CN118052054A - Target identification method, device, equipment and storage medium - Google Patents
Target identification method, device, equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a target identification method, device, apparatus and storage medium, the method comprising obtaining unstructured data of a target object; generating a first cube from unstructured data; obtaining a data set of the target object according to the vertex coordinate data of the first cube; obtaining an identification result of the target object according to the data set of the target object; and constructing target object constraint according to the identification result. The method and the device can shorten the establishment time of computer screw constraint, thereby improving the modeling efficiency of the computer screw.
Description
Technical Field
The present disclosure relates to the field of computers, and in particular, to a method, apparatus, device, and storage medium for identifying a target.
Background
Nowadays, many industries promote intelligent transformation, and the simulation demand is greatly increased; for example, consumer electronics development sessions require system modeling in a short period of time, all of which require simulation. The simulation is to build a finite element model in finite element software and then upload the simulation work to a high-efficiency operation server for calculation and solution.
In the related art, a model picture is moved to a screw before the screw restraint is established in finite element software, then the corresponding screw size is input, and nodes on screw holes are selected, so that the screw restraint is drawn by using the nodes.
Disclosure of Invention
The present disclosure provides a target identification method, apparatus, device and storage medium, so as to at least solve the above technical problems in the prior art.
According to a first aspect of the present disclosure, there is provided a target recognition method, the method comprising:
obtaining unstructured data of a target object, and generating a first cube according to the unstructured data;
obtaining a data set of the target object according to the vertex coordinate data of the first cube;
obtaining an identification result of the target object according to the data set of the target object;
and constructing target object constraint according to the identification result to construct a target object model.
In an embodiment, the unstructured data includes at least one of:
image data and video data.
In an embodiment, the obtaining the data set of the target object according to the vertex coordinate data of the first cube includes:
determining first dimensional data of the target object in directions based on a lateral axis, a longitudinal axis, and a vertical axis of the first cube;
calculating absolute values of differences between every two of the first dimension data in the directions of the horizontal axis, the vertical axis and the vertical axis;
determining eight vertex coordinates of the first cube;
the first size data, absolute values, and eight vertex coordinates are determined as a dataset of the target object.
In an embodiment, obtaining the identification result of the target object according to the data set of the target object includes:
judging the locking direction of the target object by utilizing a preset mode according to the absolute value;
determining the diameter of the target object and the length of the target object in the locking direction according to the first size data based on the locking direction of the target object;
Calculating the center point coordinates of the first cube by utilizing the coordinate values in the eight vertex coordinates, and determining the center point position;
establishing a plane passing through the central point and perpendicular to the locking direction of the target object, wherein the plane divides the target object into an upper structure and a lower structure;
Generating a second cube of the upper structure and a third cube of the lower structure, respectively;
determining second dimensional data of the superstructure in a lateral, longitudinal and vertical axis direction based on the second cube;
Comparing the second size data with the first size data based on the locking direction of the target object, judging whether the second size data meets preset conditions, if so, the second cube is the object head of the target object, otherwise, the third cube is the object head of the target object;
Determining eight vertex coordinates of a cube where the head of the object is located;
judging whether the coordinate value of the target object is equal to the coordinate value of the head of the object in the corresponding direction; the coordinate values of the target object and the coordinate values of the head of the object both comprise two coordinate values in the locking direction of the target object;
and if the center coordinates of the target object are equal to the locking direction of the target object, determining the center coordinates of the target object and the locking direction of the target object.
In one embodiment, the first size data includes: a first transverse axis dimension value, a first longitudinal axis dimension value, and a first vertical axis dimension value; the step of judging the locking direction of the target object by using a preset mode according to the absolute value comprises the following steps:
If the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first horizontal axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction;
If the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the horizontal axis direction;
And if the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction.
