Method and system for automatically calculating mechanical motion track curve

Abstract

The embodiment of the invention provides a method and a system for automatically calculating a mechanical motion trajectory curve, which are characterized in that an image At during mechanical motion and shot parameter information are acquired by an acquisition device in a sampling period of one second, the image and the shot parameter information are acquired, and a speed value can be acquired through information in two adjacent images, so that the speed value is accurately calculated. According to the method, the speed does not need to be calculated by obtaining the displacement, the calculated speed value is greatly simplified, the displacement and the speed of the sampling interval are calculated through different methods respectively, the difference value between the current value and the previous value is calculated respectively, mutual judgment is carried out, the misjudgment probability is reduced, and the accuracy of a curve is improved; v is a first threshold value, S is a second threshold value, when V is smaller than the first threshold value and S is smaller than the second threshold value, the values of V and S are judged, if V is larger than S, it is indicated that the deviation between vt and vt-1 obtained through calculation is large, and due to the fact that the values of vt and stre obtained through calculation are the same, the value of vt is replaced with stre, and the accuracy of the speed curve is improved.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a method and system for automatically calculating a mechanical motion trajectory curve. Background Art

[0002] In recent years, with the rapid development of science and technology, various machines and equipment have been developed to replace the use of existing labor. Among them, punch presses have become the fastest and most effective way to replace labor in the stamping process. Stamping is a processing method that uses a punch press as a processing equipment to drive the punch, cooperate with the stamping die, and apply force to the sheet to break or shape the material. In common stamping processes, they can be classified into shearing and cutting, drawing, forging, bending, etc. according to the way the sheet is broken or deformed. In the drawing process, the sheet will produce complex forces and deformations, including compression, bending, tensile force and friction, etc. Figure 1 This is a schematic diagram of the extension process. Figure 2 The drawing process stamping curve of the punch press is shown in Figure 1. Sections (1) and (4) are where the punch quickly approaches the workpiece and quickly raises the punch. These two sections do not contact the workpiece, so the faster the speed, the better, in order to achieve higher production efficiency. Sections (2) and (3) are the main processing sections of the workpiece. After the punch contacts the workpiece, it enters stage (2). The punch pulls the workpiece into the die at a set speed. The distance the punch moves downward in stage (2) is the drawing depth. After the punch moves to the set depth, it enters stage (3) and stops briefly. The purpose is to allow the workpiece time to produce plastic deformation. If the punch is lifted too quickly, the workpiece will rebound. During the stamping process, the blank pulled into the mother die by the punch is stretched. If its strain rate is too high, it will produce necking, resulting in uneven wall thickness or cracking of the finished product. Selecting the appropriate punch speed can avoid this phenomenon. Therefore, obtaining the motion trajectory curve of the punch, especially the speed curve, plays an important role in determining the working state of the punch and the quality of the stamped product.

[0003] In the prior art, a specific sensor can be installed at the punch to obtain the corresponding parameters, and then the motion curve of the punch can be obtained. However, high-precision and high-reliability sensors are usually expensive, resulting in high maintenance and repair costs. In order to obtain the punch speed value, the prior art usually first obtains the moving distance of the punch and calculates the speed value, which leads to a cumbersome process. Due to the working characteristics of the punch, such as Figure 2Before and after the intersection of parts (1) and (2), or before and after the intersection of parts (2) and (3), or before and after the intersection of parts (3) and (4), the speed values ​​differ greatly. When the speed value is obtained by calculating the moving distance, it is usually judged whether the difference between it and the speed value obtained last time is greater than a specific threshold. If it is greater, it is determined that the speed value belongs to the value after the inflection point, and it is determined that the speed value obtained this time is a normal value. However, in actual application, due to the influence of various factors, it is usually not reached when the speed value is greater than a specific threshold. Figure 2 Before and after the intersection of parts (1) and (2), as in stage (1), the difference between the two adjacent values ​​may be greater than the set specific threshold. Using this single judgment method is prone to misjudgment, resulting in an inaccurate trajectory curve. At the same time, when obtaining the moving curve based on the obtained speed value, in order to ensure the accuracy of the curve, it is usually necessary to perform complex processing and fitting of the data, which makes the curve calculation complicated and places high requirements on the equipment. Summary of the Invention

[0004] In view of this, the present invention provides a method and system for automatically calculating a mechanical motion trajectory curve, which effectively simplifies the cost of obtaining the motion curve, the tedious calculation process, and the complex processing and fitting process.

