CN109001484B - Method and device for detecting rotation speed - Google Patents
Method and device for detecting rotation speed Download PDFInfo
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- CN109001484B CN109001484B CN201810349628.0A CN201810349628A CN109001484B CN 109001484 B CN109001484 B CN 109001484B CN 201810349628 A CN201810349628 A CN 201810349628A CN 109001484 B CN109001484 B CN 109001484B
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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Abstract
The invention discloses a method and a device for detecting a rotating speed. Wherein, the method comprises the following steps: acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, wherein the mark points are used for distinguishing the mark points from the surface of the target object in the images, and at least one mark point is arranged on the surface of the target object, wherein the target object is a sphere; determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in a physical space to obtain at least one moving distance; determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image; and determining the rotation speed value of the target object according to the at least one moving speed value. The invention solves the technical problem of lower precision of the method for detecting the rotating speed of the high-speed rotating object in the related technology.
Description
Technical Field
The invention relates to the field of computer vision, in particular to a method and a device for detecting a rotating speed.
Background
In some application scenarios, it is necessary to detect the rotation speed of an object rotating at a high speed, for example, detect the rotation speed of a table tennis ball rotating at a high speed, so that a professional table tennis player can play the ball rotating at a high speed, and the running track of the table tennis ball looks erratic, which makes it difficult for an opponent to predict and judge. How to play beautiful rotary balls becomes one of the goals pursued by table tennis coaches and professional athletes in ordinary training. At present, a very professional table tennis player can roughly estimate the rotation speed of the table tennis according to own experience, but the inaccurate experience estimation has very limited improvement on the player level. In addition, inexperienced novices are basically impractical to estimate the speed of rotation of table tennis balls. Therefore, it is an important requirement to reasonably provide the rotation speed of the table tennis ball in flight to help players raise the level of the shot. At present, the method for estimating the rotation speed of the table tennis mainly builds a model by taking the experience of players playing various rotary balls as a reference. The initial state of the table tennis is preliminarily estimated by detecting the falling point position of the table tennis on the racket and the swing strength, then the coordinate position of the table tennis in a three-dimensional space is detected, and the rotation speed of the table tennis at different positions is calculated by establishing an equation through aerodynamics. The error of the method is very large, and is mainly caused by two aspects:
(1) the initial state estimation of the table tennis is extremely inaccurate;
(2) the aerodynamic model requires accurate measurement of physical quantities such as air temperature, air flow, gravity, and the like.
Aiming at the technical problem that the method for detecting the rotating speed of the high-speed rotating object in the related technology is low in precision, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting a rotating speed, which are used for at least solving the technical problem of lower precision of a method for detecting the rotating speed of a high-speed rotating object in the related art.
According to an aspect of an embodiment of the present invention, there is provided a method of detecting a rotational speed, the method including: acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, wherein the mark points are used for distinguishing the mark points from the surface of the target object in the images, and at least one mark point is arranged on the surface of the target object, wherein the target object is a sphere; determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in a physical space to obtain at least one moving distance; determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image; and determining the rotation speed value of the target object according to the at least one moving speed value.
Further, in a case that a plurality of marker points are arranged on the surface of the target object and the plurality of marker points are displayed in the same image, determining a moving distance between each marker point in the first frame image and a corresponding marker point in the second frame image in the physical space, and obtaining at least one moving distance includes: respectively pairing a first mark point in the first frame image with all mark points in the second frame image to obtain at least one mark point pair of the first mark point; determining the distance of each mark point pair on the surface of the target object; determining a rotational velocity value of the target object according to the at least one moving velocity value comprises: an effective value of the rotational speed of the target object is determined based on the at least one moving speed value.
Further, the distance of each marking point pair on the surface of the target object is the arc length of the corresponding marking point pair on the surface of the sphere.