In an embodiment, the determining, based on the locking direction of the target object, the target object diameter and the length of the target object in the locking direction according to the first size data includes:
if the locking direction of the target object is the transverse axis direction, the diameter of the target object is a first vertical axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first transverse axis size value;
If the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first horizontal axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first vertical axis size value;
And if the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first transverse axis size value or a first longitudinal axis size value, and the length of the target object in the locking direction is a first vertical axis size value.
In one embodiment, the second size data includes: a second transverse axis dimension value, a second longitudinal axis dimension value, and a second vertical axis dimension value; the preset conditions are as follows:
when the locking direction of the target object is the horizontal axis direction, the second vertical axis dimension value is equal to the first vertical axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value.
In one embodiment, the eight vertex coordinates of the first cube are comprised of a first abscissa, a second abscissa, a first ordinate, a second ordinate, a first vertical coordinate, and a second vertical coordinate; the eight vertex coordinates of the cube where the head of the object is located are composed of a third abscissa, a fourth abscissa, a third ordinate, a fourth ordinate, a third vertical coordinate and a fourth vertical coordinate.
In an embodiment, the determining the center coordinates of the target object and the locking direction of the target object includes:
When the locking direction of the target object is the horizontal axis direction, if the second horizontal coordinate value is equal to the fourth horizontal coordinate value, the horizontal coordinate value of the center coordinate of the target object is the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the horizontal axis positive direction; if the first abscissa value is equal to the third abscissa value, the abscissa value of the center coordinate of the target object is the first abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the horizontal coordinate value of the center coordinate of the target object is the average value of the first horizontal coordinate and the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the vertical axis positive direction; if the first ordinate value is equal to the third ordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa value and the second abscissa value, the ordinate value of the center coordinate of the target object is the first ordinate value, the ordinate value of the center coordinate of the target object is the average value of the first ordinate value and the second ordinate value, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, and the locking direction of the target object is the positive direction of the vertical axis; if the first vertical coordinate value is equal to the third vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the first vertical coordinate value, and the locking direction of the target object is the negative direction of the horizontal axis.
In an embodiment, the calculating the center point coordinates of the first cube includes:
The abscissa of the center point coordinate is an average value of the first abscissa and the second abscissa;
the ordinate of the center point coordinate is the average value of the first ordinate and the second ordinate;
And the vertical coordinate of the central point coordinate is an average value of the first vertical coordinate and the second vertical coordinate.
In an embodiment, the constructing the target object constraint according to the identification result includes:
Establishing a virtual cylinder according to the circle center coordinates of the screw, the locking direction of the target object, the diameter of the target object and the length of the target object in the locking direction;
searching all nodes of all objects in the range of the virtual cylinder;
Determining the node with the minimum distance from the center coordinates of the target object in the nodes of the searched object;
Determining the node with the minimum distance as a first node;
and constructing target object constraint based on the first node, the target object diameter and the length of the target object in the locking direction.
In an embodiment, the method further comprises:
And when the number of the target objects is multiple, establishing target object constraints one by one until the last target house establishes target object constraints.
In one embodiment, the target object is a screw, the screw including a screw head and a screw portion.
According to a second aspect of the present disclosure, there is provided an object recognition apparatus, the apparatus comprising:
the acquisition module is used for acquiring unstructured data of a target object and generating a first cube according to the unstructured data;
the determining module is used for obtaining a data set of the target object according to the vertex coordinate data of the first cube;
the identification module is used for obtaining an identification result of the target object according to the data set of the target object;
And the construction module is used for constructing target object constraint according to the identification result.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods described in the present disclosure.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the present disclosure.
