Scoring method and system suitable for air cushion guide rail vibration experiment, medium and terminal

Abstract

The application discloses a scoring method and system suitable for air cushion guide rail vibration experiment, a medium and a terminal, relates to the technical field of image processing, and mainly aims to improve the problems of distorted evaluation results and subjectivity caused by the single evaluation dimension of the existing scoring method for the simple harmonic vibration experiment of the air cushion guide rail. The method comprises the following steps: obtaining a preset mechanical arm standard action sequence and performing demonstration to show the standard operation process; in the student experiment process, the actual action sequence of the mechanical arm and the slider movement image are collected, the physical parameter standard measurement result is generated through visual path data processing; taking the standard action sequence and the standard measurement result as references, combining the physical parameter result calculated by the student through the photoelectric gate mode, the comprehensive score is generated from two dimensions of action specification and measurement accuracy, and the final score is generated.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and in particular to a scoring method, system, medium, and terminal suitable for vibration experiments on air cushion guide rails. Background Technology

[0002] In the current university physics teaching system, the simple harmonic vibration experiment of an air track is a core practical project in the course of mechanics vibration.

[0003] Currently, the specific teaching process for the simple harmonic motion experiment of the air track is as follows: students complete the operation steps such as spring hanging, slider release, and air source adjustment according to the teacher's explanation. Then, the instantaneous velocity of the slider when it passes the measurement point is obtained based on the photoelectric gate timing system. Students then further calculate the experimental parameters based on the instantaneous velocity. Finally, the teacher scores the students based on the calculated experimental parameters.

[0004] However, in the aforementioned teaching process, because the assessment is based solely on the final calculated experimental parameters, high scores are awarded as long as the final data appears reasonable, resulting in assessment results that fail to accurately reflect students' experimental abilities. Furthermore, because the assessment relies heavily on teachers' subjective judgment, different teachers give vastly different scores for the same operation, making it impossible to objectively measure students' experimental abilities. Summary of the Invention

[0005] In view of this, this application provides a scoring method, system, medium, and terminal suitable for vibration experiments of air track, with the main purpose of improving the problems of distortion and lack of objectivity in the evaluation results caused by the single evaluation dimension and strong subjectivity of the existing scoring methods for simple harmonic vibration experiments of air track.

[0006] According to one aspect of this application, a scoring method suitable for vibration tests on air track is provided, comprising: Obtain the preset standard action sequence of the robotic arm required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard action sequence of the robotic arm in order to realize the demonstration of the standard experimental operation process; During the simple harmonic motion experiment of the air cushion guide rail by the target student, the actual action sequence of the robotic arm and the set of slider motion images generated by the target student's experimental operation are collected, and the set of slider motion images is processed by visual path data to generate standard measurement results of physical parameters. Using the preset standard robotic arm movement sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm movement sequence and the obtained physical parameters to generate a comprehensive score for the target student's air cushion guide rail simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

[0007] According to another aspect of this application, a scoring system suitable for vibration tests on air cushion rails is provided, comprising: The standard experimental operation process demonstration module is used to obtain the preset standard robotic arm action sequence required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard robotic arm action sequence in order to realize the demonstration of the standard experimental operation process. The visual path data processing module is used to collect the actual action sequence of the robotic arm and the set of slider motion images generated by the target student in the simple harmonic motion experiment of the air track during the experiment, and to perform visual path data processing on the set of slider motion images to generate standard measurement results of physical parameters. The scoring module is used to score the target student in multiple dimensions based on the preset standard action sequence of the robotic arm and the standard measurement results of the physical parameters, using the actual action sequence of the robotic arm and the obtained physical parameters as reference benchmarks, and generating a comprehensive score for the target student's simple harmonic motion experiment on the air track. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

[0008] According to another aspect of this application, a storage medium is provided that stores at least one executable instruction, which causes a processor to perform an operation corresponding to the scoring method described above applicable to the vibration test of an air track.

[0009] According to another aspect of this application, a terminal is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the scoring method applicable to the air track vibration experiment.

[0010] By employing the above technical solutions, the technical solutions provided in the embodiments of this application have at least the following advantages: This application provides a scoring method, system, medium, and terminal suitable for air track vibration experiments. First, a preset standard robotic arm movement sequence required to complete the air track simple harmonic vibration experiment is acquired, and the robotic arm is controlled to execute the preset standard robotic arm movement sequence to demonstrate the standard experimental operation process. Second, during the target student's air track simple harmonic vibration experiment, the actual robotic arm movement sequence and slider motion image set generated by the target student's experimental operation are collected, and the slider motion image set is processed using visual path data to generate standard physical parameter measurement results. Finally, using the preset standard robotic arm movement sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm movement sequence and the acquired physical parameters to generate a comprehensive score for the target student's air track simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student using a photoelectric gate measurement method. Compared with existing technologies, this application's embodiments demonstrate standard experimental operations by acquiring and executing a preset standard robotic arm movement sequence, establishing a unified action reference benchmark for students before experimental operations. This solves the problem that students can only rely on visual memory to imitate operations due to the lack of standardized operation references, and the correctness of operations cannot be verified during the process. Furthermore, by simultaneously acquiring the actual robotic arm movement sequence and slider motion image set during the target student's experiment, and processing the slider motion image set using visual path data to generate standard physical parameter measurement results, synchronous acquisition and correlation of student operation process data and experimental measurement data are achieved, avoiding the problem of separation between process operation data and result measurement data. At the same time, by using the preset standard robotic arm movement sequence and standard physical parameter measurement results as reference benchmarks, the target student is comprehensively scored from multiple dimensions, including the dimension of action standardization and the dimension of measurement results. This overcomes the drawbacks of the assessment process, which is based solely on the final calculated experimental parameters and is highly dependent on the teacher's subjective judgment. This allows the assessment results to simultaneously reflect the standardization of the student's operation process and the accuracy of the measurement results, thereby achieving an objective and comprehensive evaluation of the student's experimental ability.

[0011] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0012] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of a scoring method for an air track vibration test provided by an embodiment of this application is shown; Figure 2 A flowchart of visual path data processing provided in an embodiment of this application is shown; Figure 3 A flowchart illustrating the multi-dimensional scoring process provided in an embodiment of this application is shown; Figure 4 A flowchart illustrating the real-time error correction process provided in an embodiment of this application is shown. Figure 5 This invention provides a block diagram of a scoring system suitable for vibration experiments on air track, according to an embodiment of this application. Figure 6 A schematic diagram of the structure of a terminal provided in an embodiment of this application is shown. Detailed Implementation

[0013] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0014] This application provides a scoring method suitable for vibration experiments on air cushion guide rails, such as... Figure 1 As shown, the method includes: 101. Obtain the preset standard motion sequence of the robotic arm required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard motion sequence of the robotic arm in order to realize the demonstration of the standard experimental operation process.

