CN113821965B - Active particle trajectory tracking method and system - Google Patents
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Abstract
The invention provides an active particle trajectory tracking method and system, comprising the following steps: determining target active particles, tracking the motion trail of the target active particles, and updating the coordinate data of the active particles in real time; acquiring real-time coordinate data of the active particles, and recording the real-time coordinate data to form a coordinate data set; and generating a motion analysis model according to the coordinate data set of the active particles, and predicting the motion trail of the active particles. The invention has the beneficial effects that: the invention can track the motion trail of the active particles and predict the motion trail of the active particles through the historical motion trail, thereby being beneficial to improving the efficiency and the accuracy of the motion trail tracking of the active particles.
Description
Technical Field
The invention relates to the technical field of trajectory tracking, in particular to a method and a system for tracking a trajectory of an active particle.
Background
At present, in a translation motion, active particles move at a fixed speed along a dipole direction, in a rotation motion, the motion direction of the active particles continuously changes along with a rotational diffusion coefficient, in addition, the active particles can generate individual motion and cluster motion, the acting force between the active particles can also change according to the difference of the active force of the active particles, and the direction of the active particles can also randomly change in the process of moving towards a certain direction.
Disclosure of Invention
The invention provides an active particle trajectory tracking method and system, which are used for tracking the motion trajectory of active particles according to the motion speed and direction of the active particles and predicting the motion of the active particles according to the historical motion trajectory of the active particles, so that the efficiency and the accuracy of tracking the motion trajectory of the active particles are improved.
An active particle trajectory tracking method, comprising:
determining target active particles, tracking the motion trail of the target active particles, and updating the coordinate data of the active particles in real time;
acquiring real-time coordinate data of the active particles, and recording the real-time coordinate data to form a coordinate data set;
and generating a motion analysis model according to the coordinate data set of the active particles, and predicting the motion trail of the active particles.
In an embodiment of the present invention, the determining a target active particle, tracking a motion trajectory of the target active particle, and updating coordinate data of the active particle in real time includes:
acquiring state information of all active particles in a cluster, and marking the active particles by using a preset rule;
classifying the active particles according to the marking information to obtain first characteristic information and second characteristic information;
acquiring voxel characteristic values of all active particles in the cluster based on the first characteristic information, and acquiring a first active particle domain according to a preset voxel threshold;
acquiring an average speed value of the running of all active particles in the cluster based on the second characteristic information, and acquiring a second active particle domain according to a preset speed threshold;
and determining target active particles based on the first active particle domain and the second active particle domain.
In one embodiment of the present invention, the determining the target active particles based on the first and second active particle domains includes:
performing intersection processing on the first active particle domain and the second active particle domain to obtain a third active particle domain;
judging whether the activity force of the active particles in the third active particle domain is greater than a preset activity force according to the third active particle domain;
if yes, acquiring real-time state information and position information of the active particles;
otherwise, the active particles are excluded from the third active particle domain.
In an embodiment of the present invention, the acquiring real-time coordinate data of the active particle and recording the real-time coordinate data to form a coordinate data set includes:
acquiring real-time coordinate data of the active particles under a camera coordinate system, and determining a data screening standard based on the real-time coordinate data;
based on the data screening standard, sending the coordinate data set to a data screening model for training to obtain a coordinate data screening model;
determining a coordinate data scatter diagram corresponding to the active particles in the third active particle domain based on the coordinate data screening model, and meanwhile, obtaining the sequence characteristics of each data scatter point in the coordinate data scatter diagram;
and acquiring a motion path corresponding to each active particle in the third active particle domain based on the sequence characteristics of the data scatter points.
In an embodiment of the present invention, the generating a motion analysis model according to the coordinate data set of the active particle and predicting a motion trajectory of the active particle includes:
acquiring the instantaneous acceleration value and the rotational diffusion coefficient of the active particles, and performing preliminary prediction on the motion trail of the active particles based on the historical motion trail of the active particles;
generating a candidate track set based on the preliminary prediction result, and determining a sample division standard by using the average distance between the candidate track and the actual motion track;
based on the sample division standard, correcting the coordinate data in the candidate track set to obtain a corrected track set;
and determining the confidence level of the corresponding coordinate track in the corrected track set based on the corrected track set, and determining the track with the highest confidence level as a motion track prediction result.
