CN116223539B - Method and device for scanning and imaging dynamic object, storage medium and electronic equipment - Google Patents
Method and device for scanning and imaging dynamic object, storage medium and electronic equipment Download PDFInfo
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- CN116223539B CN116223539B CN202310514441.2A CN202310514441A CN116223539B CN 116223539 B CN116223539 B CN 116223539B CN 202310514441 A CN202310514441 A CN 202310514441A CN 116223539 B CN116223539 B CN 116223539B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/32—Transforming X-rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/403—Edge-driven scaling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
Abstract
The invention relates to the technical field of motion imaging, and provides a method and a device for scanning and imaging a dynamic object, a storage medium and electronic equipment. The method for scanning and imaging the dynamic object comprises the following steps: after the driving component drives the measured object to move, the driving component is controlled to intermittently work so as to enable the measured object to periodically move; scanning the motion track of the measured object through a scanning assembly in a uniform deceleration motion stage of each operation period of the measured object, wherein the scanning beam of the scanning assembly deflects when the driving assembly works each time so as to compensate the displacement change generated by the measured object when the driving assembly works; drawing a moving image in a coordinate system according to the motion trail of each period; the motion images of the plurality of cycles are stitched into a final image. The reciprocating motion control caused by closed loop control is changed into inertial unidirectional motion control, so that the problem of mismatching caused by measurement precision and control response speed is solved, and the control result is more reliable.
Description
Technical Field
The present invention relates to the field of motion imaging technology, and in particular, to a method for scanning and imaging a dynamic object, a device for scanning and imaging a dynamic object, a storage medium, and an electronic device.
Background
In the related art, when an industrial nanometer focus X-ray detection device scans, an object to be scanned is placed on a displacement table, and scanning of the object to be scanned is achieved through X-rays or other modes, and further, scanning values of all points/rows/surfaces are spliced into an image. In the process, the displacement table is controlled by adopting position closed-loop control and speed closed-loop control, and the difference value is regulated by closed-loop control. The control of the motor generally adopts current closed-loop control, so the control is necessarily later than displacement detection, and in addition, the control has the problems of hysteresis, undershoot, overshoot and the like due to the fact that the control parameters need to be calculated by an algorithm.
Disclosure of Invention
The invention aims to at least solve the problem of inaccurate control results in the prior art or related technologies.
To this end, a first object of the present invention is to propose a method for dynamic object scanning imaging.
A second object of the present invention is to provide an apparatus for dynamic object scanning imaging.
A third object of the present invention is to propose a storage medium.
A fourth object of the present invention is to propose an electronic device.
In view of this, according to a first object of the present invention, there is provided a method of dynamic object scan imaging, wherein the method comprises: after the driving component drives the measured object to move, the driving component is controlled to intermittently work so as to enable the measured object to periodically move; scanning the motion track of the measured object through a scanning assembly in a uniform deceleration motion stage of each operation period of the measured object, wherein the scanning beam of the scanning assembly deflects when the driving assembly works each time so as to compensate the displacement change generated by the measured object when the driving assembly works; drawing a moving image in a coordinate system according to the motion trail of each period; the motion images of the plurality of cycles are stitched into a final image.
The invention provides a method for scanning and imaging a dynamic object, which comprises the following steps: the driving component drives the measured object to move, and after the measured object starts to move, the driving component is controlled to intermittently work, so that the measured object moves periodically, and the movement of the measured object in one period is firstly accelerated movement and then uniformly decelerated movement. And when the driving component works, the displacement change generated by the measured object is compensated, so that the movement time of the measured object is longer than the scanning time, and the movement stroke of the measured object is equal to the scanning stroke.
Further, according to the obtained motion trail of the measured object in each period, drawing the motion image of the measured object in a coordinate system, and splicing the motion images of a plurality of periods, so that the overall motion image of the measured object is finally obtained.
The invention changes the traditional single-point real-time control into the uniform deceleration motion control after single excitation, and changes the control time from a time point into a time period, thereby changing the speed control based on the single point into the control of the manifold surface, leading the speed to be unidirectional in the measuring period, and being convenient for the accurate calculation of follow-up algorithms such as Fourier transform and the like. That is, the invention changes the reciprocating motion control caused by closed loop control into inertial unidirectional motion control, thereby solving the problem of mismatching caused by measurement precision and control response speed and ensuring more reliable control result.