[0015] The preset standard robotic arm motion sequence is a set of standard motion data used to complete the simple harmonic motion experiment of the air track. It includes a series of motion instructions, such as the angles of each joint of the robotic arm in the time sequence. This can be obtained by recording the teacher's standard operation process or by writing a script. In this embodiment, in a specific teaching application scenario, the robotic arm is controlled to execute the preset standard robotic arm motion sequence required to complete the simple harmonic motion experiment of the air track. For example, the robotic arm is controlled to move to the spring storage position and align with the hook at the end of the spring, close the gripper to hold the spring hook, translate the robotic arm along the guide rail direction to stretch the spring to the hook at the end of the slider, put the spring hook into the fixing pin at the end of the slider, release the gripper and return to the safe stationary position outside the guide rail. By demonstrating the standard experimental operation process through the robotic arm, students can be provided with a unified and repeatable standard operation reference, thereby avoiding the problem of students' misunderstanding due to differences in the teacher's on-site demonstration operation.

[0016] 102. During the simple harmonic motion experiment of the air track by the target student, the actual action sequence of the robotic arm and the set of slider motion images generated by the target student's experimental operation are collected, and the set of slider motion images is processed by visual path data to generate standard measurement results of physical parameters.

[0017] The actual motion sequence of the robotic arm is a sequence of the actual rotation angles of each joint of the robotic arm during the experimental operation performed manually by the target student. The slider motion image set is a sequence of continuously acquired images of the slider motion as the target student releases the slider, causing it to reciprocate on the air track. This image set covers the complete process from release to vibration decay and cessation. The image acquisition device can be positioned directly in front of the track, covering the entire stroke of the slider, ensuring that each image includes the slider and its position on the track. The standard physical parameter measurement results serve as a reference benchmark for scoring the measurement results, comparing the deviation with the physical parameter estimation results obtained by the target student using photoelectric gates, and serving as the basis for calculating the scoring adjustment coefficient.

[0018] 103. Using the preset standard motion sequence of the robotic arm and the standard measurement results of physical parameters as a reference, the measurement results are calculated based on the actual motion sequence of the robotic arm and the obtained physical parameters. The target students are then scored in multiple dimensions to generate a comprehensive score for the air cushion guide rail simple harmonic motion experiment.

[0019] Among them, the physical parameter calculation and measurement results were obtained by the target students through the photoelectric gate measurement method. Specifically, during the experiment, the target students used the photoelectric gate timing system to record the time and duration of light blocking when the slider passed the measurement point. Combined with the known width of the light blocking plate, they calculated the instantaneous velocity of the slider when it passed the measurement point. Then, based on the time interval between two consecutive passes of the same measurement point, they calculated the vibration period and further calculated the spring stiffness coefficient according to the period formula.

[0020] In this embodiment, the actual movement sequence of the robotic arm is compared with a preset standard movement sequence to quantify the student's deviation in the movement standardization dimension, such as whether the angles of each joint of the robotic arm are consistent with the standard angles, thereby obtaining a movement standardization dimension score. Simultaneously, the calculated vibration period and spring stiffness coefficient are compared with the standard vibration period and standard spring stiffness coefficient obtained from visual path data processing to quantify the student's accuracy in data acquisition and processing, thereby obtaining a measurement result dimension score. Further, a scoring adjustment coefficient is calculated based on the global damping ratio and damping fitting determination coefficient in the standard physical parameter measurement results. Finally, the weighted sum between the movement standardization dimension score and the measurement result dimension score is adjusted based on the scoring adjustment coefficient to obtain the target student's comprehensive score for the air track simple harmonic motion experiment. This comprehensive score for the air track simple harmonic motion experiment can simultaneously reflect the student's performance in both the movement standardization and measurement result dimensions, and introduces a reward and punishment mechanism for data quality and experimental conditions through the scoring adjustment coefficient, making the scoring results more objective and comprehensive.

[0021] Compared with existing technologies, this application's embodiments demonstrate standard experimental operations by acquiring and executing a preset standard robotic arm movement sequence, establishing a unified action reference benchmark for students before experimental operations. This solves the problem that students can only rely on visual memory to imitate operations due to the lack of standardized operation references, and the correctness of operations cannot be verified during the process. Furthermore, by simultaneously acquiring the actual robotic arm movement sequence and slider motion image set during the target student's experiment, and processing the slider motion image set using visual path data to generate standard physical parameter measurement results, synchronous acquisition and correlation of student operation process data and experimental measurement data are achieved, avoiding the problem of separation between process operation data and result measurement data. At the same time, by using the preset standard robotic arm movement sequence and standard physical parameter measurement results as reference benchmarks, the target student is comprehensively scored from multiple dimensions, including the dimension of action standardization and the dimension of measurement results. This overcomes the drawbacks of the assessment process, which is based solely on the final calculated experimental parameters and is highly dependent on the teacher's subjective judgment. This allows the assessment results to simultaneously reflect the standardization of the student's operation process and the accuracy of the measurement results, thereby achieving an objective and comprehensive evaluation of the student's experimental ability.

[0022] In one embodiment of this application, for further definition and explanation, such as Figure 2 As shown, step 102 involves visual path data processing of the slider motion image set to generate standard measurement results of physical parameters, including: 201. For each slider motion image in the slider motion image set, perform slider positioning processing in the currently processed slider motion image to obtain the slider's position information in the currently processed slider motion image, and generate a slider displacement change curve over time based on the slider's position information in each slider motion image.

[0023] The position information refers to the coordinates of the slider in the image pixel coordinate system. It should be noted that since the position and orientation of the image acquisition device remain fixed during the experiment, the coordinates of the slider in the pixel coordinate system can be converted into a one-dimensional displacement value of the slider in the actual physical space of the air track based on the pre-calibrated camera intrinsic and extrinsic parameters. That is, the displacement of the slider from the equilibrium position, thereby obtaining the precise spatial position of the slider in the currently processed slider motion image.

[0024] In this embodiment, the position information of the slider in each slider motion image and its corresponding timestamp are combined to form a data point. By traversing all images in the slider motion image set, a set of time-displacement data point sequences can be obtained. The data point sequence is plotted as a continuous curve with time as the horizontal axis and displacement as the vertical axis, which is the slider displacement changing with time curve. This curve completely records the complete process of the slider reciprocating along the guide rail under the action of the spring restoring force from the release until the amplitude decays to zero.