In an embodiment of the present invention, the generating a motion analysis model according to the coordinate data set of the active particle and predicting a motion trajectory of the active particle further includes:
based on the motion coordinate data of all active particles in the third active particle domain, taking the motion coordinate data as a training set corresponding to the active particles, and inputting the training set data into a motion analysis model for training to obtain a coordinate data training result;
verifying the training result based on the coordinate data training result of the active particles to obtain a coordinate data verification result;
and updating and setting parameters in the motion analysis model based on the coordinate data verification result to obtain the latest prediction parameters.
In an embodiment of the present invention, the determining a coordinate data scattergram corresponding to active particles in the third active particle domain based on the coordinate data screening model, and acquiring the sequence characteristic of each data scattergram in the coordinate data scattergram further includes:
acquiring real-time coordinate data corresponding to the active particles in the third active particle domain, and judging whether coordinate data superposition occurs at the same time;
if so, determining the coordinate data coincidence information, and determining a collision point based on the coincidence data;
determining active particle information of the collision in the third active particle domain based on the collision point data information and according to the active particle marking data;
based on the information of the active particles with collision, the active particles are removed from a third active particle domain, and the collision result is counted to obtain a corresponding collision report;
otherwise, determining that the active particles in the third active particle domain do not collide in the moving process.
An active particle trajectory tracking system, comprising:
a data acquisition module: the device is used for carrying out real-time positioning monitoring on the positions of active particles, dynamically acquiring real-time coordinate data of the active particles and recording the instantaneous acceleration of the active particles;
a trajectory tracking module: the device comprises a motion path generation module, a motion trajectory report generation module and a display module, wherein the motion path generation module is used for dynamically generating a motion path of active particles based on real-time coordinate data of the active particles, generating the motion trajectory report and displaying the trajectory report;
a collision warning module: the system is used for judging whether the active particles in the active particle bath collide during movement, if so, the system starts a first alarm and counts collision results;
a trajectory prediction module: and the prediction result of the motion trail of the active particles is determined according to the historical motion trail of the active particles.
In one embodiment of the present invention, the collision warning module includes:
a data storage unit: the real-time coordinate data and the historical coordinate data of the active particles in the active particle bath are stored;
a data comparison unit: the system is used for judging whether the coordinate data are the same at the same time or not based on the real-time coordinate data and the historical coordinate data of the active particles, and determining a data comparison result;
a judgment result unit: and the data comparison result is used for determining whether the active particles collide or not and determining a judgment result.
In one embodiment of the invention, the trajectory prediction module comprises:
a speed grading unit: the system comprises a speed classification module, a speed classification module and a speed classification module, wherein the speed classification module is used for classifying the speed grades of active particles in the active particle domain through a preset standard speed and determining the speed grades of the active particles;
a trajectory model unit: the system is used for simulating a motion analysis model based on the speed grade and according to the historical motion trail of the active particles;
a trajectory prediction unit: and the device is used for sending the historical motion trail of the active particles to a motion analysis model, predicting the trail of the active particles and determining the trail prediction result.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart of an active particle trajectory tracking method according to an embodiment of the present invention;
FIG. 2 is a block diagram of an active particle trajectory tracking system in accordance with an embodiment of the present invention;
FIG. 3 is a block diagram of a collision module in an active particle trajectory tracking system in accordance with an embodiment of the present invention;
fig. 4 is a block diagram of a trajectory prediction module in an active particle trajectory tracking system according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides an active particle trajectory tracking method, as shown in fig. 1, including:
determining target active particles, tracking the motion trail of the target active particles, and updating the coordinate data of the active particles in real time;
acquiring real-time coordinate data of the active particles, and recording the real-time coordinate data to form a coordinate data set;
generating a motion analysis model according to the coordinate data set of the active particles, and predicting the motion trail of the active particles;
the working principle of the technical scheme is as follows: according to the method, the characteristics of all active particles in the active particle bath are compared, so that the target tracking active particles are determined, the motion coordinate data of the active particles are stored in real time to form a coordinate data set, the coordinate data set is sent to a motion analysis model for training, and therefore the motion trail of the active particles can be predicted according to the historical motion trail of the target active particles.