Further, determining an effective value of the rotational speed of the target object from the at least one moving speed value comprises: determining a plurality of moving speed value ranges according to at least one moving speed value, wherein each moving speed value range takes a corresponding moving speed value as a center and takes a preset error as a distance range; voting is performed on a plurality of moving speed value ranges, and an effective value of the rotation speed of the target object is determined according to the moving speed range with the largest number of overlapping times.
According to another aspect of the embodiments of the present invention, there is also provided a rotation speed detecting apparatus, including: the device comprises an acquisition unit, a rotation unit and a display unit, wherein the acquisition unit is used for acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, the mark points are used for distinguishing the mark points from the surface of the target object in the images, at least one mark point is arranged on the surface of the target object, and the target object is a sphere; the first determining unit is used for determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in the physical space to obtain at least one moving distance; a second determining unit for determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image; a third determination unit for determining a rotation velocity value of the target object according to the at least one moving velocity value.
Further, in a case where a plurality of marker points are provided on the surface of the target object and the plurality of marker points are displayed identically in the image, the first determination unit includes: the matching module is used for respectively matching the first mark point in the first frame image with all the mark points in the second frame image to obtain at least one mark point pair of the first mark point; a first determining module for determining the distance of each mark point on the surface of the target object; the third determination unit includes: and the second determination module is used for determining the effective value of the rotating speed of the target object according to the at least one moving speed value.
Further, the distance of each marking point pair on the surface of the target object is the arc length of the corresponding marking point pair on the surface of the sphere.
Further, the second determining module includes: the first determining submodule is used for determining a plurality of moving speed value ranges according to at least one moving speed value, wherein each moving speed value range is a range which takes a corresponding moving speed value as a center and takes a preset error as a distance; and the second determining submodule is used for voting a plurality of moving speed value ranges and determining the effective value of the rotating speed of the target object according to the moving speed range with the maximum overlapping times.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein an apparatus in which the storage medium is controlled to execute the rotational speed detection method of the present invention when the program is executed.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes to execute the rotational speed detection method of the present invention.
In the embodiment of the invention, all the mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object are obtained, wherein the mark points are used for distinguishing the surface of the target object in the images, and at least one mark point is arranged on the surface of the target object, wherein the target object is a sphere; determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in a physical space to obtain at least one moving distance; determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image; the rotation speed value of the target object is determined according to at least one moving speed value, the technical problem that the method for detecting the rotation speed of the high-speed rotating object in the related technology is low in precision is solved, and the technical effect of improving the detection precision of the rotation speed of the rotating object is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative rotational speed detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative rotational speed detection method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an alternative rotational speed detection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Embodiments of a method of detecting a rotational speed are provided.
Fig. 1 is a flow chart of an alternative rotational speed detection method according to an embodiment of the present invention, as shown in fig. 1, the method comprising the steps of:
step S101, acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object:
the target object is a sphere, and at least one marking point is arranged on the surface of the target object, and the marking point can be arranged on the surface of the target object by printing, pasting and the like. The mark point is used for distinguishing the mark point from the surface of the target object in the image, that is, the mark point can be extracted from the image by an image extraction algorithm, and the mark point can be distinguished from the surface of the target object in the image by color, for example, the color of the surface of the target object is white, and the color of the mark point is set to black, so that the mark point can be distinguished from the surface of the target object by an image segmentation algorithm, or the mark point can also be distinguished from the target object by setting the shape of the mark point, for example, the mark point is square, the target object is circular, so that the mark point in the target object can be determined by edge extraction. When extracting the target object from the image, a conventional image extraction method may be adopted, for example, the target object is obtained by methods such as background modeling, inter-frame difference, color classification, and the like.
The first frame image and the second frame image which are adjacent in time may be two adjacent frame images, or may be two frame images which are closely spaced in time. The image of the target object can be acquired through a high-speed camera, for example, the target object is a table tennis ball, and professional players can play the table tennis ball with the rotating speed of 180 revolutions per second, so that when a common camera is used for shooting the table tennis ball, the whole table tennis ball can have extremely serious smear, and spots on the table tennis ball can not be seen completely, the problem can be avoided by acquiring a table tennis ball video image through the high-speed camera, for example, the high-speed camera with the sampling frame rate of at least 1000 frames per second is selected, and the table tennis balls on two adjacent frames of images can be guaranteed to have the same mark points.
