Angle determination method and device and mechanical equipment

Abstract

The invention provides an angle determination method and device, mechanical equipment, electronic equipment, a storage medium and a program product, relates to the technical field of computers, in particular to the technical field of image processing and automatic control, and can be applied to an angle estimation scene. According to the specific implementation scheme, a target image representing a first part of mechanical equipment is determined, and the mechanical equipment comprises the first part and a second part which are movably connected; determining position information of a target point in the first part in the target image; and determining a rotation angle of the first part relative to the second part according to the position information. According to the invention, the problems of easy abradability, easy influence by environmental factors and the like of a contact angle determination method based on a mechanical or electronic sensor and the like are avoided, the accuracy is ensured, the reliability is improved, and the use cost of maintenance, calibration and the like is reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, in particular to the technical field of image processing and automation control, and more particularly to an angle determination method and device, a mechanical device, an electronic device, a storage medium and a computer program product, which can be applied to an angle estimation scenario. BACKGROUND

[0002] The existing scheme for measuring the articulation angle of a wheel loader largely relies on mechanical or electronic sensors, such as rotary encoders, potentiometers or angle sensors, which are directly connected to the pivot point of the wheel loader. Due to the wearability and susceptibility to environmental factors (such as dust, mud and water) of the mechanical or electronic sensors, they need to be regularly maintained and calibrated, which is relatively costly. SUMMARY

[0003] The present disclosure provides an angle determination method, device, mechanical device, electronic device, storage medium and computer program product.

[0004] According to a first aspect, an angle determination method is provided, comprising: determining a target image representing a first part of a mechanical device, wherein the mechanical device comprises a first part and a second part connected movably; determining position information of a target point in the first part in the target image; and determining a rotation angle of the first part relative to the second part according to the position information.

[0005] According to a second aspect, a mechanical device is provided, comprising a first part and a second part connected movably, wherein the second part is provided with an image acquisition device, and the image acquisition device is in communication connection with a computing unit arranged on the mechanical device; the image acquisition device is configured to acquire a target image representing the first part of the mechanical device; and the computing unit is configured to determine position information of a target point in the first part in the target image, and determine a rotation angle of the first part relative to the second part according to the position information.

[0006] According to a third aspect, an angle determination device is provided, comprising: a first determination unit configured to determine a target image representing a first part of a mechanical device, wherein the mechanical device comprises a first part and a second part connected movably; a second determination unit configured to determine position information of a target point in the first part in the target image; and a third determination unit configured to determine a rotation angle of the first part relative to the second part according to the position information.

[0007] According to a fourth aspect, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any implementation of the first aspect.

[0008] According to a fifth aspect, a non-transitory computer-readable storage medium storing computer instructions is provided, the computer instructions being used to cause a computer to perform the method according to any implementation of the first aspect.

[0009] According to a sixth aspect, a computer program product is provided, comprising: a computer program, the computer program implementing the method according to any implementation of the first aspect when executed by a processor.

[0010] According to the technology of the present disclosure, a non-contact angle determination method and device are provided, based on a target image representing a first part of a mechanical device, the rotation angle of the first part of the mechanical device relative to a second part can be determined, avoiding the problems of wearability and environmental influence of contact angle determination methods based on mechanical or electronic sensors, improving reliability while ensuring accuracy, and reducing maintenance and calibration costs.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0013] Figure 1 is an exemplary system architecture diagram to which an embodiment according to the present disclosure can be applied;

[0014] Figure 2 is a flowchart of an embodiment of the angle determination method according to the present disclosure;

[0015] Figure 3 is a schematic diagram of an application scenario of the angle determination method according to the present embodiment;

[0016] Figure 4 is a flowchart of another embodiment of the angle determination method according to the present disclosure;

[0017] Figure 5 is a structural schematic diagram of an embodiment of the unloading device according to the present disclosure;

[0018] Figure 6is a structural diagram of one embodiment of the angle determination apparatus according to the present disclosure;

[0019] Figure 7 is a structural diagram of a computer system suitable for implementing embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, which should be considered in a descriptive sense only. Thus, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.

[0021] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solution comply with relevant laws and regulations and do not violate public order and good customs.

[0022] Figure 1 An exemplary architecture 100 to which the angle determination method and apparatus of the present disclosure can be applied is shown.

