CN102645161A - Motor rotor position detection method based on image phase correlation algorithm - Google Patents
Motor rotor position detection method based on image phase correlation algorithm Download PDFInfo
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- CN102645161A CN102645161A CN2012100909208A CN201210090920A CN102645161A CN 102645161 A CN102645161 A CN 102645161A CN 2012100909208 A CN2012100909208 A CN 2012100909208A CN 201210090920 A CN201210090920 A CN 201210090920A CN 102645161 A CN102645161 A CN 102645161A
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Abstract
The invention discloses a motor rotor position detection method based on an image phase correlation algorithm. An area array CCD (charge coupled device) camera is erected opposite to a low shaft of a reduction box used for reducing rotating speed of a motor rotor or a rotating motor rotor; when a motor rotates, continuous shooting is carried out by virtue of the area array CCD and two adjacent motor rotor end face images at different moments are obtained, the rotating angle of the motor rotor within shooting time is calculated according to the information of the two shot end face images, and the position of the motor rotor is further measured. The motor rotor position detection method disclosed by the invention is stable in performance, high in accuracy and low in cost, adopts a non-contact measurement mode, is not influenced by severe working environment and has wide application range.
Description
Technical field
The present invention relates to a kind of motor rotor position detection method, relate in particular to a kind of motor rotor position detection method based on the image phase related algorithm.
Background technology
Motor rotor position detects through measuring the rotor anglec of rotation and draws, and the measuring system of the rotor anglec of rotation mainly contains following several kinds at present: Hall element, photoelectric encoder.The response speed of these devices and measuring accuracy are not very high, and are the measurements of contact, are not suitable in bad working environment, operating.Therefore need overcome the inconvenience of above-mentioned measuring element, propose new measuring method at present, promptly based on the outer corner measurement of the rotor of image phase related algorithm, this method can realize that measuring accuracy is high, real-time is good, can carry out non-cpntact measurement.Reason is: 1, this method utilizes image information to calculate, and computational accuracy can reach Pixel-level, thereby can realize precision measurement.2, adopt DSP642 and fpga chip to handle, to calculate image quickly and accurately, for measured real-time property provides guarantee.3, reach the purpose of precision measurement through shooting motor end face image, obviously this mode is a non-contact measurement.These advantages make this detection method be beneficial to the precision control of motor, are beneficial under rugged surroundings and work.
Summary of the invention
The purpose of this invention is to provide a kind of motor rotor position detection method based on the image phase related algorithm, not high to solve pick-up unit of the prior art precision when motor rotor position is detected, install and use inconvenience, and operate unsafe problem.
For achieving the above object, the technical scheme that the present invention adopts is:
A kind of motor rotor position detection method based on the image phase related algorithm comprises motor and area array CCD camera, it is characterized in that: detection comprises following key step:
1., the end face of the alignment lens rotor of said area array CCD camera;
2., said motor is in rotary state;
3., said area array CCD camera is taken its end view drawing picture continuously to the rotor that rotates;
4., go out the angle that rotor turns over, combine to take the position of confirming rotor interval time of these adjacent two width of cloth end view drawing pictures again according to the information calculations of captured adjacent two width of cloth end view drawing pictures.
Described a kind of motor rotor position detection method based on the image phase related algorithm; It is characterized in that: choose informative image adhesion on the motor end face; Take the end view drawing picture continuously with the high-speed camera head, and image is carried out polar coordinate transform, utilize the phase place related algorithm to find out the cross-power spectrum peak value of adjacent two width of cloth end view drawing pictures after the conversion again; Confirm the differential seat angle of adjacent two width of cloth images through the cross-power spectrum peak value, this differential seat angle is the rotor anglec of rotation.
Described a kind of motor rotor position detection method based on the image phase related algorithm; It is characterized in that: for the rotor that runs up, the image of shooting can produce motion blur, influences accuracy of detection; Adopt miniature accurate reduction gear; Draw a low speed rotating shaft,, measure the corner of low speed rotating shaft through taking the end face of low speed rotating shaft; Be converted to the anglec of rotation of rotor again according to the angular velocity ratio of miniature rotating speed case low speed rotating shaft and rotor, realize position probing the motor high speed rotor.
Described a kind of motor rotor position detection method based on the image phase related algorithm; It is characterized in that: also can produce motion image blurring for rotatablely moving of low speed rotor end-face; Also can produce certain influence to accuracy of detection; After can adopting Wiener's algorithm that clear picture is restored, carry out the relevant outer corner measurement of phase place again.
Beneficial effect of the present invention is:
Stable performance of the present invention, precision is higher, and cost is lower, adopts non-contact measurement, when using operation, does not receive the influence of abominable working environment, and is applied widely.