Step S102, determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in the physical space, and obtaining at least one moving distance:
the determination of the moving distance in the physical space according to the position in the image may be determined according to a ratio of the image to an actual size of the object, for example, since the target object is a sphere, a size ratio of the image to the physical space may be determined according to a ratio of a diameter of the sphere to a diameter of the sphere in the image, and further, an arc length on the target object in the physical space may be determined according to a distance between one mark point in the first frame image and a corresponding mark point in the second frame image on the target object in the image. The above-described manner of determining the distance in the physical space according to the position difference in the image is only an alternative embodiment, and the present application is not limited thereto.
The corresponding mark point of each mark point in the first frame image in the second frame image may refer to the same mark point on the target object, or may refer to different mark points on the target object.
Specifically, the following two cases can be classified according to the situation of setting the mark point on the target object:
in the first case, when only one mark point is set on the target object, or multiple mark points are set and all the mark points are different (that is, it can be determined that the mark point extracted from the image is the corresponding mark point on the target object), it can be determined whether one mark point in the first frame image and the mark point extracted from the second frame image are the same mark point on the target object, and at this time, the corresponding mark point in the second frame image and the mark point in the first frame image are the same mark point on the target object.
In the second case, when a plurality of marker points are set on the target object and the plurality of marker points cannot be distinguished in the image, the marker point actually corresponding to a certain marker point on the target object in the first frame image in the second frame image cannot be determined, and the following method can be adopted to solve the problem:
the corresponding mark points of each mark point in the first frame image in the second frame image can be defined as all mark points in the second frame image, that is, each mark point in the first frame image and each mark point in the second frame image are paired pairwise to obtain a plurality of mark point pairs, the plurality of mark point pairs include a correct mark point pair and an incorrect mark point pair, the correct mark point pair refers to that two mark points in the mark point pair are the same mark point in the target object, and the incorrect mark point pair refers to that two mark points in the mark point pair are different mark points in the target object.
The method comprises the steps of determining a plurality of moving distances according to a plurality of mark point pairs, wherein the correct moving distance of one mark point on a target object in a physical space can be obtained according to the correct mark point pair, and the moving distance determined according to the wrong mark point pair is the incorrect moving distance.
Step S103, determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image.
After determining the at least one movement distance, at least one movement velocity value may be calculated in combination with the time interval between the first frame image and the second frame image.
Step S104, determining the rotating speed value of the target object according to at least one moving speed value.
For example, the value of the rotational velocity of the target object may be determined from an average of at least one moving velocity value. Alternatively, in the second case, the plurality of moving distances may not be voted to determine the correct moving distance, but a plurality of moving velocity values calculated according to the plurality of moving distances may be voted to determine the rotation velocity value of the target object, and the principle of voting is similar to that of voting for the moving distances, and is not repeated herein.
The embodiment comprises the steps of acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, wherein the mark points are used for distinguishing the mark points from the surface of the target object in the image, and at least one mark point is arranged on the surface of the target object, wherein the target object is a sphere; determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in a physical space to obtain at least one moving distance; determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image; the rotation speed value of the target object is determined according to at least one moving speed value, the technical problem that the method for detecting the rotation speed of the high-speed rotating object in the related technology is low in precision is solved, and the technical effect of improving the detection precision of the rotation speed of the rotating object is achieved.
As an alternative embodiment, in a case that a plurality of marker points are disposed on the surface of the target object and the plurality of marker points are displayed in the same image, determining a moving distance between each marker point in the first frame image and a corresponding marker point in the second frame image in the physical space, and obtaining at least one moving distance includes: respectively pairing a first mark point in the first frame image with all mark points in the second frame image to obtain at least one mark point pair of the first mark point; determining the distance of each mark point pair on the surface of the target object; determining a rotational velocity value of the target object according to the at least one moving velocity value comprises: an effective value of the rotational speed of the target object is determined based on the at least one moving speed value.
