A method and system for automatically computing a trajectory curve for a machine motion

Abstract

This invention provides a method and system for automatically calculating the trajectory curve of mechanical motion, which acquires images A during mechanical motion using an acquisition device at a sampling period of one second. t The method acquires images and shooting parameter information, and obtains velocity values ​​from information in two adjacent images, eliminating the need to calculate velocity by obtaining displacement. This greatly simplifies the velocity calculation. Furthermore, it calculates displacement and velocity for each sampling interval using different methods, and calculates the difference between the current and previous values, comparing them to reduce the probability of misjudgment and improve the accuracy of the curve. When ΔV is less than a first threshold and ΔS is less than a second threshold, it compares the values ​​of ΔV and ΔS. If ΔV is greater than ΔS, it indicates a large deviation between the calculated vt and vt-1. This is because the method of this invention calculates v... t and s t re Since the values ​​are the same, the value of vt is replaced with s. t re This improves the accuracy of the speed curve.

Description

Technical Field

[0001] This invention relates to the field of image processing, and more specifically to a method and system for automatically calculating mechanical motion trajectory curves. Background Technology

[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, the punch press has become the fastest and most effective way to replace manual labor in the stamping process. Stamping is a processing method that uses a punch press to drive a punch, in conjunction with a stamping die, to apply force to a sheet of material to break or shape it. Common stamping processes can be classified according to the way the material is broken or deformed, including shearing and cutting, drawing, forming, and bending. During the drawing process, the material will experience complex forces and deformations, including compression, bending, stretching tension, and friction. Figure 1 This is a schematic diagram of the drawing process. Figure 2 The stamping curve for the drawing process of a punch press is shown in sections (1) and (4), where the punch rapidly approaches and lifts the workpiece. Since the punch does not contact the workpiece in these two sections, the faster the speed, the better, to achieve higher production efficiency. Sections (2) and (3) are the main parts for processing the workpiece. After the punch contacts the workpiece, it enters stage (2), where the punch pulls the workpiece into the die at a set speed. The distance the punch moves downwards in stage (2) is the drawing depth. After reaching the set depth, the punch enters stage (3) and pauses briefly to allow the workpiece time for plastic deformation. If the punch is lifted too quickly, the workpiece will spring back. During the stamping process, the blank pulled into the die by the punch is stretched. If its strain rate is too high, necking will occur, leading to uneven wall thickness or cracking in the finished product. Choosing an appropriate punch speed can avoid this phenomenon. Therefore, obtaining the punch's motion trajectory curve, especially the speed curve, is crucial for determining the working state of the punch and the quality of the stamped product.

[0003] In existing technologies, specific sensors can be installed at the punch to acquire relevant parameters and obtain the punch's motion curve. However, high-precision and high-reliability sensors are usually expensive, leading to high maintenance and upkeep costs. To obtain the punch speed value, existing technologies typically first measure the punch's travel distance and then calculate the speed value, which is 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 significantly. When calculating the speed value by moving distance, it is usually determined whether the difference between the current speed value and the previous speed value is greater than a specific threshold. If it is greater, the speed value is determined to be a value after the inflection point, and the speed value obtained this time is considered to be a normal value. However, in actual application, due to the influence of various factors, the speed value usually does not reach 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). Figure 2 Before and after the intersection of parts (1) and (2), such as in stage (1), the difference between two adjacent values ​​may be greater than the set specific threshold. Using this single judgment method, misjudgment is likely to occur, resulting in an inaccurate trajectory curve. At the same time, when obtaining the movement 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 leads to complex curve calculation and high requirements for equipment. Summary of the Invention

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

[0005] In a first aspect, the present invention provides a method for automatically calculating the trajectory curve of mechanical motion, comprising:

[0006] Images of the mechanical motion are acquired using an acquisition device at a sampling period of one second. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion.

[0007] Obtain the shooting parameter information;

[0008] Get image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t .

[0009] Obtain the pixel coordinates P of the reference point in image At. t rpc According to pixel coordinate P t pc and P t-1 pc Reference point pixel coordinates Pt rpc The actual distance s between the observation point and the reference point on the mechanical equipment is calculated from the captured parameter information. t re The actual distance of the mechanical movement is s t re -s t-1 re ;

[0010] Calculate the difference between the current velocity and the previous velocity, ΔV = V t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t re Output and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

[0011] In an optional implementation, in the above-described method embodiments of the present invention, the method further includes: if ΔV is less than a first threshold and ΔS is less than a second threshold, then determining the magnitudes of ΔV and ΔS; if ΔV is greater than ΔS, then setting s... t re The value of ΔV is taken as the value of Vt; if ΔV is less than ΔS, then the value of Vt is taken as s. t re The values ​​of Vt and s; t re Output and display the velocity and position curves.