Description of drawings
Fig. 1 is a theory diagram of the present invention.
Fig. 2 is the theory diagram of area array CCD camera among the present invention.
Embodiment
In conjunction with shown in Figure 1, practical implementation step of the present invention is described:
1., choose informative image adhesion in the motor end face;
2., the end face of the alignment lens rotor of area array CCD camera;
3., motor is in rotary state;
4., area array CCD camera is taken its end view drawing picture continuously to the rotor that rotates; If the motor that runs up is then taked miniature reducer casing, make area array CCD camera photograph the end view drawing picture of the low axle of reducer casing;
5., adopt Wiener's algorithm to make image restoration to the image that collects;
6., the image after restoring is carried out polar coordinate transform, utilize the phase place related algorithm to find out the cross-power spectrum peak value of two width of cloth end view drawing pictures after the conversion again, confirm the differential seat angle of two width of cloth images through the cross-power spectrum peak value;
7., combine to take the position of confirming rotor interval time of these adjacent two width of cloth end view drawing pictures.
In conjunction with shown in Figure 2, hardware configuration of the present invention is described.CCD is the high-speed camera head among the figure, and rotary motor rotor is taken.The light signal that photographs is sent to the high-speed CCD chip; The high-speed CCD chip is converted into electric signal with light signal; And electric signal is sent to obtains image in the image capture module; Image carries out buffer memory by storer, carries out racemization by DSP642 again and handles, and the image information value after handling racemization imports the parallel related operation array of FPGA into and carries out the phase place related operation; The data of computing gained send into the DSP peak value searching and speed calculation module is carried out last angle and speed calculation, and outwards show output through communication interface.The high-speed CCD chip is driven by driving circuit, and image capture module is also controlled by the CPLD time-sequence control module.
Installation method among the present invention: choose informative image adhesion on the rotor end face; The end face of the alignment lens rotor of area array CCD camera gets final product; To the rotor that runs up; Rotor connects miniature reducer casing rotor, chooses informative image adhesion on the low axle of reducer casing, takes with the low axle of alignment lens reducer casing of CCD camera.
Algorithm principle of the present invention: area array CCD camera looks like to carry out racemization to two width of cloth end view drawings that collect to be handled, and Wiener filtering is better to the effect of the recovery of rotation blurred picture, so we adopt the Wiener filtering algorithm to carry out racemization.If two width of cloth end view drawings before and after the racemization look like to be respectively: f
(x; Y) and f
(x, y).If image f (x, the image that y) is transformed to polar coordinate representation be f (ρ, θ), wherein ρ is utmost point footpath, θ is a polar angle, then transformation relation is following:
ρ=
(1)
θ=arctan(
) (2)
Wherein (x
, y
) is transform center.So to f
(x; Y) carry out polar coordinate transform; Then f
(x y) is transformed to:
f
(
, arctan(
)) (3)
F
(x; Y) be f
(x; Y) rotate the image that θ obtains, expression formula is:
f
(x ,y)= f
( xcosθ+ysinθ,-xsinθ+ysinθ) (4)
To f
(x; Y) carry out polar coordinate transform; Promptly polar coordinate transform is carried out on formula (4) the right:
f
(
,arctan[(
)-θ]) (5)
Formula (3) and (5) are respectively f
(x; Y) and f
(x; Y) carry out gained behind the polar coordinate transform; Be made as f
(x; Y) and f
(x; Y), then can find out:
f
(x ,y) =f
(x , y-θ) (6)
Thereby the anglec of rotation that can find out original image has converted translational movement to.
Fourier transform is carried out on formula (6) both sides to be got:
F
(u，v)=F
(u,v)e
(7)
Convolution (7) calculates f
(x; Y) and f
(x, cross-power spectrum y):
In the formula (8); F
(u; V) be F
(u; Complex conjugate v); Two-dimentional impulse function δ (x of e
Fourier inversion; Y-θ), this Fourier inversion is the phase place related algorithm.Find out θ through its peak value, this is the anglec of rotation, combines to take the position of confirming rotor interval time of these adjacent two width of cloth end view drawing pictures again.
Claims (4)
1. the motor rotor position detection method based on the image phase related algorithm comprises motor and area array CCD camera, it is characterized in that: detection comprises following key step:
1., the end face of the alignment lens rotor of said area array CCD camera;
2., said motor is in rotary state;
3., said area array CCD camera is taken its end view drawing picture continuously to the rotor that rotates;
4., go out the angle that rotor turns over, combine to take the position of confirming rotor interval time of these adjacent two width of cloth end view drawing pictures again according to the information calculations of captured adjacent two width of cloth end view drawing pictures.