[0025] 202. Perform spectral transformation on the slider displacement versus time curve to obtain the vibration amplitude versus frequency curve. Search for the maximum vibration amplitude in the vibration amplitude versus frequency curve, determine the frequency corresponding to the maximum vibration amplitude as the main frequency, and calculate the standard vibration period based on the main frequency.

[0026] It should be noted that the slider displacement versus time curve generated in step 201 of the aforementioned embodiment is a time-domain waveform, with the horizontal axis representing time and the vertical axis representing slider displacement, describing the dynamic change of displacement over time during the reciprocating vibration of the slider on the air track. The actual acquired slider vibration signal is a sine wave with amplitude decaying periodically due to damping factors such as air resistance and spring internal loss. To extract the dominant frequency of vibration from this decaying waveform, a spectral transformation of the slider displacement versus time curve is required to obtain a vibration amplitude versus frequency curve. The horizontal axis of this curve represents frequency, and the vertical axis represents vibration amplitude, reflecting the distribution of slider vibration energy along the frequency dimension. It is understandable that in actual scenarios, the vibration amplitude versus frequency curve will exhibit a significant peak at the dominant frequency, while the amplitude at other frequency positions will be relatively small. Therefore, after obtaining the vibration amplitude versus frequency curve, a search operation can be performed on the entire curve, traversing the amplitude corresponding to all frequency points, and determining the frequency point with the largest amplitude as the dominant frequency. Subsequently, the standard vibration period is calculated based on the dominant frequency.

[0027] 203. Calculate the standard spring stiffness coefficient based on the standard vibration period and the obtained slider mass.

[0028] The standard vibration period can be obtained from step 202 of the embodiment, and the mass of the slider is a known parameter from the experiment.

[0029] 204. Based on the standard vibration period, the slider displacement versus time curve is divided into multiple local slider displacement versus time curves.

[0030] In this embodiment, the starting time of the slider displacement versus time curve is used as the dividing point, and the time length of the standard vibration period is used as the fixed step size. The curve segments are sequentially intercepted along the time axis so that the time span of each intercepted curve segment is equal to one standard vibration period. Thus, the entire slider displacement versus time curve is divided into multiple local curves of slider displacement versus time. Each local curve corresponds to the displacement change process of the slider within a complete vibration period, including the peaks and troughs within that period.

[0031] 205. Perform global exponential envelope fitting based on the peak displacement values ​​of the local curves of each slider displacement changing with time to generate the global damping ratio.

[0032] Accordingly, step 205 of the embodiment specifically includes: searching for peak vertices in the local curves of slider displacement changing with time to obtain the peak displacement values ​​of each local curve of slider displacement changing with time, and arranging the peak displacement values ​​in chronological order to obtain a peak displacement value sequence; for each peak displacement value in the peak displacement value sequence, calculating the ratio of the currently processed peak displacement value to the next adjacent peak displacement value, and taking the natural logarithm of the ratio to obtain the standard vibration corresponding to the currently processed peak displacement value. The periodic logarithmic decay ratio is calculated; the mean of the periodic logarithmic decay ratios is determined as the global logarithmic decay ratio, and the global preliminary damping ratio is calculated based on the global logarithmic decay ratio; the theoretical envelope formula is used as the objective function, the data points consisting of each peak displacement value and the corresponding time are used as the fitting samples, and the global preliminary damping ratio is used as the initial iteration value. The least squares method is used for iterative optimization to obtain the global damping ratio, so as to complete the global exponential envelope fitting process. The global damping ratio is the damping ratio that minimizes the sum of squared errors between the theoretical envelope and each peak displacement value.

[0033] In this embodiment, the peak vertices are first searched in the local curves of the slider displacement changing with time, that is, the points corresponding to the maximum displacement value within the time range of the local curve. The displacement value of these points is read as the peak displacement value of the current vibration cycle, and the peak displacement values ​​are arranged sequentially according to their corresponding time order to obtain a peak displacement value sequence. ,in, Indicates the first The peak displacement values ​​of each vibration cycle are calculated. Next, for each peak displacement value in the sequence, the ratio of the currently processed peak displacement value to its adjacent next peak displacement value is calculated. The natural logarithm of this ratio is then taken to obtain the logarithmic decay ratio of the standard vibration cycle corresponding to the currently processed peak displacement value. The logarithmic decay ratio reflects the relative attenuation of amplitude between two adjacent periods. Furthermore, since the logarithmic decay ratio of a single period may fluctuate due to disturbances, to obtain a more robust estimate, the logarithmic decay ratios of all periods are averaged to obtain the global logarithmic decay ratio. This global logarithmic decay ratio comprehensively utilizes the peak information of all periods and can effectively suppress the influence of local noise. Subsequently, the global preliminary damping ratio is calculated based on the global logarithmic decay ratio. ,in, This represents the global logarithmic damping ratio. Furthermore, to improve the accuracy of the damping ratio estimation, the theoretical envelope formula is used. As the objective function, where, Indicates at time The amplitude value at that time Indicates the initial amplitude. The angular frequency represents the undamped condition. Data points consisting of each peak displacement value and its corresponding time are used as fitting samples, and the global preliminary damping ratio is used as the initial iteration value. The least squares method is employed for iterative optimization. During the iteration process, the damping ratio is continuously adjusted to reduce the sum of squared errors between the theoretical envelope and each actual peak displacement value until it converges to the damping ratio value that minimizes the sum of squared errors. This value is the final output global damping ratio. This global damping ratio fully utilizes information from all periodic peaks and is more accurate and reliable than the preliminary value calculated using only two adjacent periodic peaks.

[0034] 206. Calculate the damping fitting determination coefficient based on the peak displacement values ​​of the local curves of each slider displacement changing with time and the predicted peak displacement values ​​at each corresponding time obtained after completing the global exponential envelope fitting process.

[0035] Among them, the damping fit determination coefficient is a statistical measure of goodness of fit.

[0036] In this embodiment, the sum of squares of the deviations between each peak displacement value and the average value is first calculated as the total sum of squares of deviation, reflecting the overall dispersion of the actual peak displacement values. Simultaneously, the sum of squares of the residuals between each peak displacement value and the predicted peak displacement values ​​at corresponding times obtained after global exponential envelope fitting is calculated, reflecting the remaining variation not explained by the theoretical envelope. Finally, the difference between 1 minus the residual sum of squares and the total sum of squares of deviation is calculated, which is the damping fitting determination coefficient. The damping fitting determination coefficient ranges from 0 to 1. A closer damping fitting determination coefficient to 1 indicates a better match between the actual amplitude decay law and the theoretical exponential decay law, resulting in better experimental data quality. Conversely, a lower damping fitting determination coefficient indicates larger irregular fluctuations in the actual peak displacement values, suggesting potential additional disturbances during the experiment.