[0012] In optional embodiments, in the above-described method embodiments of the present invention, the captured 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 optional embodiments, in the above-described method embodiments of the present invention, the acquisition device may be a photographing device or a video recording device.

[0014] Secondly, the present invention provides a system for automatically calculating mechanical motion trajectory curves, the system comprising:

[0015] Information acquisition unit: Acquires images of mechanical motion using a sampling period of one second via an acquisition device. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion; Obtain the captured parameter information;

[0016] Velocity calculation unit: Acquires image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t ;

[0017] Displacement calculation unit: Obtains the pixel coordinates P of the reference point in image At. t rpc According to 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 from the captured parameter information. t re The actual distance of the mechanical movement is s t re -s t-1 re ;

[0018] The curve output unit calculates the difference between the current velocity and the previous velocity, ΔV = V. t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t reOutput and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

[0019] In an optional implementation, in the above-described system embodiments of the present invention, the curve output unit further includes: if ΔV is less than a first threshold and ΔS is less than a second threshold, then determining the magnitudes of ΔV and ΔS; if ΔV is greater than ΔS, then setting s... t re The value of ΔV is taken as the value of Vt; if ΔV is less than ΔS, then the value of Vt is taken as s. t re The values ​​of Vt and s; t re Output and display the velocity and position curves.

[0020] In optional embodiments, in the above system embodiments of the present invention, the shooting parameter information includes the distance D between the shooting point and the plane where the mechanical movement trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

[0021] In optional embodiments, in the above system embodiments of the present invention, the acquisition device may be a photographing device or a video recording device.

[0022] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising: a memory and a processor, the memory and the processor being coupled; the memory storing program instructions, which, when executed by the processor, cause the electronic device to perform the method provided in the first aspect.

[0023] Fourthly, embodiments of the present invention provide a computer-readable storage medium including a computer program that, when run on an electronic device, causes the electronic device to perform the method provided in the first aspect.

[0024] This invention provides a method and system for automatically calculating the trajectory curve of mechanical motion, which acquires images A during mechanical motion using an acquisition device at a sampling period of one second. t And the shooting parameter information, to obtain image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t The velocity value can be obtained from information in two adjacent images. By acquiring image information and setting a sampling period of 1 second, it eliminates the need to obtain displacement to calculate velocity, greatly simplifying the velocity calculation. Furthermore, the displacement and velocity of the sampling interval are calculated using different methods, and the difference between the current velocity and the previous velocity, ΔV = V, is calculated. t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold, then it continues to check if ΔS is greater than the second threshold. If both are greater, then the value of Vt is considered correct. Similarly, when ΔS is greater than the second threshold, it continues to check if ΔV is greater than the first threshold. If both are greater, then s is considered correct. t re The value is correct. By comparing ΔS and ΔV, the probability of misjudgment is reduced, and the accuracy of the curve is improved. Furthermore, when ΔV is less than the first threshold and ΔS is less than the second threshold, the values ​​of ΔV and ΔS are compared. If ΔV is greater than ΔS, it indicates that the calculated vt and vt-1 have a large deviation. This is because the vt and s calculated using the method described above are incorrect. t re数值 Since the values ​​are the same, to ensure a more accurate curve, the value of vt is replaced with s. t re This improves the accuracy of the speed curve.

[0025] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0028] Figure 1 This is a schematic diagram of the drawing process;

[0029] Figure 2 The stamping curve for the drawing process of a punch press;

[0030] Figure 3 This is a flowchart of a method for automatically calculating the trajectory curve of mechanical motion according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of a punch press;

[0032] Figure 5 A schematic diagram of parameter information captured by this invention;

[0033] Figure 6 This is a schematic diagram of the velocity calculation method;

[0034] Figure 7 This is a schematic diagram of the displacement calculation method;

[0035] Figure 8 This is a block diagram illustrating an embodiment of a system for automatically calculating mechanical motion trajectory curves, as shown in this application. Detailed Implementation

[0036] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0037] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0038] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of the present invention are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0039] It should also be understood that in the embodiments of the present invention, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0040] 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 defined or given contrary instructions in the context.