As an alternative embodiment, the distance of each marked point pair on the surface of the target object is the arc length of the corresponding marked point pair on the surface of the sphere.
As an alternative embodiment, determining the effective value of the rotational speed of the target object from the at least one moving speed value comprises: determining a plurality of moving speed value ranges according to at least one moving speed value, wherein each moving speed value range takes a corresponding moving speed value as a center and takes a preset error as a distance range; voting is performed on a plurality of moving speed value ranges, and an effective value of the rotation speed of the target object is determined according to the moving speed range with the largest number of overlapping times.
In the case where the target object is a table tennis ball, an embodiment of the present invention in this application scenario is described below with reference to fig. 2:
1. coating points on table tennis balls at equal intervals
The surface of the table tennis ball is evenly coated with round spots (marking points) at equal intervals, and the color of the spots can be any color different from the color of the table tennis ball.
The number of points which can be completely and uniformly distributed on the spherical surface at intervals can be 4, 6, 8, 12 and 20 … …, preferably, 20 marking points are arranged on the surface of the table tennis, so that the marking points on the surface of the table tennis are as many as possible, any number of points which can be uniformly distributed on the table tennis can be adopted, and optionally, the number of points can be selected as many as possible, so that the number of observed points can be ensured to be as many as possible when the table tennis image is collected from any angle. The table tennis balls with dots coated at equal intervals can be customized.
2. High speed camera image acquisition
The embodiment adopts a high-speed camera to acquire ping-pong video images, and requires a camera sampling frame rate of at least 1000 frames/s, so that the ping-pong ball on two adjacent frames of images (a first frame of image and a second frame of image) is always observed at the same point. In addition, if the table tennis ball is shot by a high-speed camera, only one side of the ball can be seen in each image, and if 20 marking points are arranged on the surface of the table tennis ball, only 10 points can be seen at most each time.
3. Ping-pong ball detection
The ping-pong ball in each frame of image is detected and segmented by adopting the prior art of interframe difference or background modeling and the like, and the radius r of the ping-pong ball is estimated according to the pixel occupied by the ping-pong ball in the image.
4. Position estimation of sphere points
The points on the table tennis ball in the image may be brighter than the background and may be darker than the background, depending on the color of the table tennis ball itself and the color of the spots. Taking the example that the spots on the table tennis are lighted on the background, the non-maximum value can be adopted to inhibit and extract the coordinates of the spots on the table tennis image, so that the table tennis on each frame of image can obtain the positions of a plurality of spots, and the positions form the point set of the current table tennis image. When the spots on the table tennis ball are darker than the background, it is possible to extract the coordinates of the spots using non-minimum suppression.
5. Estimating rotational speed for a set of adjacent frame points
Two adjacent frames of ping-pong ball images will result in two point sets a and B. In the application scenario, because the marked points cannot be distinguished, two points in two point sets a and B need to be combined in pairs, the rotation speed of each combination is calculated, and the true rotation speed is determined by voting.
6. Voting and outputting actual rotating speed of table tennis
The speeds calculated by combining two points in pairs are not all the rotating speeds of the table tennis balls, and only the speeds solved by the real corresponding points are effective speeds, so that the rotating speeds of the table tennis balls can be estimated by adopting a voting mode. Since different pairs of error points will calculate different rotational speeds, while the rotational speeds calculated for all real points are the same. Therefore, the rotation speed with a large number of occurrences is used as the rotation speed of the final table tennis ball. It should be noted that, since the calculated rotational speeds have a certain error, the value of each calculated rotational speed may be expanded to a certain range, and the range in which the number of times of range overlapping is the largest may be determined as the range of the true rotational speed value.