The beneficial effects of the above technical scheme are: the method can track the motion trail of the active particles and predict the motion trail of the active particles through the historical motion trail, and is beneficial to improving the efficiency and accuracy of the motion trail tracking of the active particles.
In one embodiment, the determining the target active particle, tracking a motion trajectory of the target active particle, and updating the coordinate data of the active particle in real time includes:
acquiring state information of all active particles in a cluster, and marking the active particles by using a preset rule;
classifying the active particles according to the marking information to obtain first characteristic information and second characteristic information;
acquiring voxel characteristic values of all active particles in the cluster based on the first characteristic information, and acquiring a first active particle domain according to a preset voxel threshold;
acquiring an average speed value of the running of all active particles in the cluster based on the second characteristic information, and acquiring a second active particle domain according to a preset speed threshold;
determining target active particles based on the first and second active particle domains;
the working principle of the technical scheme is as follows: in the invention, an active particle domain comprises a plurality of active particle clusters, in order to track the motion trail of active particles, a target tracking object needs to be searched in the clusters, the target active particles are screened by comparing the voxel characteristic value and the speed value of the active particles in a characteristic comparison mode, the obtained active particle voxels and speeds are compared with a preset threshold value, the active particles which meet the requirements can be set as the target active particles, the motion trail of the active particles is tracked, wherein the active particle voxels which meet the voxel threshold value requirement are a first active particle domain, the active particle voxels which meet the speed threshold value requirement are a second active particle domain, the first active particle domain and the second active particle domain are intersected, and the obtained sub-domain is the target tracking active particle;
the beneficial effects of the above technical scheme are: according to the invention, the target tracking object is determined by screening the voxel and the speed standard, so that the effectiveness and efficiency of active particle trajectory tracking are improved in a targeted manner, and the active particles with poor motion quality are removed, thereby ensuring that the tracked objects are all high-quality active particles.
In one embodiment, the determining the target active particles based on the first and second active particle domains includes:
performing intersection processing on the first active particle domain and the second active particle domain to obtain a third active particle domain;
judging whether the activity force of the active particles in the third active particle domain is greater than a preset activity force according to the third active particle domain;
if so, acquiring real-time state information and position information of the active particles;
otherwise, removing the active particles from the third active particle domain;
the working principle of the technical scheme is as follows: comparing a voxel value and a speed value in an active particle domain with a preset threshold value to obtain a first active particle domain and a second active particle domain, then taking an intersection of the first active particle domain and the second active particle domain to obtain a third active particle domain, judging whether the activity force of all active particles meets the preset activity force in the third active particle domain, if the preset activity force cannot be met, rejecting the active particles which do not meet the activity force requirement from the third active particle domain, and finally, determining the third active particle domain as a determined target active particle;
the beneficial effects of the above technical scheme are: according to the active particle tracking method, the first active particle domain and the second active particle domain are intersected to obtain the third active particle domain, but a large number of invalid active particles are still contained in the third active particle domain, and the range of the third active particle domain is further narrowed by comparing whether the activity force of the active particles in the third active particle domain meets the requirement, so that a target tracking object is selected in a more targeted manner, and the efficiency and the accuracy of active particle motion trajectory tracking are improved.