[0041] This invention provides a method for automatically calculating the trajectory curve of mechanical motion. Figure 3 This is a flowchart of an embodiment of a method for automatically calculating the trajectory curve of mechanical motion provided by the present invention.

[0042] like Figure 3 As shown, according to an embodiment of the present invention, the method for automatically calculating the trajectory curve of mechanical motion includes at least the following steps:

[0043] Images of the mechanical motion are acquired using an acquisition device at a sampling period of one second. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion.

[0044] Specifically, since the punch only moves up and down within a single plane during operation, a photographic device, such as a high-speed camera, can be fixed in front of the punch to capture images of the punch working at 1-second intervals. Alternatively, a video recorder can capture video of the punch working, extracting multiple video frames at 1-second intervals. Figure 4 In the punch press shown, 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.

[0045] Obtain the shooting parameter information.

[0046] like Figure 5 As shown, the distance D between the shooting point and the plane containing the mechanical motion trajectory, the distance d between the shooting point and the imaging plane, and the pixel distance s of the image are also included.

[0047] Get image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t .

[0048] Specifically, refer to Figure 6 The diagram shown, for example Figure 6(a) is the image at time t-1, where the pixel coordinates of the observation point P are Pi. t-1 pc (0, 1500) Figure 6 (b) is the image at time t, where the pixel coordinates of the observation point P are Pt. t pc The range is (0, 1380). Since the positions of the acquisition equipment and mechanical equipment are fixed, and the parameters of the acquisition equipment are preset and remain unchanged during the shooting process, the range of the captured images is consistent. Figure 6 The pixel coordinates in (b) correspond to the pixel coordinates in (b). Figure 6 The coordinate values ​​in (a) are consistent, which can be understood as... Figure 6 (a) and Figure 6 (b) After merging, we can obtain Figure 6 (c) is a schematic diagram. Therefore, the pixel coordinate distance between time t-1 and time t is 1500-1380=120 (pixels). The movement 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), then the movement distance of the observation point in the image is 120*2=240um. The actual movement distance of the reference point in the mechanical movement process is calculated based on the movement distance of the observation point in the image, the distance D between the shooting point and the plane where the mechanical movement trajectory is located, and the distance d between the shooting point and the imaging plane. For example, if D=1 meter and d=6mm, the actual movement distance of the reference point in the mechanical movement process is 0.04m. Since the sampling period is 1 second, the speed of the punch is also 0.04.

[0049] Specifically, refer to Figure 6 The diagram shown, for example Figure 6 (a) is the image at time t-1, where the pixel coordinates of the observation point P are Pi. t-1 pc (0, 1500) Figure 6 (b) is the image at time t, where the pixel coordinates of the observation point P are Pt. t pc The range is (0, 1380). Since the positions of the acquisition equipment and mechanical equipment are fixed, and the parameters of the acquisition equipment are preset and remain unchanged during the shooting process, the range of the captured images is consistent. Figure 6 The pixel coordinates in (b) correspond to the pixel coordinates in (b). Figure 6 The coordinate values ​​in (a) are consistent, which can be understood as... Figure 6 (a) and Figure 6 (b) After merging, we can obtain Figure 6(c) is a schematic diagram. Therefore, the pixel coordinate distance between time t-1 and time t is 1500-1380=120 (pixels). The movement 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), then the movement distance of the observation point in the image is 120*2=240um. The actual movement distance of the reference point in the mechanical movement process is calculated based on the movement distance of the observation point in the image, the distance D between the shooting point and the plane where the mechanical movement trajectory is located, and the distance d between the shooting point and the imaging plane. For example, if D=1 meter and d=6mm, the actual movement distance of the reference point in the mechanical movement process is 0.04m. Since the sampling period is 1 second, the speed of the punch is also 0.04.

[0050] Reference Figure 7 The diagram shown, for example Figure 7 (a) is the image at time t-1, where it is assumed that the pixel coordinates of the observation point P are Pi. t-1 pc The coordinates of the observation point are (0, 1500), and the coordinates of the reference point are (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 (µm), then the distance the observation point moves in the image is 1200 * 2 = 2400µm. The actual distance the reference point moves during the mechanical motion is calculated based on the distance the observation point and the reference point move in the image, the distance D between the shooting point and the plane containing the mechanical motion trajectory, and the distance d between the shooting point and the imaging plane. For example, if D = 1 meter and d = 6 mm, then the actual distance between the observation point and the reference point at time t-1 is 0.4 m, calculated as follows: (Actual distance between observation point and reference point / Distance between shooting point and plane containing mechanical motion trajectory D = Distance between observation point and reference point in image / Distance between shooting point and imaging plane d). Figure 7 (b) is the image at time t, where it is assumed that the pixel coordinates of the observation point P are Pt. t-1 pc The coordinates of the observation point are (0, 1380) and the coordinates of the reference point are (0, 300). According to the same algorithm, the actual distance between the observation point and the reference point at time t is 0.36m. Therefore, the actual distance of the mechanical motion from time t-1 to time t is 0.04m.

