CN111709969A - Device and method for identifying operation of separating funnel in simulation experiment - Google Patents
Device and method for identifying operation of separating funnel in simulation experiment Download PDFInfo
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- CN111709969A CN111709969A CN202010552326.0A CN202010552326A CN111709969A CN 111709969 A CN111709969 A CN 111709969A CN 202010552326 A CN202010552326 A CN 202010552326A CN 111709969 A CN111709969 A CN 111709969A
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- 238000004088 simulation Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005484 gravity Effects 0.000 claims abstract description 13
- 238000007789 sealing Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000001788 irregular Effects 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract 1
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention provides a device and a method for controlling and identifying a separating funnel in a simulation experiment, wherein the device comprises: the control module is used for simulating a piston structure of the separating funnel, associating a marking piece with the rotation angle of the piston structure, and shooting continuous pictures of the marking piece to be transmitted to the recognition unit; and the recognition module is used for calculating the flow rate of the solution in the separating funnel based on the continuous pictures of the identification sheet. The method comprises the following steps: acquiring an image of each frame of the identification sheet; calculating identificationThe coordinates of the center of gravity point of the ith frame of the slice; calculating the direction vector P of the logo patch in the ith framei(ii) a Calculating the rotation angle theta of the identification sheet; according to Pi×Pi‑1To determine the direction of rotation; calculating the flow Speed of the separating funnel at the i-th momenti. The invention realizes real-time measurement and simulation of the flow rate of the solution in the liquid distribution funnel by image recognition of the identification sheet.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a device and a method for controlling and identifying a separating funnel in a simulation experiment.
Background
The separating funnel is a glass experimental instrument and comprises a funnel body and a funnel cover covering the upper opening of the funnel body. The lower opening of the bucket body is provided with a piston with a three-way structure, and two ways of the piston are respectively connected with the two lower pipes. When the amount of liquid to be separated is large, two kinds of liquid in the hopper body can be simultaneously flowed to the lower pipe only by moving the tee joint of the piston, the operation can be completed at one time without replacing the container, and the main function of the separating funnel is to control the rate of chemical reaction in the early-middle stage.
The traditional separating funnel can only passively receive user operation, and the operation behavior of the user cannot be detected in the virtual reality technology, so that the success of the experiment operation cannot be judged in the simulation.
Disclosure of Invention
In order to solve the problems, the application provides a device and a method for identifying the control of the separating funnel in the simulation experiment, so that the control process of the separating funnel can be effectively identified, and the real solution flow rate can be simulated.
The invention discloses the following technical scheme:
the embodiment of the invention provides a device for controlling and identifying a separating funnel in a simulation experiment, which comprises:
the control module is used for simulating a piston structure of the separating funnel, associating a marking piece with the rotation angle of the piston structure, and shooting continuous pictures of the marking piece to be transmitted to the recognition unit;
and the recognition module is used for calculating the flow rate of the solution in the separating funnel based on the continuous pictures of the identification sheet.
Further, the control module comprises:
the sealed barrel comprises a sealed cavity with a hollow interior;
the rotating platform is arranged on one side in the sealing barrel;
the identification sheet is fixed on the rotating table;
the camera is arranged on one side, opposite to the rotating platform, in the sealed barrel and used for shooting the identification sheet on the rotating platform;
and the rotating shaft is arranged outside the sealing barrel, and one end of the rotating shaft penetrates through the sealing barrel and is fixedly connected with the rotating platform and used for driving the rotating platform to rotate.
Preferably, the sealed cavity of the sealed barrel is isolated from external light.
Preferably, a light source is arranged in the sealing cavity of the sealing barrel and used for ensuring the definition of pictures shot by the camera.
Preferably, the identification sheet is coated with a color for better distinction from the picture background.
Preferably, the identification piece is irregular in shape, so as to better distinguish the rotating direction.