[0005] In a first aspect, the present invention provides a method for automatically calculating a mechanical motion trajectory curve, comprising: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical motion, wherein the observation point is a point whose position remains unchanged during the mechanical motion, and the observation point is a point whose position changes during the mechanical motion; Get shooting parameter information; Get image A t The pixel coordinate P of the observation point in the image t pc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t .

[0006] Get the pixel coordinates P of the reference point in the image At t rpc , according to the pixel coordinate P t pc and P t-1 pc , reference point pixel coordinates P t rpcThe actual distance s between the observation point and the reference point on the mechanical equipment is calculated using the captured parameter information t re , the actual distance of mechanical movement is s t re -s t-1 re ; Calculate the difference between the current speed and the previous speed △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t re Output and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

[0007] In an optional embodiment, in the above-mentioned method embodiments of the present invention, the method further includes: if ΔV is less than the first threshold value and ΔS is less than the second threshold value, then judging the size of the values ​​of ΔV and ΔS; if ΔV is greater than ΔS, then setting s t re The value of Vt is taken as the value of V; if △V is less than △S, the value of Vt is taken as s t re The value of Vt and s t re Output and display to obtain speed curve and position curve.

[0008] In an optional embodiment, in the above method embodiments of the present invention, the shooting parameter information includes the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

[0009] In an optional implementation manner, in the above-mentioned method embodiments of the present invention, the acquisition device may be a photo taking device or a video recording device.

[0010] In a second aspect, the present invention provides a system for automatically calculating a mechanical motion trajectory curve, the system comprising: Information acquisition unit: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second. t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical movement, wherein the observation point is a point whose position remains unchanged during the mechanical movement, and the observation point is a point whose position changes during the mechanical movement; obtaining the shooting parameter information; Speed ​​calculation unit: Get image A t The pixel coordinates P of the observation point in the image t pc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t ; Displacement calculation unit: obtain the pixel coordinates P of the reference point in the image At t rpc , according to the pixel coordinate P t pc and P t-1 pc , reference point pixel coordinates P t rpc The actual distance s between the observation point and the reference point on the mechanical equipment is calculated using the captured parameter information t re , the actual distance of mechanical movement is s t re -s t-1 re ; Curve output unit, calculates the difference between the current speed and the previous speed △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t reOutput and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

[0011] In an optional embodiment, in the above-mentioned system embodiments of the present invention, in an optional embodiment, in the above-mentioned system embodiments of the present invention, the curve output unit further includes: if △V is less than the first threshold value, and △S is less than the second threshold value, then judging the size of the values ​​of △V and △S, if △V is greater than △S, then s t re The value of Vt is taken as the value of V; if △V is less than △S, the value of Vt is taken as s t re The value of Vt and s t re Output and display to obtain speed curve and position curve.

[0012] In an optional embodiment, in the above-mentioned system embodiments of the present invention, the shooting parameter information includes the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

[0013] In an optional implementation manner, in the above-mentioned system embodiments of the present invention, the acquisition device may be a photo taking device or a video recording device.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are coupled; the memory stores program instructions, and when the program instructions are executed by the processor, the electronic device executes the method provided in the first aspect.

[0015] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, comprising a computer program, which, when executed on an electronic device, enables the electronic device to execute the method provided in the first aspect.

