CN106370880B - Automatic measuring method and device for motor rotation speed - Google Patents
Automatic measuring method and device for motor rotation speed Download PDFInfo
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- 238000000691 measurement method Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 4
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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
Abstract
The invention provides a motor rotating speed automatic measurement method and a motor rotating speed automatic measurement device, wherein the motor rotating speed automatic measurement device comprises the following steps: the camera is used for collecting n images of the main shaft in the rotating process of the motor at a preset frame rate; the image processing unit is a computer or an embedded system connected with the camera and is used for extracting the angle difference of every two adjacent frames of images and obtaining the rotating speed according to the angle difference so as to obtain the actual rotating speed of the motor; and the communication unit is used for transmitting the actual rotation speed to the external equipment after the image processing unit obtains the actual rotation speed. The LED light supplementing lamp is used for carrying out stroboscopic light supplementing at the same frequency as the frame rate of the image collected by the camera under the control of the image processing unit when the camera collects the image, and the display is used for displaying the rotation state of the photographed motor spindle. The device adopts the camera to catch the rotation moment image of the motor rotating shaft, thereby obtaining the state of the motor, obtaining the motor rotating speed, realizing automatic measurement of the motor rotating speed, and having simple structure and easy realization.
Description
Technical Field
The invention relates to the technical field of motor rotation speed measurement, in particular to a motor rotation speed automatic measurement method and device.
Background
The method for measuring the motor rotation speed is a plurality of methods, and the current application is widely used in contact motor rotation speed measuring methods, reflection motor rotation speed measuring methods, stroboscope motor rotation speed measuring methods and the like.
The rotation speed measurement of the contact motor adopts the way that a measuring head (a sensor) is in contact with a motor main shaft (or a part which is externally added on the main shaft and rotates), the motor rotates to drive the measuring head to rotate, and the rotation speed of the motor is obtained by measuring the pulse number generated by the rotation of the measuring head within a certain time.
The rotation speed of the reflective motor is measured by adopting infrared or laser emission signals, a reflective label is attached to a motor spindle (or a rotating component externally arranged on the spindle), and the infrared or laser sensor obtains the rotation speed of the motor by sensing the reflective signals of the reflective label and counting the generated pulse number within a certain time.
The stroboscope measures the rotation speed of the motor and utilizes the vision residual phenomenon of human eyes, and when the flashing frequency of the stroboscope is consistent with the rotation speed of the motor, the main shaft of the motor can be seen to be stationary or rotate very slowly. Using this principle, the flash frequency of the stroboscope can be adjusted until the motor is stationary or rotates very slowly. The flash frequency displayed at this time is the number of revolutions of the motor.
The method for measuring the rotating speed of the contact motor cannot be applied to measurement of high rotating speed because the measuring head is in contact with the main shaft of the motor. The method for measuring the rotating speed of the reflective motor is not suitable for occasions where some motors are sealed because a label is required to be attached to the main shaft. The rotation speed measurement of the contact type motor and the reflection type motor requires that a tester is relatively close to the motor, and the safety of the tester is influenced. These three measurement methods must be performed by a tester. For some sites, such as production and debugging sites of canned pumps, the former three measurement methods cannot meet the measurement requirements in the case that personnel cannot approach but must measure the rotation speed.
Disclosure of Invention
The invention aims to provide a motor rotating speed automatic measuring method and device, which are used for solving the problem that the motor rotating speed cannot be automatically measured when a motor rotating at a high speed is measured by the existing measuring method.
In order to achieve the above purpose, the invention provides an automatic measuring method for the rotating speed of a motor, which comprises the following steps:
s1: controlling a camera to continuously acquire n frames of images of a main shaft in the rotating process of a motor at a preset frame rate, wherein n is an integer greater than 1;
s2: identifying and calculating the angle difference of every two adjacent frames of images according to the acquired n frames of images, averaging the angle differences, and calculating the predicted rotating speed according to the average value;
s3: calculating a frame rate h according to the predicted rotation speed, controlling a camera to acquire n frames of images again according to the frame rate h, and calculating according to the step S2 according to the n frames of images acquired again to obtain the current verification rotation speed;
s4: judging whether the difference between the predicted rotating speed and the verification rotating speed is within a preset error range or not, if so, judging that the verification rotating speed is the actual rotating speed of the motor, and if not, entering step S5;
s5: and taking the current verification rotating speed as a predicted rotating speed, and returning to the step S3 to continue execution.