The target identification method, device, equipment and storage medium can shorten the establishment time of computer screw constraint, so that the efficiency of establishing a screw model is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which:
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
FIG. 1 is a schematic diagram of an implementation flow of a target recognition method according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of a first cube of a target recognition method according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram showing a second structure of a first cube of the object recognition method according to the embodiment of the present disclosure;
FIG. 4 illustrates a third schematic structural diagram of a first cube of the object recognition method of an embodiment of the present disclosure;
FIG. 5 shows a fourth schematic diagram of the structure of a first cube of the object recognition method according to the embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a second cube of the object recognition method according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a third cube of the object recognition method according to the embodiment of the present disclosure;
FIG. 8 shows a second schematic diagram of the structure of a second cube of the object recognition method according to the embodiment of the present disclosure;
FIG. 9 is a schematic diagram II of a third cube of the object recognition method according to the embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a cylinder of the object recognition method according to the embodiment of the present disclosure;
FIG. 11 illustrates a schematic diagram of a construction screw constraint of a target recognition method of an embodiment of the present disclosure;
FIG. 12 is a schematic diagram of a target recognition device according to an embodiment of the disclosure;
fig. 13 shows a schematic diagram of a composition structure of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, features and advantages of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
A specific object recognition method, apparatus, device and storage medium provided in the embodiments of the present application are described below with reference to the accompanying drawings.
As shown in fig. 1, the target recognition method provided in the embodiment of the present application includes:
S101, unstructured data of a target object are obtained, and a first cube is generated according to the unstructured data;
unstructured data is understood to mean data that cannot be structured, such as pictures, files, videos, etc.
In some embodiments, the unstructured data includes at least one of:
image data and video data.
The application can shoot the target object by using a camera or a radar and the like to obtain video stream or one or more images. It will be appreciated that other devices may be used to obtain unstructured data and the application is not limited in this regard.
As shown in fig. 2, the application senses the obtained unstructured data and determines 8 vertexes of a first cube corresponding to the target object; wherein, the target object can be any object such as a person, a screw and the like; the application can construct a first cube with 8 corresponding vertexes for the perceived target object, and it can be understood that the first cube in the application can also be in other shapes, and the application is not limited herein. The first cube in the present application is the smallest cube surrounding the target object.
In some embodiments, the target object is a screw, the screw comprising a screw head and a screw portion.
S102, obtaining a data set of the target object according to vertex coordinate data of the first cube;
In some embodiments, the obtaining the dataset of the target object according to the vertex coordinate data of the first cube includes:
determining first dimensional data of the target object in directions based on a lateral axis, a longitudinal axis, and a vertical axis of the first cube;
calculating absolute values of differences between every two of the first dimension data in the directions of the horizontal axis, the vertical axis and the vertical axis;
determining eight vertex coordinates of the first cube;
the first size data, absolute values, and eight vertex coordinates are determined as a dataset of the target object.
Specifically, as shown in fig. 2, assuming that the target object is a screw, in the present application, a minimum cube surrounding the whole screw is first obtained, and then first size data is obtained according to the sizes of the screw in the directions of a horizontal axis (X axis), a vertical axis (Y axis) and a vertical axis (Z axis), where the first size data includes: a first transverse axis dimension value, a first longitudinal axis dimension value, and a first vertical axis dimension value; for example, the screw has a dimension of 2.4cm on the horizontal axis, 2.35cm on the vertical axis, and 2.4cm on the vertical axis. The first horizontal axis dimension value Δx 0 =2.4, the first vertical axis dimension value Δy 0 =2.35, and the first vertical axis dimension value Δz 0 =2.4.
The absolute value of the difference between the first horizontal axis dimension value, the first vertical axis dimension value and the first vertical axis dimension value is then calculated in the following manner,
ΔXY＝|ΔX0-ΔY0|
ΔXZ＝|ΔX0-ΔZ0|
ΔYZ＝|ΔY0-ΔZ0|
The eight vertex coordinates of the first cube are composed of a first abscissa, a second abscissa, a first ordinate, a second ordinate, a first vertical coordinate and a second vertical coordinate, six numerical values of the first abscissa X max, the first ordinate Y max, the first vertical coordinate Z max, the second abscissa X min, the second ordinate Y min and the second vertical coordinate Z min are set, and the eight vertex coordinates of the first cube are represented by the six numerical values. Assuming that the locking direction of the screw is the Y direction in the present application, as shown in fig. 3, for example, the leftmost vertex coordinate is (X min,Ymin,Zmax), the rightmost vertex coordinate is (X max,Ymax,Zmin), and so on.