In one embodiment, the acquiring real-time coordinate data of the active particles and recording the real-time coordinate data to form a coordinate data set includes:
acquiring real-time coordinate data of the active particles under a camera coordinate system, and determining a data screening standard based on the real-time coordinate data;
based on the data screening standard, sending the coordinate data set to a data screening model for training to obtain a coordinate data screening model;
determining a coordinate data scatter diagram corresponding to the active particles in the third active particle domain based on the coordinate data screening model, and meanwhile, obtaining the sequence characteristics of each data scatter point in the coordinate data scatter diagram;
acquiring a motion path corresponding to each active particle in the third active particle domain based on the sequence characteristics of the data scatter points;
the working principle of the technical scheme is as follows: the real-time coordinate data of target active particles are read through a high-speed camera, a coordinate data set of the active particles is formed through a preset data screening standard, the coordinate data set is sent to a data screening model to be trained, the coordinate data screening model is obtained, coordinate data scatter diagrams of all the target active particles in a third active particle domain are obtained through the obtained data screening model, and the sequential characteristics of the coordinate data scatter diagrams are determined, namely the motion path diagram corresponding to each active particle can be obtained, wherein different active particles are marked in advance, so that the corresponding motion path diagrams of different active particles can be finally distinguished;
the beneficial effects of the above technical scheme are: according to the method, the coordinate data scatter diagram of all the target active particles in the third active particle domain is obtained, and the complete path information of the corresponding active particles is finally obtained through the sequence characteristics of the corresponding coordinate data scatter diagram, wherein different active particles are marked in advance, so that the corresponding motion path diagrams of different active particles can be finally distinguished, different motion trajectory diagrams containing different active particles can be distinguished, and the efficiency and the accuracy of tracking the motion trajectories of the active particles can be improved.
In one embodiment, the generating a motion analysis model from the coordinate data set of the active particle and predicting a motion trajectory of the active particle includes:
acquiring the instantaneous acceleration value and the rotational diffusion coefficient of the active particles, and performing preliminary prediction on the motion trail of the active particles based on the historical motion trail of the active particles;
generating a candidate track set based on the preliminary prediction result, and determining a sample division standard by using the average distance between the candidate track and the actual motion track;
correcting the coordinate data in the candidate track set based on the sample division standard to obtain a corrected track set;
determining the confidence level of the corresponding coordinate track in the corrected track set based on the corrected track set, and determining the track with the highest confidence level as a motion track prediction result;
the working principle of the technical scheme is as follows: in the process of tracking the motion tracks of the active particles, the method can also carry out preliminary prediction on the motion tracks of the active particles by obtaining the instantaneous acceleration value and the rotational diffusion coefficient of the active particles to generate a candidate track set, then determine a sample division standard by comparing the average spacing distance between the candidate track and the actual motion track of the active particles, realize the correction of the candidate track set through the sample division standard, still cannot determine the final predicted track in the corrected candidate track set, and at the moment, select the candidate track with the highest confidence level to determine the final predicted track through dividing the confidence level.
The beneficial effects of the above technical scheme are: according to the method, the initial prediction of the motion trail of the active particles is realized by obtaining the instantaneous acceleration value and the rotational diffusion coefficient of the active particles, the correction of the candidate trail set is realized by comparing the average interval distance between the candidate trail and the actual motion trail of the active particles, and finally the trail with the highest trust level is selected as the final predicted trail, so that the predicted trail obtained in the mode can obtain higher accuracy, and the efficiency and the accuracy of the active particle motion trail tracking are improved.
In one embodiment, the generating a motion analysis model from the coordinate data set of the active particle and predicting a motion trajectory of the active particle further comprises:
based on the motion coordinate data of all active particles in the third active particle domain, taking the motion coordinate data as a training set corresponding to the active particles, and inputting the training set data into a motion analysis model for training to obtain a coordinate data training result;
verifying the training result based on the coordinate data training result of the active particles to obtain a coordinate data verification result;
updating and setting parameters in the motion analysis model based on the coordinate data verification result to obtain the latest prediction parameters;
the working principle of the technical scheme is as follows: according to the method, a coordinate data set of active particles is used as a training set and is sent to a motion analysis model for training, data in the training set is verified, a verification result is sent to the motion analysis model, and parameters in the motion analysis model are optimized and set, so that optimized prediction parameters are obtained;
the beneficial effects of the above technical scheme are: according to the invention, the prediction parameters are set in a training set mode, so that the parameters in the motion analysis model can be continuously updated and set even if the latest motion characteristics are obtained according to the motion condition of the latest active particles, the accuracy of prediction can be improved, and the efficiency of tracking the motion trail of the active particles can be improved.
