CN106370880A - Automatic measuring method and apparatus for rotating speed of motor - Google Patents
Automatic measuring method and apparatus for rotating speed of motor Download PDFInfo
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- CN106370880A CN106370880A CN201610941227.5A CN201610941227A CN106370880A CN 106370880 A CN106370880 A CN 106370880A CN 201610941227 A CN201610941227 A CN 201610941227A CN 106370880 A CN106370880 A CN 106370880A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000005259 measurement Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 5
- 239000000284 extract Substances 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
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Abstract
The invention provides an automatic measuring method and apparatus for a rotating speed of a motor. The apparatus comprises a camera, an image processing unit, a communication unit, an LED light-supplementing lamp, and a display device. The camera collects n images of a spindle during a motor rotation process at a preset frame rate. The image processing unit being a computer or embedded system connected with the camera is used for extracting an angle difference of each two frames of adjacent images and obtaining a rotating speed based on the angle difference so as to obtain a practical rotating speed of the motor. The communication unit is used for sending the practical rotating speed to external equipment after the image processing unit obtains the practical rotating speed. The LED light-supplementing lamp is controlled by the image processing unit to carry out stroboscopic light supplementing at a frequency identical with the frame rate of image collection by the camera when the camera is collecting an image. And the display device is used for displaying a rotating speed of the shot spindle of the motor. According to the apparatus, the instantaneous image of rotation of the rotating spindle of the motor is captured by using the camera, thereby obtaining the motor state and the rotating speed of the motor. Therefore, automatic measurement of the rotating speed of the motor is realized. The apparatus having a simple structure is easy to realize.
Description
Technical field
The present invention relates to motor speed measurement technical field, particularly to a kind of motor speed method for automatic measurement and dress
Put.
Background technology
The measuring method of motor speed is a lot, and widely used at present is contact measuring methods for rotary speed of electromotor, reflective
Measuring methods for rotary speed of electromotor, stroboscope measuring methods for rotary speed of electromotor etc..
Contact motor speed measurement adopts measurement head (sensor) and electric machine main shaft (or additional certain on main shaft
The part of rotation) contact, motor rotation drive measurement head rotates, and rotates generation by measurement measurement head within a certain period of time
Umber of pulse, obtains the revolution of motor.
Reflective motor speed measurement adopt infrared or laser firing signals, electric machine main shaft (or on main shaft additional
Certain rotation part) upper paste a reflective light label, infrared or laser sensor passes through to sense the reflected signal of reflective light label,
The umber of pulse that meter within a certain period of time produces, obtains the revolution of motor.
Stroboscope measurement motor rotating speed utilizes the persistance of human vision of human eye, when flashing rate and the motor speed of stroboscope
It can be seen that the main shaft of motor is static or slowly rotates when consistent.Using this principle, can be by adjusting
The flashing rate of stroboscope, until motor is static or slowly rotates.The flashing rate now showing is motor
Revolution.
Contact measuring methods for rotary speed of electromotor, because measurement head will be contacted with electric machine main shaft, therefore cannot be applied to high-revolving
Measurement.Reflective measuring methods for rotary speed of electromotor is it is necessary to label one it is impossible to be applied to the field of some motor closings on main shaft
Close.Contact and reflective motor speed measurement it is desirable to tester is permissible apart from closer ability with motor, to personal security meeting
Produce impact.These three measuring methods must have tester to carry out operating and just can carry out.For some scenes, such as canned motor pump
Scheduling and planning scene, personnel cannot near but in the case of rotating speed must being measured, before three kinds of measuring methods can not expire
Sufficient measurement demand.
Content of the invention
It is an object of the invention to provide a kind of motor speed method for automatic measurement and device, to solve existing measurement side
Existing for method measure high-speed rotation motor when cannot automatic measurement motor speed problem.
For achieving the above object, the invention provides a kind of motor speed method for automatic measurement, comprise the following steps:
S1: control camera with the n two field picture of main shaft in preset frame rate continuous acquisition motor rotation process, n is whole more than 1
Number；
S2: identify and calculate the differential seat angle of the adjacent image of every two frames according to the n two field picture of collection, described differential seat angle is taken
Meansigma methodss, predict rotating speed according to described mean value calculation；
S3: to predict rotating speed calculating frame per second h, and control camera to carry out Resurvey n two field picture with frame per second h, according to again
The n two field picture of collection is calculated current checking rotating speed by step s2；
S4: judge described prediction rotating speed as reference rotation velocity with described checking rotating speed difference whether in default range of error
Interior, in this way, then checking rotating speed is the actual speed of motor, such as no entrance step s5；
S5: using current checking rotating speed as prediction rotating speed, and return to step s3 continues executing with.