The technical scheme provided by the embodiment is different from the prior art in that:
1. estimating the speed of the ping-pong ball by adopting image vision;
2. extracting the characteristics of the table tennis by adopting a table tennis uniform point coating mode;
3. in order to solve the motion smear, a high-speed camera and a strategy for estimating a spot center are adopted;
4. designing point pairs to calculate various possible rotating speeds in a pairwise combination mode;
5. solving the rotation speed of the real table tennis ball by using a projection mode;
the main advantage of this embodiment is the higher accuracy of estimating the speed of rotation of the table tennis ball.
It should be noted that, although the flow charts in the figures show a logical order, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
The application also provides an embodiment of a storage medium, the storage medium of the embodiment comprises a stored program, and when the program runs, a device where the storage medium is located is controlled to execute the rotation speed detection method of the embodiment of the invention.
The application further provides an embodiment of a processor, which is used for running a program, wherein the program is run to execute the rotation speed detection method of the embodiment of the invention.
The application also provides an embodiment of a device for detecting the rotation speed.
Fig. 2 is a schematic diagram of an alternative rotation speed detection apparatus according to an embodiment of the present invention, as shown in fig. 2, the apparatus includes an acquisition unit 10, a first determination unit 20, a second determination unit 30 and a third determination unit 40, where the acquisition unit is configured to acquire all mark points in a first frame image and a second frame image of a target object adjacent to each other in time during rotation, where the mark points are used to distinguish from a surface of the target object in the images, and at least one mark point is disposed on the surface of the target object, where the target object is a sphere; the first determining unit is used for determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in the physical space to obtain at least one moving distance; the second determining unit is used for determining at least one moving speed value according to at least one moving distance and the time interval between the first frame image and the second frame image; the third determination unit is configured to determine a rotation velocity value of the target object according to the at least one moving velocity value.
The embodiment acquires all the mark points in the first frame image and the second frame image which are adjacent in time during the rotation process of the target object through the acquisition unit, the mark points are used for distinguishing the mark points from the surface of the target object in the image, at least one mark point is arranged on the surface of the target object, the first determining unit determines the moving distance between each mark point in the first frame image and the corresponding mark point in the second frame image in the physical space to obtain at least one moving distance, the second determining unit determines at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image, and the third determining unit determines the rotating speed value of the target object according to the at least one moving speed value.
As an alternative embodiment, in a case where a plurality of marker points are provided on the surface of the target object and the plurality of marker points are displayed identically in the image, the first determination unit includes: the matching module is used for respectively matching the first mark point in the first frame image with all the mark points in the second frame image to obtain at least one mark point pair of the first mark point; a first determining module for determining the distance of each mark point on the surface of the target object; the third determination unit includes: and the second determination module is used for determining the effective value of the rotating speed of the target object according to the at least one moving speed value.
As an alternative embodiment, the distance of each marked point pair on the surface of the target object is the arc length of the corresponding marked point pair on the surface of the sphere.
As an alternative embodiment, the second determining module includes: the first determining submodule is used for determining a plurality of moving speed value ranges according to at least one moving speed value, wherein each moving speed value range is a range which takes a corresponding moving speed value as a center and takes a preset error as a distance; and the second determining submodule is used for voting a plurality of moving speed value ranges and determining the effective value of the rotating speed of the target object according to the moving speed range with the maximum overlapping times.
The above-mentioned apparatus may comprise a processor and a memory, and the above-mentioned units may be stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement the corresponding functions.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The order of the embodiments of the present application described above does not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways.
The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (8)
1. A method of detecting a rotational speed, comprising:
acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, wherein the mark points are used for distinguishing the mark points from the surface of the target object in the images, at least one mark point is arranged on the surface of the target object, and the target object is a sphere;
determining the moving distance of each mark point in the first frame image and the corresponding mark point in the second frame image in a physical space to obtain at least one moving distance;
determining at least one moving speed value according to the at least one moving distance and the time interval between the first frame image and the second frame image;
determining a rotation speed value of the target object according to the at least one moving speed value;
wherein, under the condition that a plurality of the marking points are arranged on the surface of the target object and the display of the plurality of the marking points in the image is the same,
determining a movement distance of each mark point in the first frame image and a corresponding mark point in the second frame image in a physical space, and obtaining at least one movement distance comprises: respectively pairing a first mark point in the first frame image with all mark points in the second frame image to obtain a plurality of mark point pairs of the first mark point; determining a distance of each of the marked points to the surface of the target object;
determining a rotational velocity value of the target object according to the at least one moving velocity value comprises: determining an effective value of the rotational speed of the target object according to the at least one moving speed value.