[0016] The embodiment of the present invention provides a method and system for automatically calculating a mechanical motion trajectory curve, wherein an acquisition device is used to acquire an image A of the mechanical motion at a sampling period of one second. t , and the shooting parameter information, obtain image A t The pixel coordinate P of the observation point in the image t pc , according to the pixel coordinate P t pc and Pt-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t The speed value can be obtained by the information in two adjacent images. By collecting image information and setting a sampling period of 1 second, there is no need to obtain the displacement and then calculate the speed, which greatly simplifies the calculated speed value. The displacement and speed of the sampling interval are calculated by different methods, and the difference between the current speed and the previous speed is calculated as △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re , if △V is greater than the first threshold, then continue to judge whether △S is greater than the second threshold. If both are greater than, then it is considered that the value of Vt is the correct value; similarly, when △S is greater than the second threshold, then continue to judge whether △V is greater than the first threshold. If both are greater than, then it is considered that s t re The value is the correct value. By judging each other by △S and △V, the probability of misjudgment is reduced and the accuracy of the curve is improved; and when △V is less than the first threshold and △S is less than the second threshold, the size of the values ​​of △V and △S is judged. If △V is greater than △S, it means that the calculated vt and vt-1 have a large deviation. Since the vt and s calculated by the above method of the present invention are t re数值 The sizes are the same, so to ensure a more accurate curve, replace the value of vt with s t re , thereby improving the accuracy of the speed curve.

[0017] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features, and advantages of the present invention will become more apparent through a more detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and are not intended to limit the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0020] Figure 1 This is a schematic diagram of the extension process; Figure 2 It is the stamping curve of the extension processing of the punch press; Figure 3 A flow chart of a method for automatically calculating a mechanical motion trajectory curve provided by one embodiment of the present invention; Figure 4 Schematic diagram of the punch press; Figure 5 Schematic diagram of parameter information taken for the present invention; Figure 6 Schematic diagram of the speed calculation method; Figure 7 Schematic diagram of the displacement calculation method; Figure 8 This is a block diagram of an embodiment of a system for automatically calculating a mechanical motion trajectory curve shown in this application. DETAILED DESCRIPTION

[0021] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0022] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0023] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present invention are only used to distinguish different steps, devices or modules, and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0024] It should also be understood that, in the embodiments of the present invention, “a plurality of” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0025] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0026] The invention provides a method for automatically calculating a mechanical motion trajectory curve. Figure 3 This is a method flow chart of an embodiment of a method for automatically calculating a mechanical motion trajectory curve provided by the present invention.

[0027] like Figure 3 As shown, according to one embodiment of the present invention, the method for automatically calculating a mechanical motion trajectory curve comprises at least the steps of: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical motion, wherein the observation point is a point whose position remains unchanged during the mechanical motion, and the observation point is a point whose position changes during the mechanical motion; Specifically, since the punch head only moves up and down in one plane when the punch press is working, a photographing device, such as a high-speed camera, can be fixed in front of the punch press to capture images of the punch head at a cycle of 1 second, or a video recorder can be used to obtain a video of the punch head at work, from which multiple video frame images are obtained at intervals of 1 second. Figure 4 In the punch press shown in , point O can be used as a reference point and point P as an observation point, and they can be marked on the punch press with specific colors to facilitate subsequent processing.

[0028] Get the shooting parameter information.

[0029] like Figure 5 As shown, the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the distance d between the shooting point and the imaging plane, and the pixel distance s of the image are also included.

[0030] Get image A t The pixel coordinates P of the observation point in the image t pc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t .

[0031] Specifically, refer to Figure 6 The schematic diagram shown, for example Figure 6 (a) is the image at time t-1, where the pixel coordinates of the observation point P are P t-1 pc is (0,1500), Figure 6 (b) is the image at time t, where the pixel coordinates P of the observation point P are t pc = (0,1380). Since the positions of the acquisition equipment and mechanical equipment are fixed, and the acquisition equipment parameters are pre-set and unchanged during the shooting process, the range of the captured images is consistent. Figure 6 The pixel coordinates in (b) correspond to Figure 6 The coordinate values ​​in (a) are consistent, which can be understood as Figure 6 (a) with Figure 6 (b) After merging, we can get Figure 6Schematic diagram of (c), therefore, the pixel coordinate distance at time t-1 and time t is 1500-1380=120 (pixels), and the moving distance of the observation point in the image is calculated based on the pixel coordinate distance and the pixel distance s. For example, if the pixel distance s is 2 (um), the moving distance of the observation point in the image is 120*2=240um. The actual moving distance of the reference point during the mechanical movement is calculated based on the moving distance of the observation point in the image, the distance D between the shooting point and the plane where the mechanical motion trajectory is located, and the distance d between the shooting point and the imaging plane. For example, D=1 meter, d=6mm, and from "actual moving distance of the reference point during the mechanical movement / distance D between the shooting point and the plane where the mechanical motion trajectory is located=moving distance of the observation point in the image / distance d between the shooting point and the imaging plane", the actual moving distance of the reference point during the mechanical movement is 0.04m. Since the sampling period is 1 second, the speed of the punch movement is also 0.04.