Further, the identification module comprises:
the segmentation unit is used for segmenting the identification piece region of each frame;
a first calculating unit for calculating the gravity center point coordinate (x) of the ith frame of the identification patchi,yi)；
A second calculation unit for calculating the center of gravity point of the identification patch and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith framei；
A third calculation unit for calculating
Calculating the rotation angle theta of the identification piece:
a first judging unit for judging according to Pi×Pi-1The direction of rotation is judged according to the value of (A), if the value is a positive number, the clockwise rotation of the rotation direction is represented, and if the value is a negative number, the anticlockwise rotation is represented;
a fourth calculating unit for Speed according to formulai＝Speedi-1+ d λ θ calculating the flow velocity of the separatory funnel at time iiWherein d represents whether the current rotation direction is consistent with the specified flow velocity increasing direction, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
Based on the above device, the present application further provides a method for controlling recognition, where the method includes the following steps:
s1: acquiring an image of each frame of the identification sheet through a camera;
s2: dividing the area of the identification piece of each frame, and calculating the gravity center point coordinate (x) of the ith frame of the identification piecei,yi)；
S3: according to the gravity point of the identification piece and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith framei；
S4: calculating the rotation angle theta of the identification sheet;
s5: according to Pi×Pi-1The direction of rotation is judged according to the value of (A), if the value is a positive number, the clockwise rotation of the rotation direction is represented, and if the value is a negative number, the anticlockwise rotation is represented;
s6: calculating the flow Speed of the separating funnel at the i-th momenti＝Speedi-1+ d λ θ, where d denotes whether or not the direction of the current rotation coincides with the direction of the prescribed flow rate increase, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
Further, the direction vector P of the slice is identified in the ith frameiThe calculation formula is as follows: pi＝(xi-x0,yi-y0)。
Further, the rotation angle θ of the identification sheet is calculated by the following formula:
the invention has the beneficial effects that:
compared with the prior art, the relevance between the flow velocity and the identification piece is established, the identification piece and the piston are directly related by establishing the substitute structure of the piston part, then the rotation angle of the identification piece is judged and calculated by utilizing the principle of image recognition, and finally the rotation angle is converted into the solution flow velocity, so that the direct quantitative detection of the flow velocity of the liquid distribution funnel is realized, and data are provided for the virtual modeling of a simulation experiment.
Drawings
FIG. 1 is a schematic diagram of a control module of the apparatus of the present invention;
FIG. 2 is a schematic flow diagram of the process of the present invention;
in fig. 2: 1, sealing the barrel; 2, rotating the platform; 3, marking sheets; 4, a camera; 5 rotating the shaft; 6 light source.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It will be appreciated by those of skill in the art that the following specific examples or embodiments are a series of presently preferred arrangements of the invention to further explain the principles of the invention, and that such arrangements may be used in conjunction or association with one another, unless it is expressly stated that some or all of the specific examples or embodiments are not in association or association with other examples or embodiments. Meanwhile, the following specific examples or embodiments are only provided as an optimized arrangement mode and are not to be understood as limiting the protection scope of the present invention.
Examples
The embodiment of the invention provides a manipulation and identification device for a separating funnel in a simulation experiment, which comprises a manipulation module and an identification module.
The control module is used for simulating a piston structure of the separating funnel, associating a marking piece with the rotation angle of the piston structure, and shooting continuous pictures of the marking piece to be transmitted to the recognition unit.
The main structure of the module is shown in fig. 1, and specifically comprises:
the sealed barrel 1 comprises a sealed cavity with a hollow inner part, and the cavity structure is not limited in shape, but generally adopts a more regular shape such as a round shape, a cylindrical shape, an elliptic cylindrical shape and the like.
Because this cavity structures is set up for inside image shooting, consequently can choose for use black material or coating black coating on cavity inner wall or outer wall, the main objective is in order to keep apart outside light and cavity, avoids outside light to penetrate into in the cavity.
The rotating platform 2 is arranged on one side in the sealing barrel and mainly used for fixing the identification sheet 3.
Preferably, the identification sheet is coated with a bright color, such as red, for better distinction from the picture background, so that the camera can capture information more easily. Meanwhile, the identification sheet can be in an irregular shape for better distinguishing the rotating direction.