In one embodiment, the determining a coordinate data scattergram corresponding to active particles in the third active particle domain based on the coordinate data screening model, and acquiring the sequence characteristic of each data scattergram in the coordinate data scattergram further includes:
acquiring real-time coordinate data corresponding to the active particles in the third active particle domain, and judging whether coordinate data superposition occurs at the same time;
if yes, determining the coordinate data coincidence information, and determining a collision point based on the coincidence data;
determining active particle information of the collision in the third active particle domain based on the collision point data information and according to the active particle marking data;
based on the information of the active particles with collision, the active particles are removed from a third active particle domain, and the collision result is counted to obtain a corresponding collision report;
otherwise, determining that the active particles in the third active particle domain do not collide in the motion process;
the working principle of the technical scheme is as follows: in the invention, the real-time coordinate data corresponding to the active particles in the third active particle domain is obtained, and then whether the real-time coordinate data at the same moment are the same or not is compared, if so, the collision condition in the active particles is determined, and if the active particles collide, the subsequent motion trail of the corresponding particles is possibly influenced, so that the particles which are collided need to be removed from the active particle domain;
the beneficial effects of the above technical scheme are: according to the invention, by searching whether the active particles collide in the moving process, the collision condition is searched, and the collision can influence the moving track of the particles, so that the efficiency and the accuracy of tracking the track of the active particles are improved, and the adverse effect of collision on the track is eliminated.
In one embodiment, an active particle trajectory tracking system, as shown in fig. 2, comprises:
a data acquisition module: the device is used for carrying out real-time positioning monitoring on the positions of active particles, dynamically acquiring real-time coordinate data of the active particles and recording the instantaneous acceleration of the active particles;
a trajectory tracking module: the device comprises a motion path generation module, a motion trajectory report generation module and a display module, wherein the motion path generation module is used for dynamically generating a motion path of active particles based on real-time coordinate data of the active particles, generating the motion trajectory report and displaying the trajectory report;
a collision warning module: the system is used for judging whether the active particles in the active particle bath collide during movement, if so, the system starts a first alarm and counts collision results;
a trajectory prediction module: the prediction result of the motion trail of the active particles is determined according to the historical motion trail of the active particles;
the working principle of the technical scheme is as follows: the active particle trajectory tracking system is divided into four modules which are a data acquisition module, a trajectory tracking module, a collision alarm module and a trajectory prediction module respectively, wherein the data acquisition module is responsible for carrying out real-time positioning monitoring on the position of an active particle, dynamically acquiring real-time coordinate data of the active particle and recording the instantaneous acceleration of the active particle, the trajectory tracking module is responsible for dynamically generating a motion path of the active particle according to the real-time coordinate data of the active particle, generating a motion trajectory report and displaying the trajectory report, the collision alarm module is responsible for judging whether the active particle in an active particle bath collides during motion, if so, the system starts a first alarm and counts collision results, and the trajectory prediction module is responsible for determining the active particle motion trajectory prediction result according to the historical motion trajectory of the active particle;
the beneficial effects of the above technical scheme are: according to the invention, the trajectory tracking system of the active particles is divided into different modules, and each module is responsible for different functions, so that the accuracy of prediction is improved, and the efficiency of tracking the motion trajectory of the active particles is improved.
In one embodiment, the collision warning module, as shown in fig. 3, includes:
a data storage unit: the real-time coordinate data and the historical coordinate data of the active particles in the bath of the active particles are stored;
a data comparison unit: the system is used for judging whether the coordinate data are the same at the same time or not based on the real-time coordinate data and the historical coordinate data of the active particles, and determining a data comparison result;
a judgment result unit: the data comparison result is used for determining whether the active particles collide or not and determining a judgment result;
the working principle of the technical scheme is as follows: the collision alarm module comprises a data storage unit, a data comparison unit and a judgment result unit, wherein the data storage unit is responsible for storing real-time coordinate data and historical coordinate data of active particles in an active particle bath;
the beneficial effects of the above technical scheme are: according to the invention, different units are divided in the collision alarm module to judge whether the active particles collide in the motion process, and alarm is carried out, so that the state information of the collided particles can be obtained in time, the collided particles are removed from the third active particle domain, and the efficiency and the accuracy of tracking the motion trail of the active particles can be improved.