[0023] As shown in Figure 1 The system architecture 100 can include terminal devices 101, 102, 103, a network 104 and a server 105. The terminal devices 101, 102, 103 are communicatively connected to form a topological network, and the network 104 is used as a medium to provide a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 can include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0024] The terminal devices 101, 102, 103 can be hardware devices or software that support network connection to interact and process data. When the terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connection, information acquisition, interaction, display, processing, etc., including but not limited to image acquisition devices (such as a camera), smartphones, tablet computers, e-book readers, laptop computers and desktop computers, etc. When the terminal devices 101, 102, 103 are software, they can be installed in the above-mentioned electronic devices. They can be implemented as multiple software or software modules for providing distributed services, or as a single software or software module. No specific limitation is made herein.

[0025] Server 105 can be a server that provides various services, such as a background processing server that acquires target images representing the first part of mechanical equipment collected by terminal devices 101, 102, and 103, and determines the rotation angle of the first part of the mechanical equipment relative to the second part based on the target images. As an example, server 105 can be a cloud server.

[0026] It should be noted that a server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules (such as software programs or software modules used to provide distributed services), or as a single software program or software module. No specific limitations are made here.

[0027] It should also be noted that the angle determination method provided in the embodiments of this disclosure can be executed by a server, by a terminal device, or by a combination of both. Accordingly, the various parts (e.g., the various units) included in the angle determination device can all be located in the server, all in the terminal device, or separately in the server and the terminal device.

[0028] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included. When the electronic devices on which the angle determination method runs do not need to transmit data with other electronic devices, the system architecture may only include the electronic devices (e.g., terminal devices or servers) on which the angle determination method runs.

[0029] Please refer to Figure 2 , Figure 2 A flowchart of an angle determination method provided in this embodiment of the disclosure. Flowchart 200 includes the following steps:

[0030] Step 201: Determine the target image representing the first part of the mechanical equipment.

[0031] In this embodiment, the execution body of the angle determination method (e.g., Figure 1 The server in the system can acquire target images representing the first part of a mechanical device from a remote location or locally via a wired or wireless network connection. The mechanical device includes a first part and a second part that are actively connected.

[0032] The movable connection is, for example, a hinged connection, a pin connection, a pivot connection, a spherical joint connection, a movable connection, and the like. The mechanical device has two parts with a movable connection, which can be a complete and independent whole device or a partial structure in a whole device. Taking the mechanical device as a whole device as an example, the mechanical device is, for example, a loader, an excavator, a tractor, a crane, a transport vehicle, and the like. For the loader, the first part is, for example, the front half including a bucket, and the second part is, for example, the rear half including a cab; for the excavator, the first part is, for example, the upper half including a bucket, and the second part is, for example, the lower half including a chassis.

[0033] Taking the mechanical device as a partial structure in a whole device as an example, the mechanical device is, for example, a front suspension structure of a loader, a mechanical arm of an excavator, and the like. For the front suspension structure of the loader, the first part is, for example, a front suspension connecting rod connected to a bucket, and the second part is, for example, a telescopic structure connected to the front suspension connecting rod; for the mechanical arm of the excavator, the first part and the second part are, for example, two connected sub-arms of three sub-arms constituting the mechanical arm.

[0034] The target image representing the first part of the mechanical device can be acquired in real time by an image acquisition device such as a camera. For each target image acquired in real time, the rotation angle can be determined through subsequent processing steps. In order to reduce the data processing pressure and improve the processing efficiency, the target image to be processed through subsequent steps can also be determined from the images acquired in real time at a preset time interval or a preset image frame. In order to improve the uniformity of the image, the image acquisition can be fixedly arranged on the second part, for example, the upper part of the cab of the loader.

[0035] In step 202, the position information of the target point in the first part in the target image is determined.

[0036] In this embodiment, the above execution subject can determine the position information of the target point in the first part in the target image. The position information can be represented by coordinates in the image coordinate system corresponding to the target image.

[0037] The target point is a key feature point in the first part that is easy to identify. For different mechanical devices and different first parts corresponding to the mechanical devices, the target point in the first part is different. Taking the mechanical device as a loader as an example, the target point in the first part is, for example, a point corresponding to an end corner above the bucket.

[0038] As an example, the above execution subject can use a pre-trained position determination model to determine the position information of the target point in the first part in the target image. The position determination model is used to represent the correspondence between the target image and the position information of the target point in the first part in the target image.

[0039] The position determination model can be a one-stage model in the field of object detection or a two-stage model in the field of object detection.

[0040] The one-stage model refers to a model that directly detects target points from an image without generating candidate regions before prediction. Such a model is usually end-to-end, which simultaneously predicts the class and location of target points through a single neural network model, and has a faster inference speed. Common one-stage models include SSD (Single Shot MultiBox Detector) and YOLO (You Only Look Once), etc.