It should be noted that, if the identification plate is circular, the circle center of the identification plate does not need to be located at the center point of the picture shot by the camera, so that the situation that the change track of the identification plate cannot be judged is avoided.
The camera 4 is arranged on one side, opposite to the rotating platform, in the sealed barrel and used for shooting the identification sheet on the rotating platform. Taking fig. 1 as an example, the sealed barrel is cylindrical, the camera is a common RGB camera and must be fixed at the right center of one side of the sealed barrel, and in order to acquire the best image information, the focus must be adjusted to be right at the center of the other side (i.e. the rotating platform).
And the rotating shaft 5 is arranged outside the sealing barrel, one end of the rotating shaft penetrates through the sealing barrel and is fixedly connected with the rotating platform, and the rotating shaft is used for driving the rotating platform to rotate.
The light source 6 is used for enabling the camera to capture effective images and controlling environment variables in the sealed barrel to enable subsequent identification piece detection to be better carried out.
And the recognition module is used for calculating the flow rate of the solution in the separating funnel based on the continuous pictures of the identification sheet. The identification module comprises:
the segmentation unit is used for segmenting the identification piece region of each frame;
a first calculating unit for calculating the gravity center point coordinate (x) of the ith frame of the identification patchi,yi)；
A second calculation unit for calculating the center of gravity point of the identification patch and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith framei；
A third calculation unit for calculating
Calculating the rotation angle theta of the identification piece:
a first judging unit for judging according to Pi×Pi-1The direction of rotation is judged according to the value of (A), if the value is a positive number, the clockwise rotation of the rotation direction is represented, and if the value is a negative number, the anticlockwise rotation is represented;
a fourth calculating unit for Speed according to formulai＝Speedi-1+ d λ θ calculating the flow velocity of the separatory funnel at time iiWherein d represents whether the current rotation direction is consistent with the specified flow velocity increasing direction, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
Based on the above device, the present application further provides a method for handling recognition, as shown in fig. 2, the method includes the following steps:
1) and acquiring an image of each frame of the identification piece through the camera.
2) Dividing the area of the identification piece of each frame, and during the division, if the identification piece has color, dividing according to the color, and if the identification piece has no obvious color, dividing according to the boundary of the identification piece; after the division is finished, the gravity center point coordinate (x) of the ith frame of the identification piece is calculatedi,yi)。
3) According to the gravity point of the identification piece and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith frameiThe calculation formula is as follows: pi＝(xi-x0,yi-y0)。
4) Calculating the rotation angle theta of the identification sheet, wherein the calculation formula is as follows:
5) according to Pi×Pi-1If the value is positive, the rotation direction is clockwise rotation, and if the value is negative, the rotation direction is anticlockwise rotation。
6) Calculating the flow Speed of the separating funnel at the i-th momenti＝Speedi-1+ d λ θ, where d denotes whether or not the direction of the current rotation coincides with the direction of the prescribed flow rate increase, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
It should be noted that the above-described embodiments allow those skilled in the art to more fully understand the specific structure of the present invention, but do not limit the invention in any way. Therefore, although the present invention has been described in detail in the specification and drawings and the examples, it will be understood by those skilled in the art that the present invention may be modified and equivalents may be substituted; all technical solutions and modifications thereof which do not depart from the spirit and scope of the present invention are intended to be covered by the scope of the present invention.
Claims (10)
1. Separating funnel's control recognition device in simulation experiment, its characterized in that, the device include:
the control module is used for simulating a piston structure of the separating funnel, associating a marking piece with the rotation angle of the piston structure, and shooting continuous pictures of the marking piece to be transmitted to the recognition unit;
and the recognition module is used for calculating the flow rate of the solution in the separating funnel based on the continuous pictures of the identification sheet.
2. The device for identifying manipulation of a separatory funnel in a simulation experiment according to claim 1, wherein the manipulation module comprises:
the sealed barrel comprises a sealed cavity with a hollow interior;
the rotating platform is arranged on one side in the sealing barrel;
the identification sheet is fixed on the rotating table;
the camera is arranged on one side, opposite to the rotating platform, in the sealed barrel and used for shooting the identification sheet on the rotating platform;
and the rotating shaft is arranged outside the sealing barrel, and one end of the rotating shaft penetrates through the sealing barrel and is fixedly connected with the rotating platform and used for driving the rotating platform to rotate.