It is preferred that during collected by camera image, further including: adopt led light compensating lamp with the frame per second with collected by camera image
Identical frequency carries out stroboscopic light filling.
It is preferred that described step s1 further includes: index point is arranged on described main shaft or chooses the keyway on main shaft
As index point, described index point is as the reference point that the image gathering is identified.
It is preferred that the image recognition in described step s2 further includes:
S21: the image of collection is loaded after mask, extracts roi；
S22: in hsv space, channel separation is carried out to described roi, obtains h channel image；
S23: described h channel image is carried out binary conversion treatment, expanded, corrosion obtain final image to be processed；
S24: extract the angle of this two field picture from described final image.
It is preferred that described step s24 further includes:
(1) extract connected domain profile from described final image, and obtain minimum external square, from described minimum external square
Extraction obtains angle of inclination；
(2) determine the current angle of main shaft, foundation is set in advance on main shaft and shows index point in the picture, by institute
State image to become a full member；
(3) obtain the external square roi of the image after becoming a full member；
(4) judge the breach direction of external square roi, according to the angle of breach direction calculating image.
Present invention also offers a kind of motor speed self-operated measuring unit, comprising:
Camera, for gathering n image of main shaft in motor rotation process with preset frame rate, n is the integer more than 1；
Graphics processing unit, is the computer or embedded system being connected with described camera, adjacent for extracting every two frames
Image differential seat angle, according to differential seat angle obtain rotating speed, to obtain the actual speed of motor.
Communication unit, for after described image processing unit obtains described actual speed by described actual speed send to
The external equipment being connected with this device.
It is preferred that described image processing unit further comprises:
Camera control module, for controlling described camera frame per second according to target to gather the image of electric machine main shaft；
Image processing module, for being processed and being extracted the differential seat angle of the adjacent image of every two frames to described image；
Rotating speed computing module, for calculating prediction rotating speed, frame per second h and checking rotating speed according to described differential seat angle；
Central Control Module, for controlling camera control module to be acquired image, and judges that current checking rotating speed is
The no actual speed for motor, in this way, using current checking rotating speed as prediction rotating speed, continues executing with new checking rotating speed Ru no
Acquisition and compare, until obtain actual speed.
It is preferred that also including led light compensating lamp, in collected by camera image, under the control of graphics processing unit with
Carry out stroboscopic light filling with the frame per second identical frequency of collected by camera image.
It is preferred that also including display, for showing the rotary state of the electric machine main shaft photographing.
Assembly of the invention and method have the advantages that
(1) cameras capture machine shaft is adopted to rotate moment image, thus obtaining the state of motor, thus catching according to camera
The frequency caught and machine shaft state obtain motor speed, it is possible to achieve system automatic measurement motor rotating speed, apparatus structure letter
It is single, it is easy to accomplish；
(2) light filling is carried out so that the image of cameras capture becomes apparent from using stroboscopic light source, and camera enters to electric machine main shaft
Row sampling, calculates the velocity of rotation of electric machine main shaft it is possible to make the rotary state of motor show over the display, is easy to
Observe the kinestate of motor；
(3) the stroboscopic measuring methods for rotary speed of electromotor calculating rotating speed based on image is adopted to be non-contact measurement, suitable long distance
From measurement, the personnel of being particularly suitable for cannot near but the situation of rotating speed must be measured, certainty of measurement is higher.
Brief description
Fig. 1 forms structure chart for the motor speed self-operated measuring unit that preferred embodiment provides；
The overview flow chart of the method that Fig. 2 provides for the preferred embodiment of the present invention；
The width original image that Fig. 3 gathers for the preferred embodiment of the present invention；
Fig. 4 is the process flow diagram flow chart of the image recognition of the preferred embodiment of the present invention；
Fig. 5 a is the mask that the image to Fig. 3 loads；
Fig. 5 b is the roi after the image to Fig. 3 loads mask；
Fig. 5 c is the h channel image that the roi to Fig. 5 b carries out that channel separation obtains；
Fig. 5 d is the s channel image that the roi to Fig. 5 b carries out that channel separation obtains；
Fig. 5 e is the v channel image that the roi to Fig. 5 b carries out that channel separation obtains；
Fig. 5 f is the final image that the h channel image process to Fig. 5 c obtains；
Fig. 6 a is the image external square image that the final image extraction to Fig. 5 f obtains；
Fig. 6 b is the image after the external square image to Fig. 6 a is become a full member；
Fig. 6 c is the external square roi to the image after the becoming a full member of Fig. 6 b；
Fig. 6 d is the image schematic diagram that the image procossing to Fig. 6 c obtains gap position；
Fig. 6 e is the schematic diagram of the image calculating angle according to Fig. 6 d.