In one embodiment, the trajectory prediction module, as shown in fig. 4, includes:
a speed grading unit: the system comprises a speed classification module, a speed classification module and a speed classification module, wherein the speed classification module is used for classifying the speed grades of active particles in the active particle domain through a preset standard speed and determining the speed grades of the active particles;
a trajectory model unit: the system is used for simulating a motion analysis model based on the speed grade and according to the historical motion trail of the active particles;
a trajectory prediction unit: the motion analysis module is used for sending the historical motion track of the active particles to a motion analysis model, predicting the track of the active particles and determining a track prediction result;
the working principle of the technical scheme is as follows: the method comprises the steps that a track prediction module is divided into a speed grading unit, a track model unit and a track prediction unit, wherein the speed grading unit is used for grading the moving speed of active particles by utilizing a preset standard speed, the track model unit is used for simulating a motion analysis model according to the graded speed and the historical moving track of the active particles, and the track prediction unit is used for predicting the moving track of the active particles by sending the historical moving track of the active particles to the motion analysis model;
the beneficial effects of the above technical scheme are: the method realizes the prediction of the motion trail of the active particles by utilizing the divided speed grade and the historical motion trail, and is beneficial to improving the efficiency and the accuracy of the active particle motion trail tracking.
In one embodiment, the determining a target active particle, tracking a motion trajectory of the target active particle, and updating coordinate data of the active particle in real time includes:
acquiring state information of all active particles in a cluster, and marking the active particles by using a preset rule;
classifying the active particles according to the marking information to obtain first characteristic information and second characteristic information;
acquiring voxel characteristic values of all active particles in the cluster based on the first characteristic information, and acquiring a first active particle domain according to a preset voxel threshold;
acquiring an average speed value of the running of all active particles in the cluster based on the second characteristic information, and acquiring a second active particle domain according to a preset speed threshold;
determining target active particles based on the first and second active particle domains;
the working principle of the technical scheme is as follows: in the invention, when the state information of the active particles is firstly obtained, the calculation process is as follows:
wherein m represents the mass of the corresponding active particle, y k (x) Denotes the value of the coordinate position of the active particle denoted k at any time, L k Representing the magnitude of the force experienced by the active particle labeled k, the corresponding equation of motion for the active particle is as follows:
wherein H b Indicating the active force of the corresponding active particle,
represents the direction vector, P, of the corresponding active particle t And P r Respectively represents the diffusion coefficients corresponding to the active particles in translation and rotation during the movement process, mainly the diffusion coefficients at different moments,
representing the noise disturbance experienced during the movement of the active particles. Theta y Representing a coordinate position coefficient; e represents the intensity of the active particles; μ represents the force coefficient;
representing a motion vector at an arbitrary time; alpha is alpha k (t) represents a noise influence coefficient received during the movement of the active particles.
The beneficial effects of the above technical scheme are: according to the invention, the state information and the motion equation of the active particles in the motion process are obtained through calculation, so that the motion process of the active particles is tracked, and the efficiency and the accuracy of tracking the track are improved.