[0037] 207. Based on the standard vibration period, standard spring stiffness coefficient, global damping ratio, and damping fitting determination coefficient, generate standard measurement results of physical parameters to complete visual path data processing.

[0038] Among them, the standard vibration period and standard spring stiffness coefficient are used to score the target student's measurement results dimension; the global damping ratio and damping fitting determination coefficient are used to calculate the scoring adjustment coefficient.

[0039] In one embodiment of this application, for further definition and explanation, the physical parameter calculation measurement results include the calculated vibration period and the calculated spring stiffness coefficient, such as... Figure 3As shown, in step 103 of the embodiment, a preset standard robotic arm motion sequence and physical parameter standard measurement results are used as reference benchmarks. Based on the actual robotic arm motion sequence and the obtained physical parameters, the measurement results are calculated to evaluate the target student in multiple dimensions, generating a comprehensive score for the target student's air cushion guide rail simple harmonic motion experiment, including: 301. Calculate the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm.

[0040] The actual robotic arm motion sequence contains multiple actual robotic arm motions, and each actual robotic arm motion contains a set of actual rotation angles of each robotic arm joint. The preset standard robotic arm motion sequence contains multiple preset standard robotic arm motions, and each preset standard robotic arm motion contains a set of preset standard rotation angles of each robotic arm joint.

[0041] Accordingly, step 301 of the embodiment specifically includes: for each robotic arm joint's actual rotation angle, calculating the angle deviation between the currently processed robotic arm joint's actual rotation angle and the corresponding preset standard rotation angle of the robotic arm joint; for each robotic arm joint, calculating the root mean square of each angle deviation of the currently processed robotic arm joint to obtain the root mean square error of the currently processed robotic arm joint; and determining the weighted average of each root mean square error as the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm.

[0042] In this embodiment, firstly, for each robotic arm joint at each moment, the absolute difference in angular deviation between the actual rotation angle of the robotic arm joint operated by the target student at that moment and the preset standard rotation angle of the same robotic arm joint at the same moment in the preset standard robotic arm action sequence is calculated. Secondly, for each robotic arm joint, the angular deviations of that joint at all moments are squared, summed, divided by the total number of images, and the square root is taken to obtain the root mean square error of that robotic arm joint, which comprehensively reflects the overall deviation of the robotic arm joint throughout the entire operation process. Finally, the root mean square errors of each robotic arm joint are weighted and averaged to obtain the overall action deviation index between the actual robotic arm action sequence and the preset standard robotic arm action sequence. The weight coefficients corresponding to each robotic arm joint can be set according to the importance of that robotic arm joint in the operation.

[0043] 302. Based on the first piecewise linear interpolation method, the overall movement deviation index is mapped to the movement standardization dimension score, which is used as the movement standardization dimension score of the target student.

[0044] Accordingly, step 302 of the embodiment specifically includes: when the overall motion deviation index is less than or equal to the first preset deviation threshold, the motion standardization dimension score is determined to be a full score; when the overall motion deviation index is greater than the first preset deviation threshold and less than or equal to the second preset deviation threshold, linear interpolation is performed based on the full score and the first preset score to obtain the motion standardization dimension score; when the overall motion deviation index is greater than the second preset deviation threshold and less than or equal to the third preset deviation threshold, linear interpolation is performed based on the first preset score and the second preset score to obtain the motion standardization dimension score; when the overall motion deviation index is greater than the third preset deviation threshold and less than or equal to the fourth preset deviation threshold, linear interpolation is performed based on the second preset score and the third preset score to obtain the motion standardization dimension score; when the overall motion deviation index is greater than the fourth preset deviation threshold, the motion standardization dimension score is determined to be zero.

[0045] For example, suppose the first preset deviation threshold is 2°, the second preset deviation threshold is 5°, the third preset deviation threshold is 10°, the fourth preset deviation threshold is 15°, the full score is 100 points, the first preset score is 85 points, the second preset score is 70 points, and the third preset score is 60 points. If the overall movement deviation index of the target student is 8°, then this deviation value falls within the range of being greater than the second preset deviation threshold and less than or equal to the third preset deviation threshold. In this case, linear interpolation is performed based on the first preset score and the second preset score, that is, the movement standardization dimension score = 85 + (70-85) / (10-5) × (8-5) = 76.

[0046] 303. Calculate the percentage error of vibration period between the estimated vibration period and the standard vibration period, and the percentage error of spring stiffness coefficient between the estimated spring stiffness coefficient and the standard spring stiffness coefficient. The weighted sum of the percentage error of vibration period and the percentage error of spring stiffness coefficient is used as the overall measurement result error index.

[0047] The sum of the weights of the percentage of vibration period error and the percentage of spring stiffness coefficient error is 1.

[0048] 304. Based on the second piecewise linear interpolation method, the overall measurement result error index is mapped to the measurement result dimension score, which is used as the measurement result dimension score for the target student.

[0049] The second piecewise linear interpolation method is similar to the first piecewise linear interpolation method, and will not be repeated here.

[0050] 305. Calculate the target student's score adjustment coefficient based on the global damping ratio and damping fitting determination coefficient.

[0051] Accordingly, step 305 of the embodiment specifically includes: when the damping fitting determination coefficient is greater than or equal to the first preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined as the sum of 1 and the first preset ratio; when the damping fitting determination coefficient is less than the first preset damping fitting determination coefficient threshold but greater than or equal to the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined as 1; when the damping fitting determination coefficient is less than the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined as the difference between 1 and the first preset ratio; when the global damping ratio is greater than or equal to the first preset global damping ratio threshold but less than or equal to the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is determined as 1; when the global damping ratio is greater than the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is determined as the difference between 1 and the second preset ratio; the product of the data fitting quality adjustment coefficient and the physical experiment condition adjustment coefficient is determined as the target student's score adjustment coefficient.

[0052] For example, suppose the first preset damping fitting determination coefficient threshold is 0.99, the second preset damping fitting determination coefficient threshold is 0.95, the first preset ratio is 0.10, the first preset global damping ratio threshold is 0.02, the second preset global damping ratio threshold is 0.05, and the second preset ratio is 0.10. In a certain experiment, the damping fitting determination coefficient is 0.993, and the global damping ratio is 0.032. 0.993 is greater than the first preset damping fitting determination coefficient threshold, so the data fitting quality adjustment coefficient = 1 + 0.10 = 1.10. 0.032 is between the first preset global damping ratio threshold and the second preset global damping ratio threshold, so the physical experiment condition adjustment coefficient = 1.00. Therefore, the scoring adjustment coefficient = 1.10 × 1.00 = 1.10.