Specific embodiment
For the present invention is better described, hereby with a preferred embodiment, and coordinate accompanying drawing that the present invention is elaborated, specifically
As follows:
As shown in figure 1, present invention also offers a kind of motor speed self-operated measuring unit is it is characterised in that include:
Camera 101, for gathering the image of main shaft in motor rotation process；
Graphics processing unit 102, can be arranged as required to as computer or embedded control system, for described figure
As being processed and being extracted the differential seat angle of the adjacent image of every two frames, calculate prediction rotating speed and to predict rotating speed calculating frame per second h,
And control camera to carry out Resurvey image with frame per second h, current checking rotating speed is calculated according to the image of Resurvey, sentences
Whether with the described difference verifying rotating speed in default range of error, in this way, then checking rotating speed is motor to disconnected described prediction rotating speed
Actual speed, using current checking rotating speed as prediction rotating speed, and continues executing with the new acquisition of checking rotating speed and compares, until
Obtain actual speed.
Communication unit 103, for sending out described actual speed after described image processing unit obtains described actual speed
Deliver to the external equipment being connected with this device.
Led light compensating lamp 104, is connected with graphics processing unit, in collected by camera image, in graphics processing unit
Under control, stroboscopic light filling is carried out with the frame per second identical frequency with collected by camera image.
Display 105, the display screen being specially connected with graphics processing unit, the electric machine main shaft photographing for display
Rotary state.
This device is used for the acquisition of actuating motor rotating speed, thus realizing the automatic measurement of motor speed.Wherein, led light filling
It is the instantaneous flash in image shot by camera, the time of exposure of camera can be shortened.When flashing rate and synchronization, permissible
It is clearly apparent the situation of motor rotation with human eye.Can also be by human eye Lai the accuracy of further validation test result.
Wherein, above-mentioned graphics processing unit specifically also includes:
Camera control module, for controlling described camera frame per second according to target to gather the image of electric machine main shaft；
Image processing module, for being processed and being extracted the differential seat angle of the adjacent image of every two frames to described image；
Rotating speed computing module, for calculating prediction rotating speed, frame per second h and checking rotating speed according to described differential seat angle；
Central Control Module, for controlling camera control module to be acquired image, and judges that current checking rotating speed is
The no actual speed for motor, in this way, using current checking rotating speed as prediction rotating speed, continues executing with new checking rotating speed Ru no
Acquisition and compare, until obtain actual speed.Meanwhile, the Central Control Module in the present embodiment also controls led light compensating lamp to exist
Carry out light filling during image shot by camera.
As shown in Fig. 2 providing a kind of motor speed method for automatic measurement in the present invention, comprise the following steps:
S1: control camera with the n two field picture of main shaft in preset frame rate continuous acquisition motor rotation process, n is whole more than 1
Number；
S2: identify and calculate the differential seat angle of the adjacent image of every two frames according to the n two field picture of collection, described differential seat angle is taken
Meansigma methodss, predict rotating speed according to described mean value calculation；
S3: to predict rotating speed calculating frame per second h, and control camera to carry out Resurvey n two field picture with frame per second h, according to again
The n two field picture of collection is calculated current checking rotating speed by step s2；
S4: judge that described prediction rotating speed and the difference of described checking rotating speed, whether in default range of error, in this way, then will be tested
Demonstrate,prove rotating speed as the actual speed of motor and to export, such as no entrance step s5；
S5: using current checking rotating speed as prediction rotating speed, and return to step s3 continues executing with.
Wherein, in collected by camera image, the present embodiment method adopt simultaneously led light compensating lamp with collected by camera image
Frame per second identical frequency carries out stroboscopic light filling, so that the image that camera is sampled to electric machine main shaft becomes apparent from, is more favorable for
Extract main shaft angle.The detailed process of led stroboscopic light filling: control system provides led stroboscopic light filling signal, LED lamp is bright, and system is adopted
Collection image, LED lamp goes out, and image acquisition terminates.