Thus, the first horizontal axis dimension value, the first vertical axis dimension value, the eight vertex coordinates of the first cube, and the three absolute values form a dataset of the target object.
S103, obtaining a recognition result of the target object according to the data set of the target object;
In some embodiments, obtaining the identification result of the target object according to the data set of the target object includes:
judging the locking direction of the target object by utilizing a preset mode according to the absolute value;
determining the diameter of the target object and the length of the target object in the locking direction according to the first size data based on the locking direction of the target object;
Calculating the center point coordinates of the first cube by utilizing the coordinate values in the eight vertex coordinates, and determining the center point position;
establishing a plane passing through the central point and perpendicular to the locking direction of the target object, wherein the plane divides the target object into an upper structure and a lower structure;
Generating a second cube of the upper structure and a third cube of the lower structure, respectively;
determining second dimensional data of the superstructure in a lateral, longitudinal and vertical axis direction based on the second cube;
Comparing the second size data with the first size data based on the locking direction of the target object, judging whether the second size data meets preset conditions, if so, the second cube is the object head of the target object, otherwise, the third cube is the object head of the target object;
Determining eight vertex coordinates of a cube where the head of the object is located;
judging whether the coordinate value of the target object is equal to the coordinate value of the head of the object in the corresponding direction; the coordinate values of the target object and the coordinate values of the head of the object both comprise two coordinate values in the locking direction of the target object;
and if the center coordinates of the target object are equal to the locking direction of the target object, determining the center coordinates of the target object and the locking direction of the target object.
In some embodiments, the determining the locking direction of the target object according to the absolute value by using a preset manner includes:
If the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first horizontal axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction;
If the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the horizontal axis direction;
And if the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction.
In some embodiments, the determining, based on the locking direction of the target object, the target object diameter and the length of the target object in the locking direction according to the first size data includes:
if the locking direction of the target object is the transverse axis direction, the diameter of the target object is a first vertical axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first transverse axis size value;
If the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first horizontal axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first vertical axis size value;
And if the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first transverse axis size value or a first longitudinal axis size value, and the length of the target object in the locking direction is a first vertical axis size value.
Specifically, the application judges the locking direction of the screw by using three absolute values in the following preset mode,
Δxz < Δyz & Δxz < Δxy: y-direction screw
Δyz < Δxz & Δyz < Δxy: x-direction screw
Δxy < Δxz & Δxy < Δyz: z-direction screw
Specifically, in the present application, if the Δxz value is smaller than the Δyz value and the Δxz value is smaller than the Δxy value, it is explained that the longitudinal axis dimension of the target object is the largest, and if the target object is a screw, it is explained that the screw is a screw locked in the Y direction, at this time, the screw diameter D is Δx 0 or Δz 0, and the total screw length L may be represented by Δy 0, as shown in fig. 4. If the Δyz value is smaller than the Δxz value and the Δyz value is smaller than the Δxy value, the transverse axis of the target object is the largest, which means that the screw is a screw locked in the X direction, and the screw diameter D is Δy 0 or Δz 0, and the total screw length L can be represented by Δx 0. If the Δxy value is smaller than the Δxz value and the Δxy value is smaller than the Δyz value, it indicates that the vertical axis dimension of the target object is the largest, and the screw is a screw locked in the Z direction, and at this time, the screw diameter D is Δx 0 or Δy 0, and the total screw length L may be denoted by Δz 0.
In some embodiments, the calculating the center point coordinates of the first cube includes:
The abscissa of the center point coordinate is an average value of the first abscissa and the second abscissa;
the ordinate of the center point coordinate is the average value of the first ordinate and the second ordinate;
And the vertical coordinate of the central point coordinate is an average value of the first vertical coordinate and the second vertical coordinate.