In addition, the method for scanning and imaging the dynamic object provided by the embodiment of the invention has the following additional technical characteristics:
in the above technical scheme, the driving assembly includes a first motor and a second motor, the first motor is used for driving the measured object to move along a first direction, the second motor is used for driving the measured object to move along a second direction, the first direction corresponds to a y axis of a coordinate system, the second direction corresponds to an x axis of the coordinate system, and the step of controlling the driving assembly to intermittently work specifically includes: the method comprises the steps of controlling a first motor to intermittently work, and acquiring the movement speed of a measured object before a first time length of each first motor work; and determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period.
In the technical scheme, the driving assembly comprises a first motor and a second motor, wherein the first motor is used for driving the measured object to move along a first direction, and the first direction refers to the whole movement direction of the measured object; the second motor is used for driving the measured object to move along a second direction, wherein the second direction refers to the shaking direction of the measured object. Further, the first direction is represented on the y-axis in the coordinate system, the second direction is represented on the x-axis in the coordinate system, and by corresponding the first direction and the second direction to the y-axis and the x-axis in the coordinate system, a moving image can be drawn in the coordinate system according to the displacement of the motion trajectory in the first direction and the displacement of the second direction.
Further, the step of controlling the driving assembly to perform intermittent operation includes controlling the first motor to perform intermittent operation, and acquiring a movement speed of the object to be measured before a first time period of each first motor operation, wherein the first motor operation is to provide acceleration for the start of a movement period of the object to be measured, so that acquiring the movement speed of the object to be measured before the first time period of the first motor operation is to acquire a final speed of the object to be measured at the end of a previous movement period; further, the speed is compared with the preset speed of the movement of the object to be detected, and the working current of the first motor in the period is determined according to the comparison result, so that the object to be detected can move according to the preset speed. According to the invention, the working current of the first motor in the current period is determined according to the movement speed and the working current of the first motor in the previous period, so that each period of the first motor working can compensate the result of the previous period, a working current intensity meter can be obtained after the whole stroke is finished, and an algorithm can be used for optimizing the meter to control and compensate so as to compensate the physical characteristic of uneven friction force in a macroscopic size and realize more balanced acceleration control.
In any of the above technical solutions, the step of controlling the intermittent operation of the driving assembly specifically further includes: controlling the second motor to intermittently work, and comparing the motion image of the previous period with the theoretical image before the second time length of each second motor work; and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
In this technical scheme, the step of controlling the intermittent operation of drive assembly still includes: and controlling the second motor to intermittently work, comparing the moving image and the theoretical image of the previous period before the second time length of each second motor work, namely respectively acquiring the moving image and the theoretical image of the measured object in the previous period before the measured object starts the next period movement, comparing the moving image and the theoretical image, determining the offset condition, and further determining the working current of the second motor. The result of the previous cycle is compensated by each cycle in which the second motor operates, thereby reducing the jitter of the image to some extent.
In any of the above technical solutions, after the driving component drives the object to be measured to move, the step of controlling the intermittent operation of the driving component to make the object to be measured perform periodic movement specifically includes: after the driving component drives the measured object to move, the working current of the intermittent working of the driving component is controlled according to the parameter reference table so as to enable the measured object to periodically move.
In this solution, a standard calibration sample is used for scanning before the actual scanning. Wherein, the check sample can be equidistant flat plate consistent with the weight of the measured object. And (3) obtaining an adjusting parameter reference table based on the friction force of different positions of the actual displacement table through repeated measurement of the check sample. Further, after the driving component drives the measured object to move, the working current of intermittent working of the driving component is controlled according to the parameter reference table so as to enable the measured object to periodically move, thereby avoiding abrupt change and excessive overshoot of the closed-loop control parameter and reducing unnecessary calculation.
In any of the above technical solutions, the step of stitching the motion images of a plurality of periods into a final image specifically includes: splicing the moving images of a plurality of periods correspondingly from head to tail; and cutting the spliced moving image according to a preset shape, and outputting a final image.
In this technical solution, the step of stitching the moving images of a plurality of cycles into a final image includes: and splicing the acquired moving images in a plurality of periods in a head-to-tail corresponding manner according to the change of displacement, cutting edges of the spliced images according to the theoretical images, and finally outputting a final image, thereby avoiding that the output image is a jittery image.