3. The device for identifying manipulation of a separatory funnel in a simulation experiment of claim 2, wherein the sealed cavity of the sealed bucket is isolated from outside light.
4. The device for identifying manipulation of a separatory funnel in a simulation experiment according to claim 3, wherein a light source is disposed in the sealed cavity of the sealed bucket.
5. The device for controlling and identifying a separatory funnel in a simulation experiment of claim 2, wherein the identification plate is coated with a color.
6. The device for controlling and identifying a separatory funnel in a simulation experiment of claim 1, wherein the identification plate is irregular in shape.
7. The device for identifying manipulation of a separatory funnel in a simulation experiment according to claim 1, wherein the identification module comprises:
the segmentation unit is used for segmenting the identification piece region of each frame;
a first calculating unit for calculating the gravity center point coordinate (x) of the ith frame of the identification patchi,yi)；
A second calculation unit for calculating the center of gravity point of the identification patch and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith framei；
A third calculation unit for calculating
Calculating the rotation angle theta of the identification piece:
a first judging unit for judging according to Pi×Pi-1Value of (A)Judging the rotating direction, if the value is positive, the rotating direction is clockwise rotation, and if the value is negative, the rotating direction is anticlockwise rotation;
a fourth calculating unit for Speed according to formulai＝Speedi-1+ d λ θ calculating the flow velocity of the separatory funnel at time iiWherein d represents whether the current rotation direction is consistent with the specified flow velocity increasing direction, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
8. The method for identifying the control of the separating funnel in the simulation experiment is realized based on the device of claim 1, and the method comprises the following steps:
s1: acquiring an image of each frame of the identification sheet through a camera;
s2: dividing the area of the identification piece of each frame, and calculating the gravity center point coordinate (x) of the ith frame of the identification piecei,yi)；
S3: according to the gravity point of the identification piece and the image center coordinate (x)0,y0) Calculating the direction vector P of the identification plate in the ith framei；
S4: calculating the rotation angle theta of the identification sheet;
s5: according to Pi×Pi-1The direction of rotation is judged according to the value of (A), if the value is a positive number, the clockwise rotation of the rotation direction is represented, and if the value is a negative number, the anticlockwise rotation is represented;
s6: calculating the flow Speed of the separating funnel at the i-th momenti＝Speedi-1+ d λ θ, where d denotes whether or not the direction of the current rotation coincides with the direction of the prescribed flow rate increase, and if so, d is 1; if the two values are not consistent, d is-1, and lambda is a constant and represents the degree of change, and the two values can be designed according to actual conditions; theta is the rotation angle of the identification piece.
9. The method for identifying manipulation of a separatory funnel in a simulation experiment as claimed in claim 8, wherein the method comprisesIn step S3, PiThe calculation formula of (2) is as follows: pi＝(xi-x0,yi-y0)。
10. The method for identifying manipulation of a separatory funnel in a simulation experiment according to claim 8, wherein in step S4, the calculation formula of θ is:
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| CN202010552326.0A CN111709969A (en) | 2020-06-17 | 2020-06-17 | Device and method for identifying operation of separating funnel in simulation experiment |
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| CN202010552326.0A CN111709969A (en) | 2020-06-17 | 2020-06-17 | Device and method for identifying operation of separating funnel in simulation experiment |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912974A (en) * | 2015-12-18 | 2016-08-31 | 乐视致新电子科技（天津）有限公司 | Gesture identification method and apparatus |
| CN110288016A (en) * | 2019-06-21 | 2019-09-27 | 济南大学 | The multi-modal intention fusion method of one kind and application |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912974A (en) * | 2015-12-18 | 2016-08-31 | 乐视致新电子科技（天津）有限公司 | Gesture identification method and apparatus |
| CN110288016A (en) * | 2019-06-21 | 2019-09-27 | 济南大学 | The multi-modal intention fusion method of one kind and application |
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Application publication date: 20200925 |