Specifically, according to the six values X max、Ymax、Zmax、Xmin、Ymin、Zmin set above, the center point coordinate of the first cube is calculated, where the center point coordinate is expressed asAs shown in fig. 5, a plane is established that passes through the center point and perpendicular to the direction of the screw. Taking the Y-direction screw as an example in fig. 5, it is necessary to cut the screw geometry along the XZ plane for the center point, and a second cube comprising the upper half of the screw head and a third cube comprising the lower half of the thread can be obtained.
In some embodiments, the second size data comprises: a second transverse axis dimension value, a second longitudinal axis dimension value, and a second vertical axis dimension value; the preset conditions are as follows:
when the locking direction of the target object is the horizontal axis direction, the second vertical axis dimension value is equal to the first vertical axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value.
Specifically, the dimensions of X, Y, Z in the three directions are obtained according to the second cube, specifically including a second transverse axis dimension value Δx 1, a second longitudinal axis dimension value Δy 1, and a second vertical axis dimension value Δz 1, and comparing with the first transverse axis dimension value Δx 0, the first longitudinal axis dimension value Δy 0, and the first vertical axis dimension value Δz 0 to determine whether the preset conditions are met, specifically
(1) If the screw in the X direction has been determined, it is judged whether the following preset condition is satisfied,
If the above condition is satisfied, the second cube is determined to be the screw head, otherwise, the third cube is determined to be the screw head.
(2) If the screw in the Y direction has been determined, it is judged whether the following preset condition is satisfied,
If the above condition is satisfied, as shown in fig. 6, the second cube is determined to be the screw head, otherwise, as shown in fig. 7, the third cube is determined to be the screw head.
(3) If the screw in the Z direction has been determined, it is judged whether the following preset condition is satisfied,
If the above condition is satisfied, the second cube is determined to be the screw head, otherwise, the third cube is determined to be the screw head.
In some embodiments, the eight vertex coordinates of the first cube are comprised of a first abscissa, a second abscissa, a first ordinate, a second ordinate, a first ordinate, and a second ordinate; the eight vertex coordinates of the cube where the head of the object is located are composed of a third abscissa, a fourth abscissa, a third ordinate, a fourth ordinate, a third vertical coordinate and a fourth vertical coordinate.
In some embodiments, the determining the center coordinates of the target object and the locking direction of the target object includes:
When the locking direction of the target object is the horizontal axis direction, if the second horizontal coordinate value is equal to the fourth horizontal coordinate value, the horizontal coordinate value of the center coordinate of the target object is the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the horizontal axis positive direction; if the first abscissa value is equal to the third abscissa value, the abscissa value of the center coordinate of the target object is the first abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the horizontal coordinate value of the center coordinate of the target object is the average value of the first horizontal coordinate and the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the vertical axis positive direction; if the first ordinate value is equal to the third ordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa value and the second abscissa value, the ordinate value of the center coordinate of the target object is the first ordinate value, the ordinate value of the center coordinate of the target object is the average value of the first ordinate value and the second ordinate value, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, and the locking direction of the target object is the positive direction of the vertical axis; if the first vertical coordinate value is equal to the third vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the first vertical coordinate value, and the locking direction of the target object is the negative direction of the horizontal axis.
Specifically, after the screw head is determined, the eight vertex coordinates of the cube in which the screw head is disposed are composed of a third abscissa X max,1, a fourth abscissa X min,1, a third ordinate Y max,1, a fourth ordinate Y min,1, a third ordinate Z max,1, and a fourth ordinate Z min,1.
For example, (1) for a screw that has been determined to be in the X direction, X max,1 and X min,1 of the cube in which the screw head is located are compared with X max、Xmin of the first cube, respectively,
If X min,1＝Xmin is satisfied, the center coordinates of the screw areAt this time, the screw should be locked in the positive direction;
If X max,1＝Xmax is satisfied, the center coordinates of the screw are At this time, the screw should be locked in a negative direction.