According to a second object of the present invention, there is provided an apparatus for dynamic object scanning imaging, wherein the apparatus comprises: the driving assembly controls the driving assembly to perform intermittent work after the driving assembly drives the measured object to move so as to enable the measured object to periodically move; the scanning component scans the motion track of the measured object in the uniform deceleration motion stage of each operation period of the measured object, wherein the scanning beam of the scanning component deflects when the driving component works each time so as to compensate the displacement change of the measured object when the driving component works; a drawing component for drawing a moving image in a coordinate system according to the motion trail of each period; and the splicing assembly is used for splicing the moving images of a plurality of periods into a final image.
The invention provides a dynamic object scanning imaging device, which comprises: the device comprises a driving component, a scanning component, a drawing component and a splicing component. The driving component drives the measured object to move, and after the measured object starts to move, the driving component is controlled to intermittently work, so that the measured object periodically moves, and the movement of the measured object in one period is firstly accelerated movement and then uniformly decelerated movement. And when the driving component works, the displacement change generated by the measured object is compensated, so that the movement time of the measured object is longer than the scanning time, but the movement stroke of the measured object is equal to the scanning stroke.
Further, the drawing component draws the moving image of the measured object in the coordinate system according to the obtained moving track of the measured object in each period, and the splicing component splices the moving images of the periods, so that the whole moving image of the measured object is finally obtained.
In the above technical scheme, the driving assembly includes first motor and second motor, and first motor is used for driving the measured object and moves along first direction, and the second motor is used for driving the measured object and moves along the second direction, and first direction corresponds the y axle of coordinate system, and the second direction corresponds the x axle of coordinate system, and control driving assembly intermittent type nature work specifically includes: the method comprises the steps of controlling a first motor to intermittently work, and acquiring the movement speed of a measured object before a first time length of each first motor work; and determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period.
In the technical scheme, the driving assembly comprises a first motor and a second motor, wherein the first motor is used for driving the measured object to move along a first direction, and the first direction refers to the whole movement direction of the measured object; the second motor is used for driving the measured object to move along a second direction, wherein the second direction refers to the shaking direction of the measured object. Further, the first direction is represented on the y-axis in the coordinate system, the second direction is represented on the x-axis in the coordinate system, and by corresponding the first direction and the second direction to the y-axis and the x-axis in the coordinate system, the moving image can be drawn in the coordinate system according to the displacement of the moving track in the first direction and the displacement of the second direction.
Further, controlling the drive assembly to perform intermittent operation specifically includes: the first motor is controlled to intermittently work, and the movement speed of the measured object is obtained before the first time of each first motor work, and because the first motor works to provide acceleration for the beginning of the movement period of the measured object, the movement speed of the measured object is obtained before the first time of the first motor work, namely the last speed of the measured object when one movement period is ended is obtained; further, the working current of the first motor in the current period is determined according to the comparison result by comparing the speed with the preset speed of the movement of the object to be measured, and the working current of the first motor in the current period is determined according to the movement speed and the working current of the first motor in the last period.
In any of the above technical solutions, the controlling the intermittent operation of the driving assembly specifically further includes: controlling the second motor to intermittently work, and comparing the motion image of the previous period with the theoretical image before the second time length of each second motor work; and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
In this technical scheme, control drive assembly intermittent type nature work still includes specifically: and controlling the second motor to intermittently work, acquiring a moving image and a theoretical image of the measured object in the previous period before the second time length of each second motor work, namely before the measured object starts the next period of movement, comparing the moving image with the theoretical image, determining the offset condition, and further determining the working current of the second motor. The result of the previous cycle is compensated by each cycle in which the second motor operates, thereby reducing the jitter of the image to some extent.
According to a third object of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of dynamic object scanning imaging according to any of the above-mentioned aspects.
The storage medium provided by the invention realizes the steps of the method for scanning and imaging the dynamic object according to any one of the above technical schemes when the computer program is executed by a processor, so that the storage medium comprises all the beneficial effects of the method for scanning and imaging the dynamic object according to any one of the above technical schemes.
According to a fourth object of the present invention, there is provided an electronic device comprising: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the technical computer program to realize the method for scanning and imaging the dynamic object in any technical scheme.