[0041] The two-stage model refers to a model that first generates candidate regions and then classifies and refines the positions of these regions. First, the model generates a series of candidate regions that may contain target points in the first stage, and then classifies and locates these candidate regions through a classifier in the second stage. Common two-stage models include Faster R-CNN (Region-based Convolutional Neural Network) and Mask R-CNN, etc. They usually have higher detection accuracy, especially in small target detection and complex scenes.

[0042] In some optional implementations of the embodiment, the execution subject can perform the step 202 in the following manner:

[0043] First, determine the first part in the target image through the pre-trained position determination model.

[0044] Second, determine the position information of the target point in the first part in the target image through the position determination model.

[0045] In the implementation, the determination process of the position information of the target point is divided into two sub-processes. In the first sub-process, the goal is to determine the first part in the target image, and the execution subject can use the one-stage model or the two-stage model as described above to determine the first part in the target image.

[0046] In the second sub-process, the goal is to determine the position information of the target point in the first part in the target image, and the execution subject can use the one-stage model or the two-stage model as described above to determine the position information of the target point in the first part in the target image.

[0047] In the implementation, the execution subject first determines the first part in the target image, and then determines the target point in the first part, which improves the accuracy of the determined position information based on the sequential and progressive target detection method.

[0048] In some optional implementations of the embodiment, the execution subject can determine the position information of the target points in the first part in the target image by using a position determination model.

[0049] The target points in the first part are a plurality of key feature points that can be easily identified. For example, when the mechanical device is a loader, the target points in the first part are points corresponding to two end corners above a bucket; for example, when the mechanical device is an excavator, the target points in the first part are points corresponding to two end corners at a front end of a bucket.

[0050] The execution subject can determine the position information of the target points in the first part in the target image by using the one-stage model or the two-stage model.

[0051] In the implementation, the position information of the target points in the first part is determined by using the position determination model, which provides rich data basis for determining the rotation angle of the first part relative to the second part, and helps to improve the accuracy of the position information.

[0052] In step 203, the rotation angle of the first part relative to the second part is determined according to the position information.

[0053] In the embodiment, the execution subject can determine the rotation angle of the first part relative to the second part according to the position information.

[0054] For example, the execution subject can first determine the position information of the target points when the first part and the second part are at a specific angle, for example, an angle at which a central axis of the first part and a central axis of the second part are parallel to each other; and then determine the rotation angle of the first part relative to the second part according to the current position information of the target points and the position information of the target points at the specific angle. Specifically, the rotation angle of the first part relative to the second part can be calculated according to a line connecting a position point corresponding to a pivot joint of the loader and the current position information of the target points, and a line connecting the position point corresponding to the pivot joint and the position information of the target points at the specific angle.

[0055] For another example, the execution subject can calculate the rotation angle of the first part relative to the second part according to the position information of the target points in the target image by using an angle calculation model. The angle calculation model is used to represent a corresponding relationship between the position information and the rotation angle of the first part relative to the second part.

[0056] In some optional implementations of the embodiment, the execution subject can determine the rotation angle of the first part relative to the second part by using the following method:

[0057] First, for each target point in the plurality of target points, an initial rotation angle of the first part relative to the second part is determined according to position information of the target point in the image to be detected.

[0058] In the implementation, for each target point in the plurality of target points, the execution subject can calculate an initial rotation angle corresponding to the target point according to the example.

[0059] Second, the rotation angle is determined according to the plurality of initial rotation angles corresponding to the plurality of target points.

[0060] For example, the execution subject can determine the mean value of the plurality of initial rotation angles as the rotation angle.

[0061] For another example, the execution subject can perform weighted summation on the plurality of initial rotation angles according to the confidence of the position information of the plurality of target points to obtain the rotation angle.

[0062] In the implementation, the rotation angle is determined according to the plurality of initial rotation angles corresponding to the plurality of target points, thereby improving the accuracy of the rotation angle.

[0063] In some optional implementations of the embodiment, the execution subject can determine the initial rotation angle by determining the initial rotation angle of the first part relative to the second part according to the position information of the target point in the image to be detected and the lookup table corresponding to the target point.

[0064] In the implementation, the execution subject or an electronic device in communication connection with the execution subject stores a plurality of lookup tables corresponding to a plurality of target points. The lookup table represents the corresponding relationship between the position information of the target point in the image to be detected and the initial rotation angle of the first part relative to the second part. Specifically, the lookup table is a three-dimensional table. Two dimensions of the three-dimensional data correspond to two-dimensional coordinates representing the position information, and the other dimension represents the angle.