[0051] Calculate the difference between the current velocity and the previous velocity, ΔV = V t -V t-1And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t re Output and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

[0052] To avoid errors caused by uncertainties, where the current calculated speed value deviates significantly from the previous value but is misclassified as a value from a different stage simply because the difference exceeds a threshold, such as... Figure 2 The values ​​before and after the intersection of parts (1) and (2) are misjudged as correct values, resulting in an inaccurate trajectory curve. In this invention, the difference between the current velocity and the previous velocity, ΔV = V, is calculated. t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold, then it continues to check if ΔS is greater than the second threshold. If both are greater, then the value of Vt is considered correct. Similarly, when ΔS is greater than the second threshold, it continues to check if ΔV is greater than the first threshold. If both are greater, then s is considered correct. t re The value is correct. By comparing △S and △V, the probability of misjudgment is reduced, and the accuracy of the curve is improved.

[0053] If ΔV is less than the first threshold and ΔS is less than the second threshold, then compare the values ​​of ΔV and ΔS. If ΔV is greater than ΔS, then set s... t re The value of ΔV is taken as the value of Vt; if ΔV is less than ΔS, then the value of Vt is taken as s. t re The values ​​of Vt and s;t re Output and display the velocity and position curves.

[0054] In this invention, when ΔV is less than a first threshold and ΔS is less than a second threshold, it indicates 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 the same section, according to the working characteristics of the punch. Figure 2 The four segments shown have the same velocity at different time points within each segment, and the displacements of two adjacent sampling intervals are also the same. Therefore, the vt and s at time t are... t re Not in Figure 2 When considering the values ​​before and after the intersection of parts (1) and (2), the magnitudes of △V and △S are determined. If △V is greater than △S, it indicates that the calculated vt and vt-1 have a large deviation. Since the vt and s calculated using the above method of this invention are... t re数值 Since the values ​​are the same, to ensure a more accurate curve, the value of vt is replaced with s. t re This improves the accuracy of the velocity curve. Similarly, if ΔV is less than ΔS, it indicates that the calculated s is accurate. t re and s t-1 re The deviation is large, at this time s t re Replace the value with v t V t and s t re Output and display the velocity and position curves.

[0055] See Figure 8 Here is a block diagram illustrating an embodiment of a system for automatically calculating mechanical motion trajectory curves, as shown in this application:

[0056] like Figure 8 As shown, the system includes:

[0057] Information acquisition unit: Acquires images of mechanical motion using a sampling period of one second via an acquisition device. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion; Obtain the captured parameter information;

[0058] Velocity calculation unit: Acquires image At The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t ;

[0059] Displacement calculation unit: Obtains the pixel coordinates P of the reference point in image At. t rpc According to 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 from the captured parameter information. t re The actual distance of the mechanical movement is s t re -s t-1 re ;

[0060] Curve output unit: Calculates the difference between the current velocity and the previous velocity, ΔV = V t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t re Output and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

[0061] In an optional implementation, in the above-described system embodiments of the present invention, the curve output unit further includes: if ΔV is less than a first threshold and ΔS is less than a second threshold, then determining the magnitudes of ΔV and ΔS; if ΔV is greater than ΔS, then setting s... t re The value of ΔV is taken as the value of Vt; if ΔV is less than ΔS, then the value of Vt is taken as s. t re The values ​​of Vt and s; t re Output and display the velocity and position curves.

[0062] In optional embodiments, in the above system embodiments of the present invention, the shooting parameter information includes the distance D between the shooting point and the plane where the mechanical movement trajectory is located, the pixel distance s of the image, and the distance d between the shooting point and the imaging plane.

[0063] In optional embodiments, in the above system embodiments of the present invention, the acquisition device may be a photographing device or a video recording device.

[0064] The present invention also provides an electronic device comprising:

[0065] processor;

[0066] The memory stores computer-readable instructions, which, when executed by a processor, implement a method for automatically calculating the trajectory curve of mechanical motion as shown above.