[0053] It should be noted that when the damping fitting determination coefficient is greater than or equal to the first preset damping fitting determination coefficient threshold, it indicates excellent data quality and a very high degree of explanation of the actual peak displacement value by the theoretical envelope. The data fitting quality adjustment coefficient is set to the sum of 1 and the first preset ratio to provide a positive reward. When the damping fitting determination coefficient is less than the first preset damping fitting determination coefficient threshold but greater than or equal to the second preset damping fitting determination coefficient threshold, it indicates that the data quality is within an acceptable range. The data fitting quality adjustment coefficient is set to 1 and no adjustment is made. When the damping fitting determination coefficient is less than the second preset damping fitting determination coefficient threshold, it indicates poor data quality and a large deviation between the actual peak displacement value and the theoretical envelope. The data fitting quality adjustment coefficient is set to the difference between 1 and the first preset ratio to provide a negative penalty. When the global damping ratio is greater than or equal to the first preset global damping ratio threshold and less than or equal to the second preset global damping ratio threshold, it indicates that the damping during the experiment is within the normal background range and the experimental conditions are ideal. The physical experimental condition adjustment coefficient is set to 1 and no adjustment is made. When the global damping ratio is greater than the second preset global damping ratio threshold, it indicates that the damping exceeds the normal range and there may be abnormal situations such as additional friction caused by operational errors during the experiment. The physical experimental condition adjustment coefficient is set to the difference between 1 and the second preset ratio to give a negative penalty.

[0054] 306. Calculate the weighted sum between the action standard dimension score and the measurement result dimension score as the base score of the target student, and determine the comprehensive score of the target student's air track simple harmonic vibration experiment by multiplying the score adjustment coefficient by the base score.

[0055] In this embodiment, the action standardization dimension score reflects the level of standardization of the target student's actions during the operation. The measurement result dimension score reflects the accuracy level of the target student in the data collection and processing stage. The score adjustment coefficient comprehensively reflects the data quality of the target student and the rationality of the physical experiment conditions.

[0056] It should be noted that the grading adjustment coefficient affects the base score through a multiplicative approach. When the adjustment coefficient is greater than 1, the base score is positively amplified, providing extra incentives to students with excellent performance; when the adjustment coefficient equals 1, the base score remains unchanged; and when the adjustment coefficient is less than 1, the base score is compressed, resulting in a deduction for students with poor performance. Since the grading adjustment coefficient incorporates information from both data quality and physical experiment conditions, the multiplication operation ensures that students with excellent data quality and ideal experiment conditions receive a grading bonus, while students with poor data quality or abnormal experiment conditions are penalized.

[0057] In one embodiment of this application, for further definition and explanation, such as Figure 4 As shown, the method in the embodiment further includes: 401. During the simple harmonic motion experiment of the air track for the target students, if the root mean square error of any robotic arm joint exceeds the preset angle threshold, the experiment operation error message will be output through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action.

[0058] The experimental operation error message includes the error message, the reason for the error, and the correction suggestion; 402. In response to the pause release command triggered after the target student completes the adjustment based on the experimental operation error prompt information, control the robotic arm to release the pause state, and recalculate the root mean square error of each robotic arm joint generated by the target student's adjusted experimental operation.

[0059] 403a. If the root mean square error of each robotic arm joint generated by the adjusted experimental operation of the target student after recalculation is less than or equal to the preset angle threshold, then control the robotic arm to continue to perform the current action and continue to monitor and score the experimental operation of the target student.

[0060] 403b. If any root mean square error of the robotic arm joints generated by the recalculated target student's adjusted experimental operation still exceeds the preset angle threshold, then the experimental operation error message will be output again through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action until the root mean square error of each robotic arm joint is less than or equal to the preset angle threshold.

[0061] Steps 401-403b of the embodiment constitute a complete real-time intervention and error correction mechanism for experimental operations. Specifically, it is executed in parallel during the target student's operation of the simple harmonic motion experiment on the air track, working in conjunction with the aforementioned scoring process. The aim is to provide timely prompts and guidance when the target student makes operational deviations, preventing the continuous accumulation of errors from causing the entire experimental data to become invalid, while providing effective operational data after correction for the subsequent scoring process.

[0062] This application provides a scoring method applicable to air track vibration experiments. First, a preset standard robotic arm motion sequence required to complete the air track simple harmonic vibration experiment is obtained, and the robotic arm is controlled to execute the preset standard robotic arm motion sequence to demonstrate the standard experimental operation process. Second, during the target student's air track simple harmonic vibration experiment, the actual robotic arm motion sequence and slider motion image set generated by the target student's experimental operation are collected, and the slider motion image set is processed by visual path data to generate standard physical parameter measurement results. Finally, using the preset standard robotic arm motion sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm motion sequence and the obtained physical parameters to generate a comprehensive score for the target student's air track simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student using a photoelectric gate measurement method. Compared with existing technologies, this application's embodiments demonstrate standard experimental operations by acquiring and executing a preset standard robotic arm movement sequence, establishing a unified action reference benchmark for students before experimental operations. This solves the problem that students can only rely on visual memory to imitate operations due to the lack of standardized operation references, and the correctness of operations cannot be verified during the process. Furthermore, by simultaneously acquiring the actual robotic arm movement sequence and slider motion image set during the target student's experiment, and processing the slider motion image set using visual path data to generate standard physical parameter measurement results, synchronous acquisition and correlation of student operation process data and experimental measurement data are achieved, avoiding the problem of separation between process operation data and result measurement data. At the same time, by using the preset standard robotic arm movement sequence and standard physical parameter measurement results as reference benchmarks, the target student is comprehensively scored from multiple dimensions, including the dimension of action standardization and the dimension of measurement results. This overcomes the drawbacks of the assessment process, which is based solely on the final calculated experimental parameters and is highly dependent on the teacher's subjective judgment. This allows the assessment results to simultaneously reflect the standardization of the student's operation process and the accuracy of the measurement results, thereby achieving an objective and comprehensive evaluation of the student's experimental ability.