The electronic equipment provided by the invention realizes the steps of the dynamic object scanning imaging method according to any one of the technical schemes when the computer program is executed by the processor, so that the electronic equipment comprises all the beneficial effects of the dynamic object scanning imaging method according to any one of the technical schemes.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 shows a schematic flow chart of a method of dynamic object scan imaging in accordance with one embodiment of the invention;
FIG. 2 shows a graph of changes in displacement, velocity, and acceleration of an object under test according to one embodiment of the invention;
FIG. 3 shows a schematic view of a scan time of an object under test according to one embodiment of the invention;
FIG. 4 shows one of the schematic flow charts of the steps of controlling the intermittent operation of the drive assembly in a method of dynamic object scan imaging in accordance with one embodiment of the present invention;
FIG. 5 shows a second schematic flow chart diagram of steps for controlling intermittent operation of a drive assembly in a method of dynamic object scanning imaging in accordance with one embodiment of the invention;
FIG. 6 shows a schematic diagram of a standard calibration sample according to one embodiment of the present invention;
FIG. 7 shows a schematic flow chart of the steps of stitching multiple cycles of moving images into a final image in a method of dynamic object scan imaging in accordance with one embodiment of the present invention;
FIG. 8 shows a schematic diagram of stitching into a final image according to one embodiment of the invention;
fig. 9 shows a schematic block diagram of an apparatus for dynamic object scan imaging in accordance with an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
FIG. 1 shows a schematic flow chart of a method of dynamic object scan imaging in accordance with one embodiment of the invention. As shown in fig. 1, the method includes:
s102: after the driving component drives the measured object to move, the driving component is controlled to intermittently work so as to enable the measured object to periodically move;
s104: scanning the motion track of the measured object through a scanning assembly in a uniform deceleration motion stage of each operation period of the measured object, wherein the scanning beam of the scanning assembly deflects when the driving assembly works each time so as to compensate the displacement change generated by the measured object when the driving assembly works;
S106: drawing a moving image in a coordinate system according to the motion trail of each period;
s108: the motion images of the plurality of cycles are stitched into a final image.
In this embodiment, the driving component drives the measured object to move, and after the measured object starts to move, the driving component is controlled to intermittently work, so that the measured object performs periodic movement, and the movement of the measured object in one period is that the measured object accelerates firstly and then decelerates uniformly. And when the driving component works, the displacement change generated by the measured object is compensated, so that the movement time of the measured object is longer than the scanning time, but the movement stroke of the measured object is equal to the scanning stroke.
Further, according to the obtained motion trail of the measured object in each period, drawing the motion image of the measured object in a coordinate system, and splicing the motion images of a plurality of periods, so that the overall motion image of the measured object is finally obtained.
The invention changes the traditional single-point real-time control into a control strategy of uniform deceleration movement after single excitation. The time period is changed from the time point, the speed control based on single points is changed into the control of the manifold surface, the speed is unidirectional in the measuring period, and the accurate calculation of follow-up algorithms such as Fourier transform and the like is facilitated. The reciprocating motion control of the traditional closed-loop control is changed into the inertial unidirectional motion control. Therefore, the problem of mismatching caused by measurement accuracy and control response speed is solved, and the control result is more reliable.
In particular, FIG. 2 shows a velocity profile of an object under test according to one embodiment of the invention. As shown in FIG. 2, in the acceleration stage T0-T1, a working current is supplied to the driving assembly for a period of time, so that the driving assembly provides an initial acceleration to the measured object, and the driving assembly performs intermittent operation, so that the acceleration of the measured object disappears after a period of time, thereby performing an adjustment stage, in the adjustment stage T1-T2, an initial value of a subsequent uniform speed stage is obtained, in the stage T1-T2, fine adjustment is performed to ensure uniform speed, and the adjustment amplitude is extremely small. After adjustment and reception, the constant-speed exposure stage is entered, and only friction force is used for decelerating the displacement table in the constant-speed exposure stage T2-T3, so that the fact that exciting current does not exist in the displacement table and motion control does not exist in a specific time is ensured, only inertial motion is relied on, the unidirectional speed is ensured, the motion conductivity is ensured, and the speed of speed reduction is only related to the friction force of the displacement table. In addition, in the T2-T3 stage, the acceleration of the T2-T3 is negative, and the speed caused by friction force is reduced. The friction force of the guide rail is considered to have negligible change in the measurement time, and the acceleration of the measured friction force is also small, so that the constant motion can be approximately considered at this stage. After uniform motion for a period of time, working current pulse is reapplied to the driving assembly, and the speed of the measured object is improved. The stroke is thus completed repeatedly. And finally, entering a deceleration stage, namely a T3-T4 stage when the stroke reaches a displacement limit or a set end point.
The control of the movement of the measured object by the method has two defects, namely that a stable image and a full-stroke image discontinuity cannot be obtained in the stage of T0-T2. Therefore, in order to solve the above-mentioned defect, the deflection of the scanning beam is used to compensate the travel of the T0-T2, that is, the physical and actual displacement of the measured object in the actual T0-T3 time will be scanned in the T2-T3 time.