[0032] Specifically, refer to Figure 6 The schematic diagram shown, for example Figure 6 (a) is the image at time t-1, where the pixel coordinates of the observation point P are P t-1 pc is (0,1500), Figure 6 (b) is the image at time t, where the pixel coordinates P of the observation point P are t pc = (0,1380). Since the positions of the acquisition equipment and mechanical equipment are fixed, and the acquisition equipment parameters are pre-set and unchanged during the shooting process, the range of the captured images is consistent. Figure 6 The pixel coordinates in (b) correspond to Figure 6 The coordinate values ​​in (a) are consistent, which can be understood as Figure 6 (a) with Figure 6 (b) After merging, we can get Figure 6Schematic diagram of (c), therefore, the pixel coordinate distance at time t-1 and time t is 1500-1380=120 (pixels), and the moving distance of the observation point in the image is calculated based on the pixel coordinate distance and the pixel distance s. For example, if the pixel distance s is 2 (um), the moving distance of the observation point in the image is 120*2=240um. The actual moving distance of the reference point during the mechanical movement is calculated based on the moving distance of the observation point in the image, the distance D between the shooting point and the plane where the mechanical motion trajectory is located, and the distance d between the shooting point and the imaging plane. For example, D=1 meter, d=6mm, and from "actual moving distance of the reference point during the mechanical movement / distance D between the shooting point and the plane where the mechanical motion trajectory is located=moving distance of the observation point in the image / distance d between the shooting point and the imaging plane", the actual moving distance of the reference point during the mechanical movement is 0.04m. Since the sampling period is 1 second, the speed of the punch movement is also 0.04.

[0033] Reference Figure 7 The schematic diagram shown, for example Figure 7 (a) is the image at time t-1, where the pixel coordinates P of the observation point P are assumed to be t-1 pc The coordinates of the reference point are (0,1500) and (0,300). Therefore, the pixel coordinate distance between the observation point and the reference point at time t-1 is 1500-300=1200 (pixels). The distance between the observation point and the reference point in the image is calculated based on the pixel coordinate distance and the pixel distance s. For example, if the pixel distance s is 2 (um), the movement distance of the observation point in the image is 1200*2=2400um. The actual movement distance of the reference point during the mechanical movement is calculated based on the movement distance between the observation point and the reference point in the image, the distance D between the shooting point and the plane where the mechanical motion trajectory is located, and the distance d between the shooting point and the imaging plane. For example, D=1 meter and d=6mm. According to "the actual distance between the observation point and the reference point / the distance D between the shooting point and the plane where the mechanical motion trajectory is located=the distance between the observation point and the reference point in the image / the distance d between the shooting point and the imaging plane", the actual distance between the observation point and the reference point at time t-1 is 0.4m. Figure 7 (b) is the image at time t, where the pixel coordinates P of the observation point P are assumed to be t-1 pc The coordinates of the reference point are (0,1380) and (0,300). According to the same algorithm, the actual distance between the observation point and the reference point at time t is 0.36m, so the actual distance of the mechanical movement from t-1 to t is 0.04m.

[0034] Calculate the difference between the current speed and the previous speed △V=V t -V t-1, and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t re Output and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

[0035] In order to avoid the error value of the current calculated speed value and the previous one with a large deviation due to some uncertain factors, the difference is greater than the threshold and is mistakenly judged as a value of a different stage, such as Figure 2 The values ​​before and after the intersection of (1) and (2) are misjudged as correct values, resulting in an inaccurate trajectory curve. In the present invention, the difference between the current speed and the previous speed is calculated as △V = V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re , if △V is greater than the first threshold, then continue to judge whether △S is greater than the second threshold. If both are greater than, then it is considered that the value of Vt is the correct value; similarly, when △S is greater than the second threshold, then continue to judge whether △V is greater than the first threshold. If both are greater than, then it is considered that s t re The value of is the correct value. By judging each other by △S and △V, the probability of misjudgment is reduced and the accuracy of the curve is improved.