[0063] Furthermore, as a response to the above Figure 1 The implementation of the method shown in this application provides a scoring system suitable for vibration experiments on air cushion guide rails, such as... Figure 5 As shown, the system includes: Standard experimental operation procedure demonstration module 51, visual path data processing module 52, scoring module 53; The standard experimental operation process demonstration module 51 is used to acquire the preset standard mechanical arm action sequence required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the mechanical arm to execute the preset standard mechanical arm action sequence in order to realize the demonstration of the standard experimental operation process. The visual path data processing module 52 is used to collect the actual action sequence of the robotic arm and the set of slider motion images generated by the target student in the simple harmonic motion experiment of the air cushion guide rail during the experiment, and to perform visual path data processing on the set of slider motion images to generate standard measurement results of physical parameters. The scoring module 53 is used to score the target student in multiple dimensions based on the preset standard action sequence of the robotic arm and the standard measurement results of the physical parameters, using the actual action sequence of the robotic arm and the obtained physical parameters as reference benchmarks, and generating a comprehensive score for the target student's simple harmonic motion experiment on the air cushion guide rail. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

[0064] In specific application scenarios, the visual path data processing module includes a visual path data processing unit, which includes: The slider displacement versus time curve generation subunit is used to perform slider positioning processing in the currently processed slider motion image for each slider motion image in the slider motion image set, obtain the position information of the slider in the currently processed slider motion image, and generate a slider displacement versus time curve based on the position information of the slider in each slider motion image. The standard vibration period calculation subunit is used to perform spectral transformation processing on the slider displacement versus time curve to obtain the vibration amplitude versus frequency curve, search for the maximum vibration amplitude in the vibration amplitude versus frequency curve, determine the frequency corresponding to the maximum vibration amplitude as the main frequency, and calculate the standard vibration period based on the main frequency. The standard spring stiffness coefficient calculation subunit is used to calculate the standard spring stiffness coefficient based on the standard vibration period and the obtained slider mass. The global damping ratio generation subunit is used to divide the slider displacement-time variation curve into multiple slider displacement-time variation local curves based on the standard vibration period, and perform global exponential envelope fitting processing on the peak displacement values ​​of each slider displacement-time variation local curve to generate the global damping ratio. The damping fitting determination coefficient calculation subunit is used to calculate the damping fitting determination coefficient based on the peak displacement value of the local curve of each slider displacement changing with time and the predicted peak displacement value at each corresponding time obtained after completing the global exponential envelope fitting process. The physical parameter standard measurement result generation subunit is used to generate physical parameter standard measurement results based on the standard vibration period, the standard spring stiffness coefficient, the global damping ratio, and the damping fitting determination coefficient, so as to complete the visual path data processing.

[0065] In specific application scenarios, the global damping ratio generation subunit is used for: The peak vertices are searched in the local curves of the slider displacement changing with time to obtain the peak displacement values ​​of each local curve of the slider displacement changing with time. The peak displacement values ​​are then arranged in chronological order to obtain a peak displacement value sequence. For each peak displacement value in the peak displacement value sequence, calculate the ratio of the currently processed peak displacement value to the next peak displacement value adjacent to the currently processed peak displacement value, and take the natural logarithm of the ratio to obtain the period logarithmic decay ratio of the standard vibration period corresponding to the currently processed peak displacement value. The mean of the logarithmic decay ratios of each period is determined as the global logarithmic decay ratio, and the global preliminary damping ratio is calculated based on the global logarithmic decay ratio. Using the theoretical envelope formula as the objective function, the data points consisting of each wave crest displacement value and the corresponding time as the fitting sample, and the global preliminary damping ratio as the initial iteration value, the least squares method is used for iterative optimization to obtain the global damping ratio, thereby completing the global exponential envelope fitting process. The global damping ratio is the damping ratio that minimizes the sum of squared errors between the theoretical envelope and each wave crest displacement value.

[0066] In specific application scenarios, the physical parameter calculation and measurement results include the calculated vibration period and the calculated spring stiffness coefficient. The scoring module includes: The motion standardization dimension scoring unit is used to calculate the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm. Based on the first piecewise linear interpolation method, the overall motion deviation index is mapped to the motion standardization dimension score, which is used as the motion standardization dimension score of the target student. The measurement result dimension scoring unit is used to calculate the percentage error of vibration period between the estimated vibration period and the standard vibration period, and the percentage error of spring stiffness coefficient between the estimated spring stiffness coefficient and the standard spring stiffness coefficient. The weighted sum of the percentage error of vibration period and the percentage error of spring stiffness coefficient is used as the overall measurement result error index. Based on the second piecewise linear interpolation method, the overall measurement result error index is mapped to the measurement result dimension score, which is used as the measurement result dimension score of the target student. The scoring adjustment coefficient calculation unit is used to calculate the scoring adjustment coefficient of the target student based on the global damping ratio and the damping fitting determination coefficient. The comprehensive scoring unit is used to calculate the weighted sum between the action standard dimension score and the measurement result dimension score as the base score of the target student, and to determine the comprehensive score of the air track simple harmonic vibration experiment of the target student by multiplying the scoring adjustment coefficient with the base score.

[0067] In specific application scenarios, the scoring adjustment coefficient calculation unit is used for: When the damping fitting determination coefficient is greater than or equal to the first preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be the sum of 1 and the first preset ratio. When the damping fitting determination coefficient is less than the first preset damping fitting determination coefficient threshold but greater than or equal to the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be 1. When the damping fitting determination coefficient is less than the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be the difference between 1 and the first preset ratio. When the global damping ratio is greater than or equal to the first preset global damping ratio threshold and less than or equal to the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is set to 1. When the global damping ratio is greater than the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is set to the difference between 1 and the second preset ratio. The product of the data fitting quality adjustment coefficient and the physical experiment condition adjustment coefficient is determined as the target student's score adjustment coefficient.

[0068] In specific application scenarios, the actual robot arm movement sequence includes multiple actual robot arm movements, each actual robot arm movement includes a set of actual rotation angles of each robot arm joint; the preset standard robot arm movement sequence includes multiple preset standard robot arm movements, each preset standard robot arm movement includes a set of preset standard rotation angles of each robot arm joint; the movement specification dimension scoring unit includes an overall movement deviation index calculation subunit, used for: For each robotic arm joint's actual rotation angle, calculate the angular deviation between the current robotic arm joint's actual rotation angle and the corresponding preset standard rotation angle. For each robotic arm joint, calculate the root mean square of each angle deviation of the currently processed robotic arm joint to obtain the root mean square error of the currently processed robotic arm joint. The weighted average of each root mean square error is determined as the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm.