[0065] For each target point in the plurality of target points, the lookup table corresponding to the target point can be established in advance according to the actually measured rotation angle of the first part relative to the second part and the position information of the target point in the target image.

[0066] In the implementation, the angle corresponding to the position information in the lookup table is determined as the initial rotation angle of the first part relative to the second part.

[0067] In the implementation, a method for determining the rotation angle based on the lookup table is provided, which improves the determination efficiency of the rotation angle while ensuring the accuracy of the rotation angle.

[0068] Continuing to refer to Figure 3, Figure 3 is one schematic diagram 300 of an application scenario of the angle determination method according to the embodiment. In the application scenario of the angle determination method, a loader 301 is in a working process, and it is necessary to determine the rotation angle of a first part 3011 of the loader relative to a second part 3012 in real time. Figure 3 In the application scenario, the loader 301 is in a working process, and it is necessary to determine the rotation angle of the first part 3011 of the loader relative to the second part 3012 in real time. First, a server 302 determines a target image 303 representing the first part of the mechanical equipment through an image acquisition device; then, determines the position information 304 of the target point in the target image in the first part; and finally, determines the rotation angle 305 of the first part relative to the second part according to the position information.

[0069] In the embodiment, a non-contact angle determination method is provided, and the rotation angle of the first part of the mechanical equipment relative to the second part can be determined based on the target image representing the first part of the mechanical equipment. The problems such as wearability and influence of environmental factors of the contact angle determination method based on mechanical or electronic sensors are avoided, the reliability is improved while the accuracy is ensured, and the use cost such as maintenance and calibration is reduced.

[0070] In some optional implementation manners of the embodiment, the execution subject can further perform the following operation: displaying the rotation angle to an operator of the mechanical equipment.

[0071] For example, a display device (for example, a display screen) is arranged in a cab of the mechanical equipment, and the execution subject can display the rotation angle to the operator in the cab through the display device.

[0072] For another example, the mechanical equipment can be remotely controlled, and a display device is arranged in a remote control room of the mechanical equipment, and the execution subject can display the rotation angle to the operator in the remote control room through the display device.

[0073] In the implementation manner, the rotation angle of the first part relative to the second part in the mechanical equipment is displayed in real time, which helps to meet the monitoring demand of the operator and improves the experience of the operator.

[0074] In some optional implementation manners of the embodiment, the execution subject can further perform the following operation: transmitting the rotation angle to a control system of the mechanical equipment.

[0075] The control system of the mechanical equipment can realize automatic control of the mechanical equipment, the rotation angle is transmitted to the control system in real time, key data basis can be provided for the control process of the control system, and log recording can be performed through the control system to provide data basis for subsequent data analysis.

[0076] Reference is continued to be made to Figure 4The illustration shows a schematic flow 400 of another embodiment of the method for determining the angle according to this disclosure. Flow 400 includes the following steps:

[0077] Step 401: Determine the target image representing the first part of the mechanical equipment.

[0078] The mechanical equipment includes a first part and a second part that are movably connected.

[0079] Step 402: Determine the first part of the target image using a pre-trained location determination model.

[0080] Step 403: Determine the position information of multiple target points in the first part in the target image using the position determination model.

[0081] Step 404: For each of the multiple target points, determine the initial rotation angle of the first part relative to the second part based on the position information of the target point in the image to be detected and the lookup table corresponding to the target point.

[0082] The lookup table represents the correspondence between the position information of the target point in the image to be detected and the initial rotation angle of the first part relative to the second part.

[0083] Step 405: Determine the rotation angle based on the multiple initial rotation angles that correspond one-to-one with the multiple target points.

[0084] As can be seen from this embodiment, with Figure 2 Compared with the corresponding embodiments, the flow 400 of the angle determination method in this embodiment specifically illustrates the determination process of multiple target points and the determination process of rotation angle. It avoids the problems of easy wear and tear and susceptibility to environmental factors of contact-based angle determination methods based on mechanical or electronic sensors. While ensuring accuracy, it improves reliability and reduces maintenance, calibration and other usage costs.

[0085] Continue to refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of a mechanical device provided in an embodiment of this disclosure. It should be noted that... Figure 5 The example of a loader is used to illustrate this point, but this is not a limitation on any type of machinery.

[0086] The mechanical equipment 500 includes a first part 501 and a second part 502 that are movably connected. An image acquisition device 503 is provided on the second part 502 and is communicatively connected to a computing unit provided on the mechanical equipment.