[0036] If △V is less than the first threshold and △S is less than the second threshold, then determine the size of the values ​​of △V and △S. If △V is greater than △S, then set s t re The value of Vt is taken as the value of V; if △V is less than △S, the value of Vt is taken as s t re The value of Vt and st re Output and display to obtain speed curve and position curve.

[0037] In the present invention, when ΔV is less than the first threshold and ΔS is less than the second threshold, it means that vt and s at time t are t re Not in Figure 2 The values ​​before and after the intersection of parts (1) and (2) are the same in different sections according to the working characteristics of the punch, such as Figure 2 The velocities at different time points in each segment are the same, and the displacements between two adjacent sampling intervals are also the same. Therefore, when vt and s at time t are equal, t re Not in Figure 2 When the values ​​before and after the intersection of parts (1) and (2) are obtained, the size of △V and △S is determined. If △V is greater than △S, it means that the calculated vt and vt-1 have a large deviation. Since the vt and s calculated by the above method of the present invention are t re数值 The sizes are the same, so to ensure a more accurate curve, replace the value of vt with s t re , thereby improving the accuracy of the speed curve. Similarly, if △V is less than △S, it means that the calculated s t re and s t-1 re The deviation is large, then s t re The value of v is replaced by t ; V t and s t re Output and display to obtain speed curve and position curve.

[0038] See also Figure 8 , is a block diagram of an embodiment of a system for automatically calculating a mechanical motion trajectory curve shown in this application: like Figure 8 As shown, the system includes: Information acquisition unit: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second. t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical movement, wherein the observation point is a point whose position remains unchanged during the mechanical movement, and the observation point is a point whose position changes during the mechanical movement; obtaining the shooting parameter information; Speed ​​calculation unit: Get image A t The pixel coordinate P of the observation point in the image tpc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t ; Displacement calculation unit: obtain the pixel coordinates P of the reference point in the image At t rpc , according to the pixel coordinate P t pc and P t-1 pc , reference point pixel coordinates P t rpc The actual distance s between the observation point and the reference point on the mechanical equipment is calculated using the captured parameter information t re , the actual distance of mechanical movement is s t re -s t-1 re ; Curve output unit: calculate the difference between the current speed and the previous speed △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t re Output and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

[0039] In an optional embodiment, in the above-mentioned system embodiments of the present invention, the curve output unit further includes: if △V is less than the first threshold value, and △S is less than the second threshold value, then judging the size of the values ​​of △V and △S; if △V is greater than △S, then s tre The value of Vt is taken as the value of V; if △V is less than △S, the value of Vt is taken as s t re The value of Vt and s t re Output and display to obtain speed curve and position curve.

[0040] In an optional embodiment, in the above-mentioned system embodiments of the present invention, the shooting parameter information includes the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

[0041] In an optional implementation manner, in the above-mentioned system embodiments of the present invention, the acquisition device may be a photo taking device or a video recording device.

[0042] The present invention further provides an electronic device, comprising: processor; A memory stores computer-readable instructions, which, when executed by a processor, implement a method for automatically calculating a mechanical motion trajectory curve as shown above.

[0043] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed on an electronic device, the electronic device executes the aforementioned method for automatically calculating a mechanical motion trajectory curve.

[0044] The above-mentioned computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0045] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0046] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0047] Computer program code for performing the operations of this specification may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0048] An embodiment of the present application further provides a computer program product, which, when executed on a computer, enables the computer to execute some or all of the steps in the above method embodiment.

[0049] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0050] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, and are not intended to be limiting. These details do not necessarily limit the present disclosure to the use of these specific details.

[0051] Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. References to the same or similar parts between the various embodiments are sufficient. For system embodiments, since they are generally similar to the method embodiments, their description is relatively simple. For relevant parts, references to the description of the method embodiments are sufficient.

[0052] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0053] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0054] It should also be noted that, in the apparatus, equipment and method of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present disclosure. The above description of the disclosed aspects is provided to enable any technician in this field to make or use the present disclosure. Various modifications to these aspects will be very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown here, but to the widest range consistent with the principles and novel features disclosed herein.