[0069] In specific application scenarios, the system also includes a real-time error correction module, used for: During the simple harmonic motion experiment of the air track for the target student, if the root mean square error of any robotic arm joint exceeds the preset angle threshold, the experiment operation error prompt information will be output through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action. The experiment operation error prompt information includes error information, error cause and correction suggestion information. In response to the pause release command triggered after the target student completes the adjustment according to the experimental operation error prompt information, the robot arm is controlled to release the pause state, and the root mean square error of each robot arm joint generated by the target student's adjusted experimental operation is recalculated. If the root mean square error of each robotic arm joint generated by the adjusted experimental operation of the target student is less than or equal to the preset angle threshold, then the robotic arm is controlled to continue to perform the current action and continue to monitor and score the experimental operation of the target student. If any of the root mean square errors of the robotic arm joints generated by the adjusted experimental operation of the target student after recalculation still exceed the preset angle threshold, then an experimental operation error message will be output again through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action until the root mean square errors of each robotic arm joint are less than or equal to the preset angle threshold.

[0070] This application provides a scoring system suitable for air track vibration experiments. First, a preset standard robotic arm movement sequence required to complete the air track simple harmonic vibration experiment is acquired, and the robotic arm is controlled to execute the preset standard robotic arm movement sequence to demonstrate the standard experimental operation process. Second, during the target student's air track simple harmonic vibration experiment, the actual robotic arm movement sequence and slider motion image set generated by the target student's experimental operation are collected, and the slider motion image set is processed using visual path data to generate standard physical parameter measurement results. Finally, using the preset standard robotic arm movement sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm movement sequence and the acquired physical parameters to generate a comprehensive score for the target student's air track simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student using a photoelectric gate measurement method. Compared with existing technologies, this application's embodiments demonstrate standard experimental operations by acquiring and executing a preset standard robotic arm movement sequence, establishing a unified action reference benchmark for students before experimental operations. This solves the problem that students can only rely on visual memory to imitate operations due to the lack of standardized operation references, and the correctness of operations cannot be verified during the process. Furthermore, by simultaneously acquiring the actual robotic arm movement sequence and slider motion image set during the target student's experiment, and processing the slider motion image set using visual path data to generate standard physical parameter measurement results, synchronous acquisition and correlation of student operation process data and experimental measurement data are achieved, avoiding the problem of separation between process operation data and result measurement data. At the same time, by using the preset standard robotic arm movement sequence and standard physical parameter measurement results as reference benchmarks, the target student is comprehensively scored from multiple dimensions, including the dimension of action standardization and the dimension of measurement results. This overcomes the drawbacks of the assessment process, which is based solely on the final calculated experimental parameters and is highly dependent on the teacher's subjective judgment. This allows the assessment results to simultaneously reflect the standardization of the student's operation process and the accuracy of the measurement results, thereby achieving an objective and comprehensive evaluation of the student's experimental ability.

[0071] According to one embodiment of this application, a storage medium is provided that stores at least one executable instruction, which is capable of executing the scoring method applicable to the vibration test of an air track in any of the above method embodiments.

[0072] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0073] Figure 6 The diagram shows a structural schematic of a terminal according to one embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the terminal.

[0074] like Figure 6 As shown, the terminal may include: a processor 602, a communication interface 604, a memory 606, and a communication bus 608.

[0075] The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608.

[0076] Communication interface 604 is used to communicate with other network elements such as clients or other servers.

[0077] The processor 602 is used to execute program 610, specifically to perform the relevant steps in the above-described scoring method embodiment applicable to the air cushion guide rail vibration experiment.

[0078] Specifically, program 610 may include program code that includes computer operation instructions.

[0079] Processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The computer device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0080] Memory 606 is used to store program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0081] Specifically, program 610 can be used to cause processor 602 to perform the following operations: Obtain the preset standard action sequence of the robotic arm required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard action sequence of the robotic arm in order to realize the demonstration of the standard experimental operation process; During the simple harmonic motion experiment of the air cushion guide rail by the target student, the actual action sequence of the robotic arm and the set of slider motion images generated by the target student's experimental operation are collected, and the set of slider motion images is processed by visual path data to generate standard measurement results of physical parameters. Using the preset standard robotic arm movement sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm movement sequence and the obtained physical parameters to generate a comprehensive score for the target student's air cushion guide rail simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A scoring method suitable for vibration tests on air cushion guide rails, characterized in that, include: Obtain the preset standard action sequence of the robotic arm required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard action sequence of the robotic arm in order to realize the demonstration of the standard experimental operation process; During the simple harmonic motion experiment of the air cushion guide rail by the target student, the actual action sequence of the robotic arm and the set of slider motion images generated by the target student's experimental operation are collected, and the set of slider motion images is processed by visual path data to generate standard measurement results of physical parameters. Using the preset standard robotic arm movement sequence and the standard physical parameter measurement results as reference benchmarks, the target student is scored in multiple dimensions based on the actual robotic arm movement sequence and the obtained physical parameters to generate a comprehensive score for the target student's air cushion guide rail simple harmonic vibration experiment. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

2. The method according to claim 1, characterized in that, The step of performing visual path data processing on the set of slider motion images to generate standard measurement results of physical parameters includes: For each slider motion image in the set of slider motion images, the slider is positioned in the currently processed slider motion image to obtain the position information of the slider in the currently processed slider motion image, and based on the position information of the slider in each slider motion image, a slider displacement versus time curve is generated. The slider displacement versus time curve is subjected to spectral transformation to obtain the vibration amplitude versus frequency curve. The maximum vibration amplitude is searched in the vibration amplitude versus frequency curve, the frequency corresponding to the maximum vibration amplitude is determined as the main frequency, and the standard vibration period is calculated based on the main frequency. The standard spring stiffness coefficient is calculated based on the standard vibration period and the obtained slider mass. Based on the standard vibration period, the slider displacement versus time curve is divided into multiple local slider displacement versus time curves, and global exponential envelope fitting is performed on the peak displacement values ​​of each local slider displacement versus time curve to generate a global damping ratio. The damping fitting determination coefficient is calculated based on the peak displacement values ​​of the local curves of the displacement of each slider over time and the predicted peak displacement values ​​at each corresponding time obtained after completing the global exponential envelope fitting process. Based on the standard vibration period, the standard spring stiffness coefficient, the global damping ratio, and the damping fitting determination coefficient, standard measurement results of physical parameters are generated to complete visual path data processing.