[0087] The movable connection is, for example, a hinged connection, a pin connection, a pivot connection, a spherical joint connection, a movable connection, and the like. The mechanical device has two parts with a movable connection, which can be a complete and independent whole device or a partial structure in a whole device. Taking the mechanical device as a whole device as an example, the mechanical device is, for example, a loader, an excavator, a tractor, a crane, a transport vehicle, and the like. For the loader, the first part is, for example, the front half including a bucket, and the second part is, for example, the rear half including a cab; for the excavator, the first part is, for example, the upper half including a bucket, and the second part is, for example, the lower half including a chassis.

[0088] Taking the mechanical device as a partial structure as an example, the mechanical device is, for example, a front suspension structure of a loader, a mechanical arm of an excavator, and the like. For the front suspension structure of the loader, the first part is, for example, a front suspension connecting rod connected to a bucket, and the second part is, for example, a telescopic structure connected to the front suspension connecting rod; for the mechanical arm of the excavator, the first part and the second part are, for example, two connected sub-arms of three sub-arms constituting the mechanical arm.

[0089] The image acquisition device 503 is used to acquire a target image representing the first part of the mechanical device. For example, the image acquisition device 503 is installed on the top of the cab of the wheel loader, and is used to shoot the front body (first part) of the wheel loader. A solid mounting system firmly connects the image acquisition device 503 to the top of the cab. The design of the mounting system should allow accurate adjustment of the direction of the image acquisition device 503, ensuring its optimal alignment to capture high-resolution images of the first part of the mechanical device. The image acquisition device is in communication connection with the computing unit through an industrial-grade cable, providing power supply and facilitating data transmission.

[0090] The computing unit is used to determine the position information of the target point in the first part in the target image, and determine the rotation angle of the first part relative to the second part according to the position information.

[0091] As an example, the above-mentioned execution subject can adopt a pre-trained position determination model to determine the position information of the target point in the first part in the target image. Wherein, the position determination model is used to represent the corresponding relationship between the target image and the position information of the target point in the first part in the target image.

[0092] The position determination model can be a one-stage model in the target detection field, or a two-stage model in the target detection field.

[0093] One-stage models directly detect target points from images without generating candidate regions before prediction. These models are usually end-to-end, predicting both the class and location of target points through a single neural network model, resulting in faster inference speed. Common one-stage models include SSD (Single Shot MultiBox Detector) and YOLO (You Only Look Once).

[0094] Two-stage models first generate candidate regions and then classify and refine the locations of these regions. First, the model generates a series of candidate regions that may contain target points in the first stage, and then classifies and locates these candidate regions through a second-stage classifier. Common two-stage models include Faster R-CNN (Region-based Convolutional Neural Network) and Mask R-CNN. They usually have higher detection accuracy, especially in small target detection and complex scenes, but correspondingly, the inference speed may be slower.

[0095] After determining the location information of the target point in the target image, the above execution subject can calculate the rotation angle as follows:

[0096] Example one, the above execution subject can first determine the location information of the target point when the first part and the second part are at a specific angle, for example, the angle when the central axis of the first part and the central axis of the second part are parallel to each other; then, according to the current location information of the target point and the location information of the target point at the specific angle, determine the rotation angle of the first part relative to the second part. Specifically, the rotation angle of the first part relative to the second part can be calculated according to the line connecting the position point corresponding to the pivot joint and the current location information of the target point, and the line connecting the position point corresponding to the pivot joint and the location information of the target point at the specific angle.

[0097] Example two, the above execution subject can calculate the rotation angle of the first part relative to the second part according to the location information of the target point in the target image through an angle calculation model. The angle calculation model is used to represent the corresponding relationship between the location information and the rotation angle of the first part relative to the second part.

[0098] In some optional implementations of the present embodiment, the calculation unit is further configured to: determine the first part in the target image through a pre-trained location determination model; and determine the location information of the target point in the first part in the target image through the location determination model.

[0099] In the present implementation, the process of determining the position information of the target point is divided into two sub-processes. In the first sub-process, the target is to determine the first part in the target image, and the execution subject can determine the first part in the target image by using the one-stage model or the two-stage model as described above.

[0100] In the second sub-process, the target is to determine the position information of the target point in the first part in the target image, and the execution subject can determine the position information of the target point in the first part in the target image by using the one-stage model or the two-stage model as described above.

[0101] In the present implementation, the execution subject first determines the first part in the target image, and then determines the target point in the first part, thereby improving the accuracy of the determined position information based on the progressive target detection manner.