(2) As shown in fig. 8, for the screw whose Y direction has been determined, Y max,1 and Y min,1 of the cube in which the screw head is located are compared with Y max、Ymin of the first cube,
As shown in FIG. 8, if Y min,1＝Ymin is satisfied, the center coordinates of the screw areAt this time, the screw should be locked in the positive direction;
As shown in FIG. 9, if Y max,1＝Ymax is satisfied, the center coordinates of the screw are At this time, the screw should be locked in a negative direction.
(3) For a screw that has been determined to be Z-directional, Z max,1 and Z min,1 of the cube in which the screw head is located are compared to Z max、Zmin of the first cube, respectively,
If Z min,1＝Zmin is satisfied, the center coordinates of the screw areAt this time, the screw should be locked in the positive direction;
if Z max,1＝Zmax is satisfied, the center coordinates of the screw are At this time, the screw should be locked in a negative direction.
S104, constructing target object constraints according to the identification result to construct a target object model.
In some embodiments, the constructing a target object constraint according to the identification result includes:
Establishing a virtual cylinder according to the circle center coordinates of the screw, the locking direction of the target object, the diameter of the target object and the length of the target object in the locking direction;
searching all nodes of all objects in the range of the virtual cylinder;
Determining the node with the minimum distance from the center coordinates of the target object in the nodes of the searched object;
Determining the node with the minimum distance as a first node;
and constructing target object constraint based on the first node, the target object diameter and the length of the target object in the locking direction.
Specifically, through the above, as shown in fig. 10, a virtual cylinder is established on the basis of obtaining the center coordinates of the screw, the direction of the locking screw, the diameter D of the screw head and the total length L of the screw, then nodes of all parts are searched within the range of the virtual cylinder, and then the node closest to the center coordinates of the screw is found from all the nodes as the first node.
The first node, screw head diameter D and total length L are then brought into the procedure for establishing screw constraints, resulting in screw constraints, as shown in fig. 11.
In some embodiments, when the target objects are plural, the target object constraints are established one by one until the last target room establishes the target object constraints.
It can be understood that the screws in the application can be screws on a computer, the screws on the computer comprise a plurality of screws, the screws on the computer are respectively constrained by the technical scheme of the application, the screws on the computer are all constrained by the screws, and finally, a screw model is built based on the constraints of the screws.
As shown in fig. 12, an embodiment of the present application provides an object recognition apparatus, which includes:
an obtaining module 1201, configured to obtain unstructured data of a target object, and generate a first cube according to the unstructured data;
a determining module 1202, configured to obtain a dataset of the target object according to vertex coordinate data of the first cube;
an identification module 1203, configured to obtain an identification result of the target object according to the data set of the target object;
and a construction module 1204, configured to construct a target object constraint according to the identification result.
According to the target identification device provided by the application, unstructured data of a target object are acquired through the acquisition module 1201, and a first cube is generated according to the unstructured data; the determining module 1202 obtains a data set of the target object according to the vertex coordinate data of the first cube; the identification module 1203 obtains an identification result of the target object according to the data set of the target object; the construction module 1204 constructs a target object constraint according to the recognition result.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.
Fig. 13 illustrates a schematic block diagram of an example electronic device 1300 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 13, the apparatus 1300 includes a computing unit 1301 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1302 or a computer program loaded from a storage unit 1308 into a Random Access Memory (RAM) 1303. In the RAM 1303, various programs and data required for the operation of the device 1300 can also be stored. The computing unit 1301, the ROM 1302, and the RAM 1303 are connected to each other through a bus 1304. An input/output (I/O) interface 1305 is also connected to bus 1304.