Above-mentioned step s1 further includes: arranges index point on the main shaft of motor or chooses the keyway conduct on main shaft
Index point, index point is as the reference point that the image gathering is identified.All can have on general electric machine main shaft a keyway (and
Also a mark can be done as index point when not having), in this, as the reference point of the identification on main shaft.
The concrete rotating speed that lower mask body illustrates the method for the present embodiment taking the electric machine main shaft with keyway as a example calculated
Journey:
In step s1 of the present embodiment, the initial preset frame rate of camera is high frame per second, carries out continuous acquisition 3 with this high frame per second
Two field picture.As shown in figure 3, the wherein one width original image arriving for collected by camera,
Then the process to original image is carried out by above-mentioned step s2, the process of image recognition is as shown in figure 4, concrete
Including:
S21: the original image of collection is loaded after mask, extracts roi；
Wherein, mask size is to match with the main shaft external diameter in collection original image, obtain only to comprise main shaft part
The image dividing, mask as shown in Figure 5 a, extracts the roi (region of interest) obtaining as shown in Figure 5 b.
S22: in hsv space, channel separation is carried out to the roi obtaining, respectively obtains h channel image, s channel image and v and lead to
Road image, respectively as shown in Fig. 5 c, 5d, 5e, takes h channel image therein；
S23: h channel image is carried out with binary conversion treatment, expanded, corrosion obtains final image to be processed, such as Fig. 5 f
Shown；
S24: extract the angle of this two field picture from this final image.
Here step s24 further includes:
(1) extract connected domain profile from described final image, and obtain minimum external square, from described minimum external square
Extraction obtains angle of inclination；
Function findcontours () in opencv is utilized to find out all connected domain wheels from bianry image in the present embodiment
Exterior feature, obtains minimum external square using function minarearect () function, and this function can return the centre coordinate of external square, greatly
Small size, angle of inclination, angle of inclination is 0 ° Dao -90 °, and level angle is 0 °, is counterclockwise -90 ° to the maximum.The present embodiment
In the external square of the image finally giving such as Fig. 6 a, see the light grey rectangular shaped rim in Fig. 6 a.
(2) determine the current angle of main shaft, foundation is set in advance on main shaft and shows index point in the picture, by institute
State image to become a full member；
The angle on main shaft breach place side is determined, that is, the following inclined side 601 of the external square of Fig. 6 a, this is inclined in the present embodiment
The angle adjustment of hypotenuse is level, thus image is become a full member, conveniently judges breach, the image after becoming a full member is as shown in Figure 6 b.
(3) obtain the external square roi of the image after becoming a full member, as fig. 6 c；
(4) judge the breach direction of external square roi, according to the angle of breach direction calculating image.
Here judge breach direction, take a little on centerline, as shown in fig 6d, black picture element is gap position more.?
To after gap position, calculate image angle when, also need to carry out the conversion of angle:
With horizontal direction as starting point, dextrorotation is circled as 360 degree, and with the center of roi as initial point, vectorial oa points to and lacks
Mouth side, angle [alpha] as changes later angle.
As shown in fig 6e, angle w (negative angle) obtain external away from when obtain, then when determining breach side
Backward it is possible to calculate angle [alpha].
When breach down, α=90+w
When breach down, α=180+w
When breach upward, α=270+w
When breach is super right, α=360+w
Then the angle according to different two field pictures can calculate angle respectively α 1, the α 2 of two adjacent images, then calculate and turn
Fast r is:
Wherein, r is rotating speed, and unit is: rev/min；δ t is the time difference of continuous two angle acquisitions, gathers for the first time
When this calculating rotating speed closely actual revolution, checking rotating speed below can be further according to this result of calculation
It is acquired verifying, thus obtaining more accurate actual speed.The method that the mode of this machine vision carries out motor speed
It is suitably applied long-range or automatic tachometric survey, close without personnel, easy to use.
Wherein, frame per second h=r1/60 of above-mentioned steps s3, that is, the collection picture frequency of computer is r1/60.Secure h,
The time cycle δ t namely securing collection is 1/h, can be carried out rotating speed and calculates, this is counted after an image of often sampling
Calculation value and a front result of calculation are compared, and obtain the test result of motor in error allowed band.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those skilled in the art the invention discloses technical scope in, the deformation that the present invention is done or replacement, all should cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (9)
1. a kind of motor speed method for automatic measurement is it is characterised in that comprise the following steps:
S1: control camera with the n two field picture of main shaft in preset frame rate continuous acquisition motor rotation process, n is the integer more than 1；
S2: identify and calculate the differential seat angle of the adjacent image of every two frames according to the n two field picture of collection, described differential seat angle is averaged
Value, predicts rotating speed according to described mean value calculation；
S3: to predict rotating speed calculating frame per second h, and control camera to carry out Resurvey n two field picture with frame per second h, according to Resurvey
N two field picture be calculated current checking rotating speed by step s2；
S4: judge described prediction rotating speed as reference rotation velocity with described checking rotating speed difference whether in default range of error, such as
It is that then checking rotating speed is the actual speed of motor, such as no entrance step s5；
S5: using current checking rotating speed as prediction rotating speed, and return to step s3 continues executing with.