[0102] In some optional implementations of the present embodiment, the computing unit is further configured to determine, by the position determination model, the position information of the plurality of target points in the first part in the target image.

[0103] The plurality of target points are a plurality of key feature points in the first part that are easy to be recognized. Taking a mechanical device as an example, the target points in the first part are, for example, points 5011 corresponding to two end corners above a bucket; taking a mechanical device as an example, the target points in the first part are, for example, points corresponding to two end corners of the front end of the bucket.

[0104] The execution subject can determine the position information of the plurality of target points in the first part in the target image by using the one-stage model or the two-stage model as described above.

[0105] In the present implementation, the position information of the plurality of target points in the first part is determined by the position determination model, which provides rich data basis for subsequent determination of the rotation angle of the first part relative to the second part, and helps to improve the accuracy of the position information.

[0106] In some optional implementations of the present embodiment, the computing unit is further configured to, for each target point in the plurality of target points, determine an initial rotation angle of the first part relative to the second part according to the position information of the target point in the to-be-detected image; and determine the rotation angle according to a plurality of initial rotation angles corresponding to the plurality of target points.

[0107] As an example, the execution subject can determine the mean value of the plurality of initial rotation angles as the rotation angle.

[0108] As another example, the execution subject can perform weighted summation on the plurality of initial rotation angles according to the confidence of the position information of the plurality of target points to obtain the rotation angle.

[0109] In this implementation, the rotation angle is determined according to the plurality of initial rotation angles corresponding to the plurality of target points, thereby improving the accuracy of the rotation angle.

[0110] In some optional implementations of the embodiment, the computing unit is further configured to: determine the initial rotation angle of the first part relative to the second part according to the position information of the target point in the image to be detected and the lookup table corresponding to the target point.

[0111] In this implementation, the electronic device in communication connection with the execution subject or the execution subject stores a plurality of lookup tables corresponding to a plurality of target points. The lookup table represents the corresponding relationship between the position information of the target point in the image to be detected and the initial rotation angle of the first part relative to the second part. Specifically, the lookup table is a three-dimensional table. Two dimensions of the three-dimensional data correspond to two-dimensional coordinates representing position information, and the other dimension represents an angle.

[0112] For each target point in the plurality of target points, a lookup table corresponding to the target point can be established according to the rotation angle of the first part relative to the second part and the position information of the target point in the target image.

[0113] In this implementation, the angle corresponding to the position information in the lookup table is determined as the initial rotation angle of the first part relative to the second part.

[0114] In this implementation, a method for determining a rotation angle based on a lookup table is provided, which improves the determination efficiency of the rotation angle while ensuring accuracy.

[0115] In some optional implementations of the embodiment, the mechanical device further comprises a display device configured to display the rotation angle to an operator of the mechanical device.

[0116] For example, the display device (such as a display screen) is arranged in the cab of the mechanical device, and the execution subject can display the rotation angle to the operator in the cab through the display device.

[0117] For another example, in the remote control process of the mechanical device, the display device is arranged in the remote control room of the mechanical device, and the execution subject can display the rotation angle to the operator in the remote control room through the display device.

[0118] In this implementation, the rotation angle of the first part relative to the second part in the mechanical device is displayed in real time, which helps to meet the monitoring needs of the operator and improves the experience of the operator.

[0119] In some optional implementations of the embodiment, the computing unit is further configured to: transmit the rotation angle to a control system of the mechanical device.

[0120] The control system of the mechanical equipment can realize automatic control of the mechanical equipment, real-time transmission of the rotation angle to the control system, provision of key data basis for the control process of the control system, and log recording through the control system to provide data basis for subsequent data analysis.

[0121] In this embodiment, a mechanical equipment for non-contact determination of a rotation angle is provided. The rotation angle of the first part of the mechanical equipment relative to the second part can be determined based on a target image representing the first part of the mechanical equipment. This avoids the problems of wear and tear and susceptibility to environmental factors of contact-based angle determination methods based on mechanical or electronic sensors, improves reliability while ensuring accuracy, and reduces maintenance and calibration costs.

[0122] With reference to Figure 6 , as an implementation of the method shown in the above figures, the disclosure provides an embodiment of an angle determination apparatus. The system embodiment corresponds to the method embodiment shown in Figure 2 . The system can be applied in various electronic devices.

[0123] As shown in Figure 6 , the angle determination apparatus 600 includes: a first determination unit 601 configured to determine a target image representing a first part of a mechanical equipment, wherein the mechanical equipment includes a first part and a second part connected movably; a second determination unit 602 configured to determine position information of a target point in the first part in the target image; and a third determination unit 603 configured to determine a rotation angle of the first part relative to the second part according to the position information.