Various components in device 1300 are connected to I/O interface 1305, including: an input unit 1306 such as a keyboard, a mouse, or the like; an output unit 1307 such as various types of displays, speakers, and the like; storage unit 1308, such as a magnetic disk, optical disk, etc.; and a communication unit 1309 such as a network card, a modem, a wireless communication transceiver, or the like. The communication unit 1309 allows the device 1300 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 1301 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1301 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1301 performs the respective methods and processes described above, such as the target recognition method. For example, in some embodiments, the object recognition method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1308. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 1300 via the ROM 1302 and/or the communication unit 1309. When the computer program is loaded into the RAM 1303 and executed by the computing unit 1301, one or more steps of the object recognition method described above may be performed. Alternatively, in other embodiments, the computing unit 1301 may be configured to perform the object recognition method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems-on-a-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (16)
1. A method of object recognition, the method comprising:
obtaining unstructured data of a target object, and generating a first cube according to the unstructured data;
obtaining a data set of the target object according to the vertex coordinate data of the first cube;
obtaining an identification result of the target object according to the data set of the target object;
and constructing target object constraint according to the identification result to construct a target object model.
2. The method of claim 1, wherein the unstructured data comprises at least one of:
image data and video data.
3. The method of claim 1, wherein the obtaining the dataset of the target object from the vertex coordinate data of the first cube comprises:
determining first dimensional data of the target object in directions based on a lateral axis, a longitudinal axis, and a vertical axis of the first cube;
calculating absolute values of differences between every two of the first dimension data in the directions of the horizontal axis, the vertical axis and the vertical axis;
determining eight vertex coordinates of the first cube;
the first size data, absolute values, and eight vertex coordinates are determined as a dataset of the target object.
4. A method according to claim 3, wherein obtaining the recognition result of the target object from the data set of the target object comprises:
judging the locking direction of the target object by utilizing a preset mode according to the absolute value;
determining the diameter of the target object and the length of the target object in the locking direction according to the first size data based on the locking direction of the target object;
Calculating the center point coordinates of the first cube by utilizing the coordinate values in the eight vertex coordinates, and determining the center point position;
establishing a plane passing through the central point and perpendicular to the locking direction of the target object, wherein the plane divides the target object into an upper structure and a lower structure;
Generating a second cube of the upper structure and a third cube of the lower structure, respectively;
determining second dimensional data of the superstructure in a lateral, longitudinal and vertical axis direction based on the second cube;
Comparing the second size data with the first size data based on the locking direction of the target object, judging whether the second size data meets preset conditions, if so, the second cube is the object head of the target object, otherwise, the third cube is the object head of the target object;
Determining eight vertex coordinates of a cube where the head of the object is located;
judging whether the coordinate value of the target object is equal to the coordinate value of the head of the object in the corresponding direction; the coordinate values of the target object and the coordinate values of the head of the object both comprise two coordinate values in the locking direction of the target object;
and if the center coordinates of the target object are equal to the locking direction of the target object, determining the center coordinates of the target object and the locking direction of the target object.
5. The method of claim 4, wherein the first size data comprises: a first transverse axis dimension value, a first longitudinal axis dimension value, and a first vertical axis dimension value; the step of judging the locking direction of the target object by using a preset mode according to the absolute value comprises the following steps:
If the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first horizontal axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction;
If the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first vertical axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, the locking direction of the target object is the horizontal axis direction;
And if the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value, and the absolute value of the difference between the first horizontal axis size value and the first vertical axis size value is smaller than the absolute value of the difference between the first vertical axis size value and the first vertical axis size value, the locking direction of the target object is the vertical axis direction.
6. The method of claim 5, wherein determining the target object diameter and the target object length in the lock direction based on the lock direction of the target object from the first dimension data comprises:
if the locking direction of the target object is the transverse axis direction, the diameter of the target object is a first vertical axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first transverse axis size value;
If the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first horizontal axis size value or a first vertical axis size value, and the length of the target object in the locking direction is a first vertical axis size value;
And if the locking direction of the target object is the vertical axis direction, the diameter of the target object is a first transverse axis size value or a first longitudinal axis size value, and the length of the target object in the locking direction is a first vertical axis size value.