Specifically, fig. 3 shows a schematic diagram of a scan time of an object under test according to an embodiment of the present invention; in fig. 3 it can be seen that the previous scan, i.e. the point in time before T3, from the beginning of the second duty cycle of the drive assembly can be scanned in advance of the beginning of the second duty cycle in the first duty cycle of the drive assembly.
In some embodiments, the drive assembly includes a first motor for driving the object under test in a first direction and a second motor for driving the object under test in a second direction, the first direction corresponding to the y-axis of the coordinate system and the second direction corresponding to the x-axis of the coordinate system.
FIG. 4 shows one of the schematic flow charts of the steps of controlling the intermittent operation of the drive assembly in a method of dynamic object scan imaging in accordance with one embodiment of the present invention; wherein, this step includes:
S402: the method comprises the steps of controlling a first motor to intermittently work, and acquiring the movement speed of a measured object before a first time length of each first motor work;
s404: and determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period.
In this embodiment, the driving assembly includes a first motor and a second motor, the first motor is used to drive the measured object to move along a first direction, wherein the first direction refers to the overall movement direction of the measured object; the second motor is used for driving the measured object to move along a second direction, wherein the second direction refers to the shaking direction of the measured object. Further, the first direction is represented on the y-axis in the coordinate system, the second direction is represented on the x-axis in the coordinate system, and by corresponding the first direction and the second direction to the y-axis and the x-axis in the coordinate system, the moving image can be drawn in the coordinate system according to the displacement of the moving track in the first direction and the displacement of the second direction.
Further, the step of controlling the driving assembly to perform intermittent operation includes controlling the first motor to perform intermittent operation, and acquiring a movement speed of the object to be measured before a first period of time when the first motor is operated each time, wherein the first motor is operated to provide acceleration for the start of a movement period of the object to be measured, so that acquiring the movement speed of the object to be measured before the first period of time when the first motor is operated is acquiring a last speed when a period of movement of the object to be measured ends; further, comparing the speed with a preset speed of the movement of the object to be measured, and when the speed is greater than the preset speed, indicating that the working current of the first motor in the previous period is too large, and correspondingly reducing the working current of the first motor in the current period, so as to ensure that the object to be measured can move according to the preset speed; when the speed is smaller than the preset speed, the working current of the first motor in the last period is small, and the working current of the first motor in the period needs to be correspondingly increased, so that the object to be measured can move according to the preset speed. According to the invention, the working current of the first motor in the current period is determined according to the movement speed and the working current of the first motor in the previous period, so that each period of the first motor working can compensate the result of the previous period, a working current intensity meter can be obtained after the whole stroke is finished, and an algorithm can be used for optimizing the meter to control and compensate so as to compensate the physical characteristic of uneven friction force in a macroscopic size and realize more balanced acceleration control.
FIG. 5 shows a second schematic flow chart diagram of steps for controlling intermittent operation of a drive assembly in a method of dynamic object scanning imaging in accordance with one embodiment of the invention; wherein, this step includes:
s502: controlling the second motor to intermittently work, and comparing the motion image of the previous period with the theoretical image before the second time length of each second motor work;
s504: and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
In this embodiment, the step of controlling the intermittent operation of the drive assembly further comprises: and controlling the second motor to intermittently work, respectively acquiring a moving image and a theoretical image of the measured object in the previous period before the second time length of each second motor work, namely before the measured object starts the next periodic movement, comparing the moving image with the theoretical image, determining the offset condition, and further determining the working current of the second motor. For example, the motion image is negatively offset on the x-axis relative to the theoretical image, which means that in the previous period, the displacement of the measured object in the second direction is too small, and the displacement of the measured object in the second direction is increased in the current period, so that the working current of the second motor in the current period is correspondingly increased, and otherwise, the working current of the second motor in the current period is correspondingly reduced. The result of the previous cycle is compensated by each cycle in which the second motor operates, thereby reducing the jitter of the image to some extent.
In the above embodiment, after the driving component drives the object to be measured to move, the step of controlling the intermittent operation of the driving component to make the object to be measured perform periodic movement specifically includes: after the driving component drives the measured object to move, the working current of intermittent working of the driving component is controlled according to the parameter reference table so as to enable the measured object to periodically move.