[0124] In some optional implementations of this embodiment, the second determination unit 602 is further configured to: determine the first part in the target image through a pre-trained position determination model; and determine the position information of the target point in the first part in the target image through the position determination model.

[0125] In some optional implementations of this embodiment, the second determination unit 602 is further configured to: determine the position information of a plurality of target points in the first part in the target image through the position determination model.

[0126] In some optional implementations of this embodiment, the third determination unit 603 is further configured to: for each target point of the plurality of target points, determine an initial rotation angle of the first part relative to the second part according to the position information of the target point in the target image; and determine the rotation angle according to a plurality of initial rotation angles corresponding to the plurality of target points.

[0127] In some optional implementations of the present embodiment, the third determining unit 603 is further configured to determine the initial rotation angle of the first part relative to the second part according to the position information of the target point in the image to be detected and a lookup table corresponding to the target point, where the lookup table represents a corresponding relationship between the position information of the target point in the image to be detected and the initial rotation angle of the first part relative to the second part.

[0128] In some optional implementations of the present embodiment, the apparatus further includes a display unit (not shown in the figure) configured to display the rotation angle to an operator of the mechanical device.

[0129] In some optional implementations of the present embodiment, the apparatus further includes a transmission unit (not shown in the figure) configured to transmit the rotation angle to a control system of the mechanical device.

[0130] In the present embodiment, a non-contact angle determination apparatus is provided, and based on a target image representing a first part of a mechanical device, the rotation angle of the first part of the mechanical device relative to a second part can be determined, which avoids the problems of wearability and influence of environmental factors of a contact angle determination method based on mechanical or electronic sensors, improves reliability while ensuring accuracy, and reduces use costs such as maintenance and calibration.

[0131] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, which includes at least one processor, and a memory connected with the at least one processor in communication; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to implement the angle determination method described in any of the above embodiments when executed.

[0132] According to the embodiments of the present disclosure, the present disclosure further provides a readable storage medium storing computer instructions for enabling a computer to implement the angle determination method described in any of the above embodiments when executed.

[0133] The present disclosure provides a computer program product, which can implement the angle determination method described in any of the above embodiments when executed by a processor.

[0134] Figure 7A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0135] As shown in Figure 7 The device 700 includes a computing unit 701 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 702 or a computer program loaded into a random access memory (RAM) 703 from a storage unit 708. Various programs and data required for the operation of the device 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0136] Various components in the device 700 are connected to the I / O interface 705, including an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, a magneto-optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0137] The computing unit 701 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs various methods and processes described above, such as the angle determination method. For example, in some embodiments, the angle determination method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded onto the RAM 703 and executed by the computing unit 701, one or more steps of the angle determination method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured to perform the angle determination method by any other appropriate means, such as by means of firmware.

[0138] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0139] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable computing apparatus to produce a machine, such that the program code, when executed by the processor or controller, implements the functions / acts specified in the flowcharts and / or block diagrams. Program code can be entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine or entirely on a remote machine or server.

[0140] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0141] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0142] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0143] The computer system can include clients and servers. This relationship can be remote, such as over a network, or via a cloud server. The servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system to solve the defects of large management difficulty and weak business scalability in traditional physical hosts and virtual private server (VPS) services. The servers can also be servers of a distributed system or servers combined with a blockchain.

[0144] According to the technical scheme of the embodiment of the present disclosure, a non-contact angle determination method and device are provided, and the rotation angle of the first part of the mechanical equipment relative to the second part can be determined based on the target image representing the first part of the mechanical equipment, avoiding the problems of wearability and influence of environmental factors of the contact angle determination method based on mechanical or electronic sensors, improving the reliability while ensuring the accuracy, and reducing the use cost such as maintenance and calibration.

[0145] It should be understood that the steps shown above can be reordered, added, or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical scheme provided by the present disclosure can be achieved, and the present disclosure is not limited herein.

[0146] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An angle determination method, comprising: determining a target image representing a first part of a mechanical device, wherein the mechanical device comprises the first part and a second part connected movably; determining position information of a target point in the first part in the target image; determining a rotation angle of the first part relative to the second part according to the position information.

2. The method of claim 1, wherein, The determining of the position information of the target point in the first part in the target image comprises: determining the first part in the target image by a pre-trained position determination model; determining the position information of the target point in the first part in the target image by the position determination model.