2. motor speed method for automatic measurement according to claim 1 is it is characterised in that during collected by camera image, enter one
Step includes: adopts led light compensating lamp to carry out stroboscopic light filling with the frame per second identical frequency with collected by camera image.
3. motor speed method for automatic measurement according to claim 1 is it is characterised in that described step s1 is wrapped further
Include:, as index point, described index point is as to collection for the keyway arranging on index point or selection main shaft on described main shaft
The reference point that image is identified.
4. motor speed method for automatic measurement according to claim 1 is it is characterised in that the image in described step s2 is known
Do not further include:
S21: the image of collection is loaded after mask, extracts roi；
S22: in hsv space, channel separation is carried out to described roi, obtains h channel image；
S23: described h channel image is carried out binary conversion treatment, expanded, corrosion obtain final image to be processed；
S24: extract the angle of this two field picture from described final image.
5. motor speed method for automatic measurement according to claim 4 is it is characterised in that described step s24 is wrapped further
Include:
(1) extract connected domain profile from described final image, and obtain minimum external square, extract from described minimum external square
Obtain angle of inclination；
(2) determine the current angle of main shaft, foundation is set in advance on main shaft and shows index point in the picture, by described figure
As becoming a full member；
(3) obtain the external square roi of the image after becoming a full member；
(4) judge the breach direction of external square roi, according to the angle of breach direction calculating image.
6. a kind of motor speed self-operated measuring unit is it is characterised in that include:
Camera, for gathering n image of main shaft in motor rotation process with preset frame rate, n is the integer more than 1；
Graphics processing unit, is the computer or embedded system being connected with described camera, the figure adjacent for extracting every two frames
The differential seat angle of picture, obtains rotating speed according to differential seat angle, to obtain the actual speed of motor；
Communication unit, for after described image processing unit obtains described actual speed by described actual speed send to this
The external equipment that device is connected.
7. motor speed self-operated measuring unit according to claim 6 is it is characterised in that described image processing unit enters one
Step also includes:
Camera control module, for controlling described camera frame per second according to target to gather the image of electric machine main shaft；
Image processing module, for being processed and being extracted the differential seat angle of the adjacent image of every two frames to described image；
Rotating speed computing module, for calculating prediction rotating speed, frame per second h and checking rotating speed according to described differential seat angle；
Central Control Module, for controlling camera control module to be acquired image, and judges that whether current checking rotating speed is
The actual speed of motor, in this way, using current checking rotating speed as prediction rotating speed, continues executing with obtaining of new checking rotating speed as no
Take and compare, until obtaining actual speed.
8. motor speed self-operated measuring unit according to claim 6, it is characterised in that also including led light compensating lamp, is used for
In collected by camera image, under the control of graphics processing unit, line frequency is entered with the frame per second identical frequency with collected by camera image
Dodge light filling.
9. motor speed self-operated measuring unit according to claim 6 is it is characterised in that also include display, for showing
Show the rotary state of the electric machine main shaft photographing.
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| CN201610941227.5A CN106370880B (en) | 2016-10-24 | 2016-10-24 | Automatic measuring method and device for motor rotation speed |
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Cited By (7)
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| CN108809195A (en) * | 2018-07-06 | 2018-11-13 | 珠海格力电器股份有限公司 | A kind of test system and method for motor feedback signals accuracy |
| CN109085374A (en) * | 2018-07-27 | 2018-12-25 | 江苏科技大学 | The multiple spot speed measuring device and its speed-measuring method for slow-speed of revolution system based on kinect |
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| CN112798813A (en) * | 2021-01-25 | 2021-05-14 | 河南科技大学 | Method for testing rotating speed of revolution driven member in pair-rolling friction pair |
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| CN113865675A (en) * | 2021-10-12 | 2021-12-31 | 安徽翼迈科技股份有限公司 | Semi-manual water meter self-checking method |
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