In this embodiment, a standard calibration sample is used for scanning before the actual scan is performed. Wherein, the check sample can be equidistant flat plate consistent with the weight of the measured object. And (3) obtaining an adjusting parameter reference table based on the friction force of different positions of the actual displacement table through repeated measurement of the check sample. Further, after the driving component drives the measured object to move, the working current of intermittent working of the driving component is controlled according to the parameter reference table so as to enable the measured object to periodically move, thereby avoiding abrupt change and excessive overshoot of the closed-loop control parameter and reducing unnecessary calculation.
In particular, FIG. 6 shows a schematic diagram of a standard calibration sample according to one embodiment of the invention; before the actual scan is performed, the scan is performed with a standard calibration sample. The standard calibration samples are equally spaced flat plates, as shown in fig. 6, the spacing between each line in the standard calibration samples is equal, and the line width of the standard calibration samples can be set to be 0.1mm, and the spacing between each line is 10mm. Each interval acts as a trigger for the operation of the primary drive assembly. And when the movement period T0 is finished, if the actual displacement of the measured object exceeds the theoretical displacement, the control parameter of the movement period T1 is reduced. Otherwise, the parameter value is increased.
FIG. 7 shows a schematic flow chart of the steps of stitching multiple cycles of moving images into a final image in a method of dynamic object scan imaging in accordance with one embodiment of the present invention; wherein, this step includes:
s702: splicing the moving images of a plurality of periods correspondingly from head to tail;
s704: and cutting the spliced moving image according to a preset shape, and outputting a final image.
In this embodiment, the step of stitching the moving images of the plurality of cycles into a final image includes: and splicing the acquired moving images in a plurality of periods in a head-to-tail corresponding manner according to the change of displacement, cutting edges of the spliced images according to the theoretical images, and finally outputting a final image, thereby avoiding that the output image is a jittery image.
FIG. 8 shows a schematic diagram of stitching into a final image according to one embodiment of the invention; as shown in fig. 8, T0, T1, and T2 are moving images of a T0 period, a T1 period, and a T2 period, respectively. First, a sample image point in a cycle time is mapped to an actual displacement, and an approximately parallelogram image is obtained. In practice, since there are 4 phases in the movement cycle of the object to be measured, it is not a parallelogram, and only an approximate explanation is made here. Further, moving images of a plurality of periods, i.e., a T0 period, a T1 period, and a T2 period, are spliced end to end and analyzed. As the actual displacement at the end of the T0 period is compared with the theoretical displacement, it can be seen that at the end of the T0 period, the T0 period is shifted in the x-axis direction relative to the theoretical displacement in the negative x-axis direction, so that in the next period, i.e., the T1 period, the operating current of the second motor needs to be raised to increase the displacement of the object to be measured in the second direction, i.e., the x-axis direction, and thus, in fig. 8, it can be seen that the parallelogram formed by the T1 period is shifted in the positive x-axis direction relative to the parallelogram formed by the T0 period. Further, the velocity in the y-axis direction determines the height of the parallelogram formed by the T0 period. Since the velocity in the T0 period is actually smaller than the theoretical velocity, it is necessary to increase the velocity in the T1 period, and thus the height of the parallelogram formed in the T1 period is larger than that of the parallelogram formed in the T0 period. Further, the spliced image is subjected to edge clipping and then a final image is output, namely an image formed by a broken line in fig. 8.
Fig. 9 shows a schematic block diagram of an apparatus for dynamic object scan imaging in accordance with an embodiment of the present invention. Wherein the dynamic object scanning imaging device 90 comprises:
the driving component 902 controls the driving component 902 to perform intermittent work after the driving component 902 drives the measured object to move so as to enable the measured object to perform periodic movement;
the scanning component 904, in the uniform deceleration motion stage of each operation period of the measured object, the scanning component 904 scans the motion track of the measured object, wherein the scanning beam of the scanning component 904 deflects when the driving component 902 works each time so as to compensate the displacement change of the measured object when the driving component works;
a drawing component 906, wherein the drawing component 906 is used for drawing a moving image in a coordinate system according to the motion trail of each period;
a stitching component 908, the stitching component 908 is configured to stitch the plurality of periodic moving images into a final image.