2. The method of claim 1, wherein each of the pairs of marked points is a distance on the surface of the target object that is an arc length of the corresponding pair of marked points on the surface of the sphere.
3. The method of claim 1, wherein determining a valid value of a rotational speed of the target object from the at least one moving speed value comprises:
determining a plurality of moving speed value ranges according to the at least one moving speed value, wherein each moving speed value range takes a corresponding moving speed value as a center and takes a preset error as a distance;
voting is carried out on the plurality of moving speed value ranges, and the effective value of the rotating speed of the target object is determined according to the moving speed range with the largest overlapping times.
4. A rotation speed detection apparatus, comprising:
the device comprises an acquisition unit, a rotation unit and a display unit, wherein the acquisition unit is used for acquiring all mark points in a first frame image and a second frame image which are adjacent in time in the rotation process of a target object, the mark points are used for distinguishing the mark points from the surface of the target object in the image, at least one mark point is arranged on the surface of the target object, and the target object is a sphere;
a first determining unit, configured to determine a moving distance between each marker point in the first frame image and a corresponding marker point in the second frame image in a physical space, so as to obtain at least one moving distance;
a second determining unit, configured to determine at least one moving speed value according to the at least one moving distance and a time interval between the first frame image and the second frame image;
a third determining unit, configured to determine a rotation speed value of the target object according to the at least one moving speed value;
wherein, under the condition that a plurality of the marking points are arranged on the surface of the target object and the display of the plurality of the marking points in the image is the same,
the first determination unit includes: the matching module is used for respectively matching a first mark point in the first frame image with all mark points in the second frame image to obtain a plurality of mark point pairs of the first mark point; a first determining module for determining a distance of each of the marked points to the surface of the target object;
the third determination unit includes: a second determining module, configured to determine an effective value of the rotation speed of the target object according to the at least one moving speed value.
5. The apparatus of claim 4, wherein each of the pairs of marked points is a distance on the surface of the target object that is an arc length of the corresponding pair of marked points on the surface of the sphere.
6. The apparatus of claim 4, wherein the second determining module comprises:
the first determining submodule is used for determining a plurality of moving speed value ranges according to the at least one moving speed value, wherein each moving speed value range is a range which takes a corresponding moving speed value as a center and takes a preset error as a distance;
and the second determining submodule is used for voting the plurality of moving speed value ranges and determining the effective value of the rotating speed of the target object according to the moving speed range with the maximum overlapping times.
7. A storage medium, characterized in that the storage medium comprises a stored program, wherein a device in which the storage medium is located is controlled to execute the rotational speed detection method according to any one of claims 1 to 3 when the program is executed.
8. A rotation speed detection apparatus comprising a processor and a memory, the memory storing a program, the processor being configured to execute the program to perform the rotation speed detection method according to any one of claims 1 to 3.
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| CN111545306B (en) * | 2020-05-18 | 2022-04-19 | 中国科学技术大学 | Method and system for realizing detection of working state of ball mill equipment through monitoring video |
| CN112798813A (en) * | 2021-01-25 | 2021-05-14 | 河南科技大学 | Method for testing rotating speed of revolution driven member in pair-rolling friction pair |
| CN113362366B (en) * | 2021-05-21 | 2023-07-04 | 上海奥视达智能科技有限公司 | Sphere rotation speed determining method and device, terminal and storage medium |
| CN114973033B (en) * | 2022-05-30 | 2024-03-01 | 青岛科技大学 | Unmanned aerial vehicle automatic detection target and tracking method |
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