acquisition unit to determine whether the animal model is fully represented in the initial image. When the animal model is not fully represented in the initial image, the focal length of the image acquisition unit is adjusted, and an updated image is acquired based on the image acquisition unit after the focal length adjustment until the animal model is fully represented in the initial image. Specifically, this includes: performing edge detection on the initial image to determine the image edges of the animal model, judging the continuity of the image edges; when the image edges are continuous, the animal model is fully represented in the initial image; when the image edges are discontinuous, the animal model is not fully represented in the initial image. Specifically, this includes: acquiring the connected components of each pixel on the edge image, and determining whether each pixel has a neighborhood; if each pixel has a neighborhood, it indicates that this edge image is a complete edge of the animal model; if any pixel does not have a neighborhood, it indicates that this edge image is an incomplete edge; adjusting the focal length of the image acquisition unit based on a preset focal length change scale; acquiring the animal model image again based on the adjusted focal length; and determining whether the animal model is fully represented in the image based on the above processing procedure. The marker recognition module is used to determine the initial image as the target image when the animal model is fully represented in the initial image, and to recognize the markers on the animal model in the target image; The position determination module is used to acquire the first world coordinates of the target point, determine the first relative positional 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 positional relationship between the marker point and the impact unit based on the second relative positional relationship between the impact unit and the camera, and move the impact unit to the target position point based on the third relative positional relationship.

9. The experimental blunt impact control device according to claim 8, characterized in that, The device further includes: The strike control module is used to acquire strike target data and control the strike unit to carry out the strike.

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