3. The method of claim 2, wherein, The determining of the position information of the target point in the first part in the target image by the position determination model comprises: determining position information of a plurality of target points in the first part in the target image by the position determination model.

4. The method of claim 3, wherein, The determining of the rotation angle of the first part relative to the second part according to the position information comprises: for each target point of the plurality of target points, determining an initial rotation angle of the first part relative to the second part according to the position information of the target point in the target image; determining the rotation angle according to a plurality of initial rotation angles corresponding to the plurality of target points.

5. The method of claim 4, wherein, The determining of the initial rotation angle of the first part relative to the second part according to the position information of the target point in the target image comprises: determining the initial rotation angle of the first part relative to the second part according to the position information of the target point in the target image and a lookup table corresponding to the target point, wherein the lookup table represents a corresponding relationship between the position information of the target point in the target image and the initial rotation angle of the first part relative to the second part.

6. The method of any one of claims 1-5, wherein, Further comprising: displaying the rotation angle to an operator of the mechanical device.

7. The method of any one of claims 1-5, wherein, Further comprising: transmitting the rotation angle to a control system of the mechanical device.

8. A mechanical device comprising a first part and a second part connected movably, characterized in that An image acquisition device is arranged on the second part, and the image acquisition device is in communication connection with a computing unit arranged on the mechanical device; The image acquisition device is configured to acquire a target image representing a first part of the mechanical device; The computing unit is configured to determine position information of a target point in the first part in the target image, and determine a rotation angle of the first part relative to the second part according to the position information.

9. The mechanical device of claim 8, wherein, The computing unit is further configured to: determine the first part in the target image by a pre-trained position determination model; and determine the position information of the target point in the first part in the target image by the position determination model.

10. The mechanical device of claim 9, wherein, The computing unit is further configured to: determine position information of a plurality of target points in the first part in the target image by the position determination model.

11. The mechanical apparatus of claim 10, wherein, The computing unit is further configured to: For each of the plurality of target points, an initial rotation angle of the first part relative to the second part is determined according to the position information of the target point in the to-be-detected image; and the rotation angle is determined according to the plurality of initial rotation angles corresponding to the plurality of target points.

12. The mechanical apparatus of claim 11, wherein, The computing unit is further configured to: determine the initial rotation angle of the first part relative to the second part according to the position information of the target point in the to-be-detected image and a lookup table corresponding to the target point, wherein the lookup table represents a corresponding relationship between the position information of the target point in the to-be-detected image and the initial rotation angle of the first part relative to the second part.

13. The mechanical device of any one of claims 8-12, wherein, Further comprising: a display device configured to display the rotation angle to an operator of the mechanical device.

14. The mechanical device according to any one of claims 8-12, wherein the computing unit is further configured to: transmit the rotation angle to a control system of the mechanical device.

15. An angle determination apparatus, comprising: a first determining unit configured to determine a target image representing a first part of a mechanical device, wherein the mechanical device comprises the first part and a second part connected movably; a second determining unit configured to determine position information of a target point in the first part in the target image; a third determining unit configured to determine a rotation angle of the first part relative to the second part according to the position information.

16. The apparatus of claim 15, wherein, The second determining unit is further configured to: determine the first part in the target image by a pre-trained position determination model; and determine the position information of the target point in the first part in the target image by the position determination model.

17. The apparatus of claim 16, wherein, The second determining unit is further configured to: determine position information of a plurality of target points in the first part in the target image by the position determination model.

18. The apparatus of claim 17, wherein, The third determining unit is further configured to: For each of the plurality of target points, an initial rotation angle of the first part relative to the second part is determined according to the position information of the target point in the to-be-detected image; and the rotation angle is determined according to the plurality of initial rotation angles corresponding to the plurality of target points.

19. The apparatus of claim 18, wherein, The third determining unit is further configured to: determine the initial rotation angle of the first part relative to the second part according to the position information of the target point in the to-be-detected image and a lookup table corresponding to the target point, wherein the lookup table represents a corresponding relationship between the position information of the target point in the to-be-detected image and the initial rotation angle of the first part relative to the second part.

20. The apparatus of any of claims 15-19, wherein, Further comprising: a display unit configured to display the rotation angle to an operator of the mechanical device.

21. The apparatus of any of claims 15-19, wherein, Further comprising: a transmission unit configured to transmit the rotation angle to a control system of the mechanical device.

22. An electronic device, comprising: comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

23. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing the computer to perform the method of any one of claims 1-7.

24. A computer program product, comprising: A computer program which, when executed by a processor, implements the method of any one of claims 1-7.

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