The present invention provides an apparatus 90 for dynamic object scanning imaging, comprising: a drive component 902, a scan component 904, a rendering component 906, and a stitching component 908. The driving component 902 drives the measured object to move, and after the measured object starts to move, the driving component 902 is controlled to intermittently work, so that the measured object performs periodic movement, and the movement of the measured object in one period is that the measured object accelerates firstly and then decelerates uniformly. During the stage that the measured object enters the uniform deceleration motion, the scanning component 904 is utilized to scan the motion track of the measured object, wherein the scanning beam of the scanning component 904 deflects when the driving component 902 works each time, that is, the scanning beam starts scanning at the starting position of the measured object, so that the displacement change of the measured object when the driving component 902 works is compensated, the motion time of the measured object is longer than the scanning time, and the motion stroke of the measured object is equal to the scanning stroke.
Further, the drawing component 906 draws the moving image of the object to be measured in the coordinate system according to the obtained moving track of the object to be measured in each period, and the stitching component 908 stitches the moving images of the plurality of periods, thereby finally obtaining the overall moving image of the object to be measured.
In the above embodiment, the driving assembly 902 includes a first motor and a second motor, the first motor is used for driving the measured object to move along a first direction, the second motor is used for driving the measured object to move along a second direction, the first direction corresponds to a y axis of a coordinate system, the second direction corresponds to an x axis of the coordinate system, and the step of controlling the driving assembly 902 to intermittently operate specifically includes: the method comprises the steps of controlling a first motor to intermittently work, and acquiring the movement speed of a measured object before a first time length of each first motor work; and determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period.
In this embodiment, the driving assembly 902 includes a first motor and a second motor, where the first motor is used to drive the object to be measured to move along a first direction, and the first direction refers to the overall movement direction of the object to be measured; the second motor is used for driving the measured object to move along a second direction, wherein the second direction refers to the shaking direction of the measured object. Further, the first direction is represented on the y-axis in the coordinate system, the second direction is represented on the x-axis in the coordinate system, and by corresponding the first direction and the second direction to the y-axis and the x-axis in the coordinate system, the moving image can be drawn in the coordinate system according to the displacement of the moving track in the first direction and the displacement of the second direction.
Further, the driving assembly 902 is controlled to perform intermittent operation, which specifically includes: the first motor is controlled to intermittently work, and the movement speed of the measured object is obtained before the first time of each first motor work, and because the first motor works to provide acceleration for the beginning of the movement period of the measured object, the movement speed of the measured object is obtained before the first time of the first motor work, namely the last speed of the measured object when the last period of the movement is finished; further, the speed is compared with the preset speed of the movement of the object to be detected, and the working current of the first motor in the period is determined according to the comparison result, so that the object to be detected can move according to the preset speed. According to the invention, the working current of the first motor in the current period is determined according to the movement speed and the working current of the first motor in the previous period, so that each period of the first motor working can compensate the result of the previous period, a working current intensity meter can be obtained after the whole stroke is finished, and an algorithm can be used for optimizing the meter to control and compensate so as to compensate the physical characteristic of uneven friction force in a macroscopic size and realize more balanced acceleration control.
In any of the above embodiments, the controlling the driving assembly 902 to intermittently operate specifically further includes: controlling the second motor to intermittently work, and comparing the motion image of the previous period with the theoretical image before the second time length of each second motor work; and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
In this embodiment, the control drive assembly 902 operates intermittently, and specifically further comprises: and controlling the second motor to intermittently work, respectively acquiring a moving image and a theoretical image of the measured object in the previous period before the second time length of each second motor work, namely before the measured object starts the next periodic movement, comparing the moving image with the theoretical image, determining the offset condition, and further determining the working current of the second motor. The result of the previous cycle is compensated by each cycle in which the second motor operates, thereby reducing the jitter of the image to some extent.
In any of the above embodiments, after the driving component 902 drives the object to be measured to move, the driving component 902 is controlled to intermittently operate so as to make the object to be measured perform periodic movement, which specifically includes: after the driving component 902 drives the measured object to move, the working current of intermittent working of the driving component 902 is controlled according to the parameter reference table so as to enable the measured object to periodically move.
In this embodiment, a standard calibration sample is used for scanning before the actual scan is performed. Wherein, the check sample can be equidistant flat plate consistent with the weight of the measured object. And (3) obtaining an adjusting parameter reference table based on the friction force of different positions of the actual displacement table through repeated measurement of the check sample. Further, after the driving component 902 drives the measured object to move, the working current of the intermittent operation of the driving component 902 is controlled according to the parameter reference table to make the measured object perform periodic movement, so as to avoid abrupt change and excessive overshoot of the closed-loop control parameter, and reduce unnecessary calculation.