In one embodiment, the trajectory prediction module comprises:
a speed grading unit: the system comprises a speed classification module, a speed classification module and a speed classification module, wherein the speed classification module is used for classifying the speed grades of active particles in the active particle domain through a preset standard speed and determining the speed grades of the active particles;
a trajectory model unit: the system is used for simulating a motion analysis model based on the speed grade and according to the historical motion trail of the active particles;
a trajectory prediction unit: the motion analysis module is used for sending the historical motion track of the active particles to a motion analysis model, predicting the track of the active particles and determining a track prediction result;
the working principle of the technical scheme is as follows: when the motion trail of the active particles is predicted, the speed grade of the corresponding active particles needs to be calculated:
wherein a represents an instantaneous acceleration value of the corresponding active particle,
denotes the average velocity of the active particles during movement, m t Denotes the active particle marked t, D r Represents the rotational diffusion coefficient of the corresponding active particle; level represents a speed level;
according to the speed grade and the historical motion trail of the corresponding active particles, the coordinate point prediction formula of the active particles is as follows:
wherein x, y and z respectively represent coordinate values of the active particles predicted according to the historical motion trail,<N b >indicating the boundaries of the regions of the active particles,<n a >representing cluster boundaries, D r Denotes the value of the rotational diffusion coefficient of the active particle, F a Denotes the activity force of the particle, alpha denotes the curve fitting parameter, epsilon t The curvature value of the active particles at the time t is shown, and r is the radius of the particles;
to prevent overfitting during trajectory prediction, a scalar index is introduced:
β T (t)＝d[log(<(Δr cm (t)) 2 >)]/d[log(t)]
wherein, beta T (t)＝1，Δr cm (t) represents the mean square angular displacement of the active particles at the corresponding time t;
the beneficial effects of the above technical scheme are: according to the invention, the coordinate values of the active particles can be predicted according to the rotation diffusion coefficient and the historical movement track of the active particles through the track prediction model, and the efficiency and effectiveness of tracking the active particle track can be improved by predicting the track of the active particles.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. An active particle trajectory tracking method, comprising:
determining target active particles, tracking the motion trail of the target active particles, and updating the coordinate data of the active particles in real time;
acquiring real-time coordinate data of the active particles, and recording the real-time coordinate data to form a coordinate data set;
generating a motion analysis model according to the coordinate data set of the active particles, and predicting the motion trail of the active particles;
generating a motion analysis model according to the coordinate data set of the active particles, and predicting the motion trail of the active particles comprises:
acquiring the instantaneous acceleration value and the rotational diffusion coefficient of the active particles, and performing preliminary prediction on the motion trail of the active particles based on the historical motion trail of the active particles;
generating a candidate track set based on the preliminary prediction result, and determining a sample division standard by using the average distance between the candidate track and the actual motion track;
based on the sample division standard, correcting the coordinate data in the candidate track set to obtain a corrected track set;
and determining the confidence level of the corresponding coordinate track in the corrected track set based on the corrected track set, and determining the track with the highest confidence level as a motion track prediction result.
2. The active particle trajectory tracking method according to claim 1, wherein the determining a target active particle, tracking a motion trajectory of the target active particle, and updating the coordinate data of the active particle in real time comprises:
acquiring state information of all active particles in a cluster, and marking the active particles by using a preset rule;
classifying the active particles according to the marking information to obtain first characteristic information and second characteristic information;
acquiring voxel characteristic values of all active particles in the cluster based on the first characteristic information, and acquiring a first active particle domain according to a preset voxel threshold;
acquiring an average speed value of the running of all active particles in the cluster based on the second characteristic information, and acquiring a second active particle domain according to a preset speed threshold;
and determining target active particles based on the first active particle domain and the second active particle domain.
3. The active-particle trajectory tracking method according to claim 2, wherein the determining the target active particles based on the first active-particle region and the second active-particle region includes:
performing intersection processing on the first active particle domain and the second active particle domain to obtain a third active particle domain;
judging whether the activity force of the active particles in the third active particle domain is greater than a preset activity force according to the third active particle domain;
if so, acquiring real-time state information and position information of the active particles;
otherwise, the active particles are excluded from the third active particle domain.
4. The method of claim 3, wherein the obtaining real-time coordinate data of the active species and recording the real-time coordinate data to form a coordinate data set comprises:
acquiring real-time coordinate data of the active particles under a camera coordinate system, and determining a data screening standard based on the real-time coordinate data;
based on the data screening standard, sending the coordinate data set to a data screening model for training to obtain a coordinate data screening model;
determining a coordinate data scatter diagram corresponding to the active particles in the third active particle domain based on the coordinate data screening model, and acquiring the sequence characteristics of each data scatter point in the coordinate data scatter diagram;
and acquiring a motion path corresponding to each active particle in the third active particle domain based on the sequence characteristics of the data scatter points.