3. The method according to claim 1, characterized in that, The step of performing global exponential envelope fitting based on the peak displacement values ​​of the local curves of each slider displacement changing over time to generate a global damping ratio includes: The peak vertices are searched in the local curves of the slider displacement changing with time to obtain the peak displacement values ​​of each local curve of the slider displacement changing with time. The peak displacement values ​​are then arranged in chronological order to obtain a peak displacement value sequence. For each peak displacement value in the peak displacement value sequence, calculate the ratio of the currently processed peak displacement value to the next peak displacement value adjacent to the currently processed peak displacement value, and take the natural logarithm of the ratio to obtain the period logarithmic decay ratio of the standard vibration period corresponding to the currently processed peak displacement value. The mean of the logarithmic decay ratios of each period is determined as the global logarithmic decay ratio, and the global preliminary damping ratio is calculated based on the global logarithmic decay ratio. Using the theoretical envelope formula as the objective function, the data points consisting of each wave crest displacement value and the corresponding time as the fitting sample, and the global preliminary damping ratio as the initial iteration value, the least squares method is used for iterative optimization to obtain the global damping ratio, thereby completing the global exponential envelope fitting process. The global damping ratio is the damping ratio that minimizes the sum of squared errors between the theoretical envelope and each wave crest displacement value.

4. The method according to claim 1, characterized in that, The calculated physical parameters include the calculated vibration period and the calculated spring stiffness coefficient. Using the preset standard robotic arm movement sequence and the calculated physical parameters as a reference, the target student is evaluated in multiple dimensions based on the actual robotic arm movement sequence and the obtained calculated physical parameters. This generates a comprehensive score for the target student's air track simple harmonic vibration experiment, including: Calculate the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm. Based on the first piecewise linear interpolation method, map the overall motion deviation index into a motion standardization dimension score, which is used as the motion standardization dimension score of the target student. Calculate the percentage error of vibration period between the estimated vibration period and the standard vibration period, and the percentage error of spring stiffness coefficient between the estimated spring stiffness coefficient and the standard spring stiffness coefficient. Then, use the weighted sum of the percentage error of vibration period and the percentage error of spring stiffness coefficient as the overall measurement result error index. Based on the second piecewise linear interpolation method, map the overall measurement result error index into a measurement result dimension score, which is used as the measurement result dimension score for the target student. The score adjustment coefficient for the target student is calculated based on the global damping ratio and the damping fitting determination coefficient. The weighted sum between the action standard dimension score and the measurement result dimension score is calculated as the base score of the target student. The product of the score adjustment coefficient and the base score is determined as the comprehensive score of the target student's air track simple harmonic vibration experiment.

5. The method according to claim 4, characterized in that, The calculation of the target student's score adjustment coefficient based on the global damping ratio and damping fitting determination coefficient includes: When the damping fitting determination coefficient is greater than or equal to the first preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be the sum of 1 and the first preset ratio. When the damping fitting determination coefficient is less than the first preset damping fitting determination coefficient threshold but greater than or equal to the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be 1. When the damping fitting determination coefficient is less than the second preset damping fitting determination coefficient threshold, the data fitting quality adjustment coefficient is determined to be the difference between 1 and the first preset ratio. When the global damping ratio is greater than or equal to the first preset global damping ratio threshold and less than or equal to the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is set to 1. When the global damping ratio is greater than the second preset global damping ratio threshold, the physical experiment condition adjustment coefficient is set to the difference between 1 and the second preset ratio. The product of the data fitting quality adjustment coefficient and the physical experiment condition adjustment coefficient is determined as the target student's score adjustment coefficient.

6. The method according to claim 4, characterized in that, The actual robotic arm movement sequence includes multiple actual robotic arm movements, each actual robotic arm movement containing a set of actual rotation angles of each robotic arm joint. The preset standard robotic arm movement sequence includes multiple preset standard robotic arm movements, each preset standard robotic arm movement containing a set of preset standard rotation angles of each robotic arm joint. The calculation of the overall movement deviation index between the actual robotic arm movement sequence and the preset standard robotic arm movement sequence includes: For each robotic arm joint's actual rotation angle, calculate the angular deviation between the current robotic arm joint's actual rotation angle and the corresponding preset standard rotation angle. For each robotic arm joint, calculate the root mean square of each angle deviation of the currently processed robotic arm joint to obtain the root mean square error of the currently processed robotic arm joint. The weighted average of each root mean square error is determined as the overall motion deviation index between the actual motion sequence of the robotic arm and the preset standard motion sequence of the robotic arm.

7. The method according to claim 1, characterized in that, The method further includes: During the simple harmonic motion experiment of the air track for the target student, if the root mean square error of any robotic arm joint exceeds the preset angle threshold, the experiment operation error prompt information will be output through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action. The experiment operation error prompt information includes error information, error cause and correction suggestion information. In response to the pause release command triggered after the target student completes the adjustment according to the experimental operation error prompt information, the robot arm is controlled to release the pause state, and the root mean square error of each robot arm joint generated by the target student's adjusted experimental operation is recalculated. If the root mean square error of each robotic arm joint generated by the adjusted experimental operation of the target student is less than or equal to the preset angle threshold, then the robotic arm is controlled to continue to perform the current action and continue to monitor and score the experimental operation of the target student. If any of the root mean square errors of the robotic arm joints generated by the adjusted experimental operation of the target student after recalculation still exceed the preset angle threshold, then an experimental operation error message will be output again through a combination of text prompts and voice playback, and the robotic arm will be controlled to pause the current action until the root mean square errors of each robotic arm joint are less than or equal to the preset angle threshold.

8. A scoring system suitable for vibration experiments on air cushion guide rails, characterized in that, include: The standard experimental operation process demonstration module is used to obtain the preset standard robotic arm action sequence required to complete the simple harmonic motion experiment of the air cushion guide rail, and control the robotic arm to execute the preset standard robotic arm action sequence in order to realize the demonstration of the standard experimental operation process. The visual path data processing module is used to collect the actual action sequence of the robotic arm and the set of slider motion images generated by the target student in the simple harmonic motion experiment of the air track during the experiment, and to perform visual path data processing on the set of slider motion images to generate standard measurement results of physical parameters. The scoring module is used to score the target student in multiple dimensions based on the preset standard action sequence of the robotic arm and the standard measurement results of the physical parameters, using the actual action sequence of the robotic arm and the obtained physical parameters as reference benchmarks, and generating a comprehensive score for the target student's simple harmonic motion experiment on the air track. The physical parameter measurement results are calculated by the target student through photoelectric gate measurement.

9. A storage medium storing at least one executable instruction, characterized in that, The executable instructions cause the processor to perform the operation corresponding to the scoring method for the air track vibration experiment as described in any one of claims 1-7.

10. A terminal, comprising: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction, characterized in that the executable instruction causes the processor to perform an operation corresponding to the scoring method applicable to the air track vibration experiment as described in any one of claims 1-7.

Images