[0067] This application also provides a computer-readable storage medium that stores computer-executable instructions. When the computer-executable instructions are executed on an electronic device, the electronic device performs the aforementioned method for automatically calculating mechanical motion trajectory curves.

[0068] The aforementioned computer-readable storage medium may take the form of any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0069] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0070] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0071] Computer program code for performing the operations described herein can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0072] This application also provides a computer program product that, when run on a computer, causes the computer to perform some or all of the steps described in the method embodiments above.

[0073] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to 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.

[0074] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the specific details described above.

[0075] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0076] The block diagrams of devices, apparatuses, devices, and systems disclosed herein 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 those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0077] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0078] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps are decomposable and / or recombinable. Such decomposition and / or recombination should be considered equivalent to the present disclosure. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0079] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for automatically calculating the trajectory curve of mechanical motion, characterized in that, The method includes: Images of the mechanical motion are acquired using an acquisition device at a sampling period of one second. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion. Obtain the shooting parameter information; Get image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t ; Get image A t The pixel coordinates of the reference point P t rpc According to 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 from the captured parameter information. t re The actual distance of the mechanical movement is s t re -s t-1 re ; Calculate the difference between the current velocity and the previous velocity, ΔV = V t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t re Output and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

2. The method for automatically calculating the trajectory curve of mechanical motion according to claim 1, the method further includes: If ΔV is less than the first threshold and ΔS is less than the second threshold, then compare the values ​​of ΔV and ΔS. If ΔV is greater than ΔS, then set s... t re The value of V t The value of ; 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 the velocity and position curves.

3. The method for automatically calculating the trajectory curve of mechanical motion according to claim 1, characterized in that, The shooting parameters include the distance D between the shooting point and the plane where the mechanical movement 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 the trajectory curve of mechanical motion according to claim 1, characterized in that, The data acquisition device can be a camera or a video recorder.

5. A system for automatically calculating the trajectory curve of mechanical motion, the system comprising: Information acquisition unit: Acquires images of mechanical motion using a sampling period of one second via an acquisition device. t , t=1,...,n; The sampled image set includes observation points and reference points for mechanical motion. The reference point is a point whose position remains fixed during mechanical motion, and the observation point is a point whose position changes during mechanical motion; Obtain the captured parameter information; Velocity calculation unit: Acquires image A t The pixel coordinates P of the observation point in the image t pc According to the pixel coordinates P t pc and P t-1 pc Based on the captured parameters, the speed V of the mechanical motion is calculated. t ; Displacement calculation unit: acquires image A t The pixel coordinates of the reference point P t rpc According to 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 from the captured parameter information. t re The actual distance of the mechanical movement is s t re -s t-1 re ; The curve output unit calculates the difference between the current velocity and the previous velocity, ΔV = V. t -V t-1 And the difference between the current mechanical movement distance and the previous mechanical movement distance, ΔS=s t re -s t-1 re If ΔV is greater than the first threshold and ΔS is greater than the second threshold, then V will be... t and s t re Output and display; if ΔV is greater than the first threshold and ΔS is less than the second threshold, then s t re The value of V t The value of V, and V t and s t re Output and display; if ΔV is less than the first threshold and ΔS is greater than the second threshold, then set V... t The value of s t re The value of V, and V t and s t re Output and display the velocity and position curves.

6. The system for automatically calculating the trajectory curve of mechanical motion according to claim 5, characterized in that, The curve output unit further includes: if ΔV is less than a first threshold and ΔS is less than a second threshold, then determining the magnitudes of ΔV and ΔS; if ΔV is greater than ΔS, then setting s... t re The value of V t The value of ; 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 the velocity and position curves.

7. The system for automatically calculating the trajectory curve of mechanical motion according to claim 6, characterized in that, The shooting parameters include the distance D between the shooting point and the plane containing the mechanical movement trajectory, 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 the trajectory curve of mechanical motion according to claim 6, characterized in that, The data acquisition device is a photographic device or a video recording device.

9. An electronic device, the electronic device comprising: A memory and a processor, wherein the memory and the processor are coupled; The memory stores program instructions, which, when executed by the processor, cause the electronic device to perform the method for automatically calculating the mechanical motion trajectory curve as described in any one of claims 1-4.

10. A computer-readable storage medium comprising a computer program that, when run on an electronic device, causes the electronic device to perform the method for automatically calculating a mechanical motion trajectory curve as described in any one of claims 1-4.

Images