5. The active particle trajectory tracking method of claim 4, wherein generating a motion analysis model based on the coordinate data set of the active particle and predicting the motion trajectory of the active particle further comprises:
based on the motion coordinate data of all active particles in the third active particle domain, taking the motion coordinate data as a training set corresponding to the active particles, and inputting the training set data into a motion analysis model for training to obtain a coordinate data training result;
verifying the training result based on the coordinate data training result of the active particles to obtain a coordinate data verification result;
and updating and setting parameters in the motion analysis model based on the coordinate data verification result to obtain the latest prediction parameters.
6. The method of claim 4, wherein determining a scatter plot of coordinate data corresponding to active particles in the third active particle domain based on the coordinate data screening model and obtaining a sequential characterization of each data scatter plot of the coordinate data scatter plot further comprises:
acquiring real-time coordinate data corresponding to the active particles in the third active particle domain, and judging whether coordinate data superposition occurs at the same time;
if so, determining the coordinate data coincidence information, and determining a collision point based on the coordinate data coincidence information;
determining active particle information of the collision in the third active particle domain based on the collision point data information and according to the active particle marking data;
based on the information of the active particles with collision, the active particles are removed from a third active particle domain, and the collision result is counted to obtain a corresponding collision report;
otherwise, determining that the active particles in the third active particle domain do not collide in the moving process.
7. An active particle trajectory tracking system, comprising:
a data acquisition module: the device is used for carrying out real-time positioning monitoring on the positions of active particles, dynamically acquiring real-time coordinate data of the active particles and recording the instantaneous acceleration of the active particles;
a trajectory tracking module: the device comprises a motion path generation module, a motion trajectory report generation module and a display module, wherein the motion path generation module is used for dynamically generating a motion path of active particles based on real-time coordinate data of the active particles, generating the motion trajectory report and displaying the trajectory report;
a collision warning module: the system is used for judging whether the active particles in the active particle bath collide during movement, if so, the system starts a first alarm and counts collision results;
a trajectory prediction module: the prediction result of the motion trail of the active particles is determined according to the historical motion trail of the active particles;
the trajectory prediction module performs the following operations:
acquiring an instantaneous acceleration value and a rotational diffusion coefficient of the active particles, and performing preliminary prediction on the motion trail of the active particles based on the historical motion trail of the active particles;
generating a candidate track set based on the preliminary prediction result, and determining a sample division standard by using the average distance between the candidate track and the actual motion track;
correcting the coordinate data in the candidate track set based on the sample division standard to obtain a corrected track set;
and determining the confidence level of the corresponding coordinate track in the corrected track set based on the corrected track set, and determining the track with the highest confidence level as a motion track prediction result.
8. The active particle trajectory tracking system of claim 7, wherein the collision alert module comprises:
a data storage unit: the real-time coordinate data and the historical coordinate data of the active particles in the active particle bath are stored;
a data comparison unit: the system is used for judging whether the coordinate data are the same at the same time or not based on the real-time coordinate data and the historical coordinate data of the active particles, and determining a data comparison result;
a judgment result unit: and the data comparison result is used for determining whether the active particles collide or not and determining a judgment result.
9. The system for active particle trajectory tracking according to claim 7, wherein said trajectory prediction module comprises:
a speed grading unit: the system comprises a speed classification module, a speed classification module and a speed classification module, wherein the speed classification module is used for classifying the speed grades of active particles in the active particle domain through a preset standard speed and determining the speed grades of the active particles;
a trajectory model unit: the system is used for simulating a motion analysis model based on the speed grade and according to the historical motion trail of the active particles;
a trajectory prediction unit: and the motion analysis module is used for sending the historical motion track of the active particles to a motion analysis model, predicting the track of the active particles and determining a track prediction result.
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