7. The method of claim 5, wherein the second size data comprises: a second transverse axis dimension value, a second longitudinal axis dimension value, and a second vertical axis dimension value; the preset conditions are as follows:
when the locking direction of the target object is the horizontal axis direction, the second vertical axis dimension value is equal to the first vertical axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value;
when the locking direction of the target object is the vertical axis direction, the second horizontal axis dimension value is equal to the first horizontal axis dimension value, and the second vertical axis dimension value is equal to the first vertical axis dimension value.
8. The method of claim 4, wherein the step of determining the position of the first electrode is performed,
The eight vertex coordinates of the first cube are composed of a first abscissa, a second abscissa, a first ordinate, a second ordinate, a first vertical coordinate and a second vertical coordinate; the eight vertex coordinates of the cube where the head of the object is located are composed of a third abscissa, a fourth abscissa, a third ordinate, a fourth ordinate, a third vertical coordinate and a fourth vertical coordinate.
9. The method of claim 8, wherein determining the center coordinates of the target object and the locking direction of the target object comprises:
When the locking direction of the target object is the horizontal axis direction, if the second horizontal coordinate value is equal to the fourth horizontal coordinate value, the horizontal coordinate value of the center coordinate of the target object is the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the horizontal axis positive direction; if the first abscissa value is equal to the third abscissa value, the abscissa value of the center coordinate of the target object is the first abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the horizontal coordinate value of the center coordinate of the target object is the average value of the first horizontal coordinate and the second horizontal coordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, the vertical coordinate value of the center coordinate of the target object is the average value of the first vertical coordinate and the second vertical coordinate, and the locking direction of the target object is the vertical axis positive direction; if the first ordinate value is equal to the third ordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa value and the second abscissa value, the ordinate value of the center coordinate of the target object is the first ordinate value, the ordinate value of the center coordinate of the target object is the average value of the first ordinate value and the second ordinate value, and the locking direction of the target object is the negative direction of the horizontal axis;
When the locking direction of the target object is the vertical axis direction, if the second vertical coordinate value is equal to the fourth vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the second vertical coordinate value, and the locking direction of the target object is the positive direction of the vertical axis; if the first vertical coordinate value is equal to the third vertical coordinate value, the abscissa value of the center coordinate of the target object is the average value of the first abscissa and the second abscissa, the ordinate value of the center coordinate of the target object is the average value of the first ordinate and the second ordinate, the vertical coordinate value of the center coordinate of the target object is the first vertical coordinate value, and the locking direction of the target object is the negative direction of the horizontal axis.
10. The method of claim 8, wherein the calculating the center point coordinates of the first cube comprises:
The abscissa of the center point coordinate is an average value of the first abscissa and the second abscissa;
the ordinate of the center point coordinate is the average value of the first ordinate and the second ordinate;
And the vertical coordinate of the central point coordinate is an average value of the first vertical coordinate and the second vertical coordinate.
11. The method of claim 4, wherein constructing a target object constraint from the recognition result comprises:
Establishing a virtual cylinder according to the circle center coordinates of the screw, the locking direction of the target object, the diameter of the target object and the length of the target object in the locking direction;
searching all nodes of all objects in the range of the virtual cylinder;
Determining the node with the minimum distance from the center coordinates of the target object in the nodes of the searched object;
Determining the node with the minimum distance as a first node;
and constructing target object constraint based on the first node, the target object diameter and the length of the target object in the locking direction.
12. The method as recited in claim 11, further comprising:
And when the number of the target objects is multiple, establishing target object constraints one by one until the last target house establishes target object constraints.
13. The method according to any one of claim 1 to 12, wherein,
The target object is a screw, and the screw comprises a screw head and a screw part.
14. An object recognition device, the device comprising:
the acquisition module is used for acquiring unstructured data of a target object and generating a first cube according to the unstructured data;
the determining module is used for obtaining a data set of the target object according to the vertex coordinate data of the first cube;
the identification module is used for obtaining an identification result of the target object according to the data set of the target object;
And the construction module is used for constructing target object constraint according to the identification result.
15. An electronic device, comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-13.
16. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-13.
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