In any of the above embodiments, stitching the moving images of a plurality of periods into a final image specifically includes: splicing the moving images of a plurality of periods correspondingly from head to tail; and cutting the spliced moving image according to a preset shape, and outputting a final image.
In the embodiment, the acquired moving images of a plurality of periods are spliced in a head-to-tail corresponding mode according to the change of displacement, then the spliced images are cut according to the theoretical images, finally a final image is output, and therefore the output image is prevented from being a jittery image.
According to a third object of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of dynamic object scanning imaging as in any of the embodiments described above.
The storage medium provided by the invention, which when executed by a processor, implements the steps of the method for dynamic object scanning imaging according to any of the embodiments described above, therefore comprises all the beneficial effects of the method for dynamic object scanning imaging according to any of the embodiments described above.
According to a fourth object of the present invention, there is provided an electronic device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of dynamic object scanning imaging of any of the embodiments described above when the computer program is executed by the processor.
The electronic device provided by the invention, which is implemented by a processor, has the advantages of the dynamic object scanning imaging method of any embodiment.
In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method of dynamic object scan imaging, the method comprising:
after the driving component drives the measured object to move, controlling the driving component to intermittently work so as to enable the measured object to periodically move;
scanning the motion track of the measured object through a scanning assembly in a uniform deceleration motion stage of each operation period of the measured object, wherein a scanning beam of the scanning assembly deflects when the driving assembly works each time so as to compensate displacement change generated by the measured object when the driving assembly works;
drawing a moving image in a coordinate system according to the motion trail of each period;
stitching the moving images of a plurality of periods into a final image;
the driving assembly comprises a first motor and a second motor, the first motor is used for driving the measured object to move along a first direction, the second motor is used for driving the measured object to move along a second direction, the first direction corresponds to a y axis of the coordinate system, the second direction corresponds to an x axis of the coordinate system, and the step of controlling the driving assembly to intermittently work specifically comprises the following steps:
The first motor is controlled to intermittently work, and the movement speed of the measured object is obtained before a first duration of each first motor work;
determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period;
the step of controlling the intermittent operation of the driving assembly specifically further comprises:
controlling the second motor to intermittently work, and comparing the moving image and the theoretical image of the previous period before the second time length of each second motor work;
and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
2. The method of dynamic object scanning and imaging according to claim 1, wherein the step of controlling the driving assembly to intermittently operate after the driving assembly drives the object to be measured to move, so as to make the object to be measured perform periodic movement, specifically comprises:
and after the driving component drives the measured object to move, controlling the working current of the intermittent working of the driving component according to the parameter reference table so as to enable the measured object to periodically move.
3. The method of dynamic object scanning imaging according to claim 1, wherein the step of stitching the moving images of a plurality of cycles into a final image, in particular comprises:
splicing the moving images in a plurality of periods correspondingly from head to tail;
and cutting the spliced moving image according to a preset shape, and outputting the final image.
4. An apparatus for dynamic object scan imaging, the apparatus comprising:
the driving assembly controls the intermittent operation of the driving assembly after driving the measured object to move so as to enable the measured object to periodically move;
the scanning component scans the motion track of the measured object in the uniform deceleration motion stage of each operation period of the measured object, wherein the scanning beam of the scanning component deflects when the driving component works each time so as to compensate the displacement change generated by the measured object when the driving component works;
a drawing component for drawing a moving image in a coordinate system according to the motion trail of each cycle;
the splicing assembly is used for splicing the moving images in a plurality of periods into a final image;
The driving assembly comprises a first motor and a second motor, the first motor is used for driving the measured object to move along a first direction, the second motor is used for driving the measured object to move along a second direction, the first direction corresponds to a y axis of the coordinate system, the second direction corresponds to an x axis of the coordinate system, and the driving assembly is controlled to intermittently work, and the driving assembly specifically comprises:
the first motor is controlled to intermittently work, and the movement speed of the measured object is obtained before a first duration of each first motor work;
determining the working current of the first motor in the current period according to the movement speed and the working current of the first motor in the previous period;
the control of the intermittent operation of the driving assembly specifically further comprises:
controlling the second motor to intermittently work, and comparing the moving image and the theoretical image of the previous period before the second time length of each second motor work;
and determining the working current of the second motor in the period according to the deviation condition of the moving image and the theoretical image in the previous period.
5. A storage medium having stored thereon a computer program, which when executed by a processor, implements the method of dynamic object scanning imaging of any of claims 1 to 3.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of dynamic object scanning imaging of any one of claims 1 to 3 when the computer program is executed.
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