2. a kind of motor rotor position detection method according to claim 1 based on the image phase related algorithm; It is characterized in that: choose informative image adhesion on the motor end face; Take the end view drawing picture continuously with the high-speed camera head, and image is carried out polar coordinate transform, utilize the phase place related algorithm to find out the cross-power spectrum peak value of adjacent two width of cloth end view drawing pictures after the conversion again; Confirm the differential seat angle of adjacent two width of cloth images through the cross-power spectrum peak value, this differential seat angle is the rotor anglec of rotation.
3. a kind of motor rotor position detection method according to claim 1 based on the image phase related algorithm; It is characterized in that: for the rotor that runs up, the image of shooting can produce motion blur, influences accuracy of detection; Adopt miniature accurate reduction gear; Draw a low speed rotating shaft,, measure the corner of low speed rotating shaft through taking the end face of low speed rotating shaft; Be converted to the anglec of rotation of rotor again according to the angular velocity ratio of miniature rotating speed case low speed rotating shaft and rotor, realize position probing the motor high speed rotor.
4. a kind of motor rotor position detection method according to claim 1 based on the image phase related algorithm; It is characterized in that: also can produce motion image blurring for rotatablely moving of low speed rotor end-face; Also can produce certain influence to accuracy of detection; After can adopting Wiener's algorithm that clear picture is restored, carry out the relevant outer corner measurement of phase place again.
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Cited By (8)
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| CN104515867A (en) * | 2014-09-19 | 2015-04-15 | 中国人民解放军军事交通学院 | Method for measuring shaft torque, rotary speed and power parameters of power device based on double cameras |
| CN104713478A (en) * | 2015-03-05 | 2015-06-17 | 安徽大学 | Linear motor rotor position measuring method |
| CN106101633A (en) * | 2016-01-27 | 2016-11-09 | 山东厚德测控技术有限公司 | A kind of water meter gear real-time identifying system based on high-speed camera and method |
| CN106525865A (en) * | 2016-11-30 | 2017-03-22 | 南京理工大学 | Wafer image analysis device and method based on image processing |
| CN108151675A (en) * | 2017-11-16 | 2018-06-12 | 柳州健鱼科技有限公司 | A kind of motor rotor position detection based on image phase correlation algorithm |
| CN108195318A (en) * | 2017-12-25 | 2018-06-22 | 安徽大学 | Globular motor rotor fixed position device and localization method based on laser curtain imaging |
| CN108827148A (en) * | 2018-05-24 | 2018-11-16 | 青岛杰瑞自动化有限公司 | Rotating accuracy measurement method and measuring device |
| US20220076403A1 (en) * | 2020-04-23 | 2022-03-10 | Camx Power Llc | Image-based sensor for measuring rotational position of a rotating shaft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104515867A (en) * | 2014-09-19 | 2015-04-15 | 中国人民解放军军事交通学院 | Method for measuring shaft torque, rotary speed and power parameters of power device based on double cameras |
| CN104713478A (en) * | 2015-03-05 | 2015-06-17 | 安徽大学 | Linear motor rotor position measuring method |
| CN104713478B (en) * | 2015-03-05 | 2018-02-27 | 安徽大学 | A kind of linear motor rotor location measurement method |
| CN106101633A (en) * | 2016-01-27 | 2016-11-09 | 山东厚德测控技术有限公司 | A kind of water meter gear real-time identifying system based on high-speed camera and method |
| CN106101633B (en) * | 2016-01-27 | 2019-01-08 | 山东厚德测控技术有限公司 | A kind of water meter gear real-time identifying system and method based on high-speed camera |
| CN106525865A (en) * | 2016-11-30 | 2017-03-22 | 南京理工大学 | Wafer image analysis device and method based on image processing |
| CN108151675A (en) * | 2017-11-16 | 2018-06-12 | 柳州健鱼科技有限公司 | A kind of motor rotor position detection based on image phase correlation algorithm |
| CN108195318A (en) * | 2017-12-25 | 2018-06-22 | 安徽大学 | Globular motor rotor fixed position device and localization method based on laser curtain imaging |
| CN108195318B (en) * | 2017-12-25 | 2020-05-12 | 安徽大学 | Spherical motor rotor positioning device and positioning method based on laser curtain imaging |
| CN108827148A (en) * | 2018-05-24 | 2018-11-16 | 青岛杰瑞自动化有限公司 | Rotating accuracy measurement method and measuring device |
| US20220076403A1 (en) * | 2020-04-23 | 2022-03-10 | Camx Power Llc | Image-based sensor for measuring rotational position of a rotating shaft |
| US11694323B2 (en) * | 2020-04-23 | 2023-07-04 | Camx Power Llc | Image-based sensor for measuring rotational position of a rotating shaft |
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