[0055] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for automatically calculating a mechanical motion trajectory curve, characterized in that: The method comprises: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical motion, wherein the observation point is a point whose position remains unchanged during the mechanical motion, and the observation point is a point whose position changes during the mechanical motion; Get shooting parameter information; Get image A t The pixel coordinates P of the observation point in the image t pc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t ; Get image A t The pixel coordinates of the reference point P t rpc , according to the pixel coordinate P t pc and P t-1 pc , reference point pixel coordinates P t rpc The actual distance s between the observation point and the reference point on the mechanical equipment is calculated using the captured parameter information t re , the actual distance of mechanical movement is s t re -s t-1 re ; Calculate the difference between the current speed and the previous speed △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t re Output and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

2. The method for automatically calculating a mechanical motion trajectory curve according to claim 1, further comprising: If △V is less than the first threshold and △S is less than the second threshold, then determine the size of the values ​​of △V and △S. If △V is greater than △S, then set s t re The value of V t If △V is less than △S, then V t The value of s t re The value of V t and s t re Output and display to obtain speed curve and position curve.

3. The method for automatically calculating a mechanical motion trajectory curve according to claim 1, wherein: The shooting parameter information includes the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

4. The method for automatically calculating a mechanical motion trajectory curve according to claim 1, wherein: The acquisition device may be a photographing device or a video recording device.

5. A system for automatically calculating a mechanical motion trajectory curve, the system comprising: Information acquisition unit: The image A of the mechanical movement is collected by the acquisition device with a sampling period of one second. t , t=1, ..., n; the sampling image set includes an observation point and a reference point of the mechanical movement, wherein the observation point is a point whose position remains unchanged during the mechanical movement, and the observation point is a point whose position changes during the mechanical movement; obtaining the shooting parameter information; Speed ​​calculation unit: Get image A t The pixel coordinates P of the observation point in the image t pc , according to the pixel coordinate P t pc and P t-1 pc , and the shooting parameter information, calculate the speed V of the mechanical movement t ; Displacement calculation unit: Get image A t The pixel coordinates of the reference point P t rpc , according to the pixel coordinate P t pc and P t-1 pc , reference point pixel coordinates P t rpc The actual distance s between the observation point and the reference point on the mechanical equipment is calculated using the captured parameter information t re , the actual distance of mechanical movement is s t re -s t-1 re ; Curve output unit, calculates the difference between the current speed and the previous speed △V=V t -V t-1 , and the difference between the current mechanical movement distance and the previous mechanical movement distance △S=s t re -s t-1 re If △V is greater than the first threshold and △S is greater than the second threshold, then V t and s t re Output and display; if △V is greater than the first threshold and △S is less than the second threshold, then s t re The value of V t value, and V t and s t re Output and display; if △V is less than the first threshold, and △S is greater than the second threshold; then V t The value of s t re value, and V t and s t re Output and display to obtain speed curve and position curve.

6. The system for automatically calculating a mechanical motion trajectory curve according to claim 5, characterized in that: The method flow executed by the engineering management module also includes: the curve output unit further includes: if △V is less than the first threshold value, and △S is less than the second threshold value, then judging the size of the values ​​of △V and △S; if △V is greater than △S, then s t re The value of V t If △V is less than △S, then V t The value of s t re The value of V t and s t re Output and display to obtain speed curve and position curve.

7. The system for automatically calculating a mechanical motion trajectory curve according to claim 6, characterized in that: The shooting parameter information includes the distance D between the shooting point and the plane where the mechanical motion trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

8. The system for automatically calculating a mechanical motion trajectory curve according to claim 6, characterized in that: The acquisition device is a photo taking device or a video recording device.

9. An electronic device, comprising: a memory and a processor, the memory and the processor being coupled; The memory stores program instructions, and when the program instructions are executed by the processor, the electronic device executes the method for automatically calculating a mechanical motion trajectory curve according to any one of claims 1 to 4.

10. A computer-readable storage medium comprising a computer program, which, when executed on an electronic device, enables the electronic device to execute the method for automatically calculating a mechanical motion trajectory curve according to any one of claims 1 to 4.

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