Preferably, when the camera acquires an image, the method further comprises: the LED light filling lamp is adopted to perform stroboscopic light filling at the same frequency as the frame rate of the image collected by the camera.
Preferably, the step S1 further includes: and setting a mark point on the main shaft or selecting a key groove on the main shaft as the mark point, wherein the mark point is used as a reference point for identifying the acquired image.
Preferably, the image recognition in step S2 further includes:
s21: after loading a mask on the acquired image, extracting an ROI;
s22: performing channel separation on the ROI in HSV space to obtain an H channel image;
s23: performing binarization treatment, expansion and corrosion on the H channel image to obtain a final image to be treated;
s24: and extracting the angle of the frame image from the final image.
Preferably, the step S24 further includes:
(1) Extracting a connected domain outline from the final image, acquiring a minimum external moment, and extracting an inclination angle from the minimum external moment;
(2) Determining the current angle of a main shaft, and correcting the image according to mark points which are preset on the main shaft and displayed in the image;
(3) Acquiring an external moment ROI of the converted image;
(4) And judging the notch direction of the external moment ROI, and calculating the angle of the image according to the notch direction.
The invention also provides an automatic motor rotating speed measuring device, which comprises:
the camera is used for collecting n images of the main shaft in the rotation process of the motor at a preset frame rate, wherein n is an integer greater than 1;
the image processing unit is a computer or an embedded system connected with the camera and is used for extracting the angle difference of every two adjacent frames of images and obtaining the rotating speed according to the angle difference so as to obtain the actual rotating speed of the motor.
And the communication unit is used for sending the actual rotating speed to external equipment connected with the device after the image processing unit obtains the actual rotating speed.
Preferably, the image processing unit further includes:
the camera control module is used for controlling the camera to acquire images of the motor spindle according to the frame rate of the target;
the image processing module is used for processing the images and extracting the angle difference of every two adjacent frames of images;
the rotating speed calculating module is used for calculating a predicted rotating speed, a frame rate h and a verification rotating speed according to the angle difference;
the central control module is used for controlling the camera control module to collect images and judging whether the current verification rotating speed is the actual rotating speed of the motor, if so, the current verification rotating speed is taken as the predicted rotating speed, and if not, the acquisition and comparison of the new verification rotating speed are continuously executed until the actual rotating speed is obtained.
Preferably, the camera also comprises an LED light supplementing lamp, which is used for carrying out stroboscopic light supplementing at the same frequency as the frame rate of the image acquired by the camera under the control of the image processing unit when the camera acquires the image.
Preferably, the camera further comprises a display for displaying the rotation state of the photographed motor spindle.
The device and the method have the following beneficial effects:
(1) The camera is adopted to capture the instantaneous rotation image of the motor rotating shaft, so that the state of the motor is obtained, the motor rotating speed is obtained according to the frequency captured by the camera and the state of the motor rotating shaft, the automatic measurement of the motor rotating speed of the system can be realized, and the device has a simple structure and is easy to realize;
(2) The stroboscopic light source is adopted for light supplementing, so that images captured by the camera are clearer, the camera samples a motor spindle, the rotating speed of the motor spindle is calculated, the rotating state of the motor can be displayed on a display, and the motor is convenient to observe the moving state of the motor;
(3) The method for measuring the rotating speed of the stroboscopic motor based on the image calculation is non-contact measurement, is suitable for long-distance measurement, and is particularly suitable for the situation that personnel cannot approach but must measure the rotating speed, and the measuring precision is high.
Drawings
FIG. 1 is a block diagram of an automatic motor speed measuring device according to the preferred embodiment;
FIG. 2 is a general flow chart of a method provided by a preferred embodiment of the present invention;
FIG. 3 is an original image acquired in accordance with a preferred embodiment of the present invention;
FIG. 4 is a flow chart of the image recognition process according to the preferred embodiment of the present invention;
FIG. 5A is a mask loading the image of FIG. 3;
FIG. 5B is the ROI after masking the image of FIG. 3;
FIG. 5C is an H-channel image obtained by channel separation of the ROI of FIG. 5B;
FIG. 5D is an S-channel image obtained by channel separation of the ROI of FIG. 5B;
FIG. 5E is a V-channel image obtained by channel separation of the ROI of FIG. 5B;
FIG. 5F is a final image obtained by processing the H-channel image of FIG. 5C;
FIG. 6A is an image external moment image extracted from the final image of FIG. 5F;
FIG. 6B is the image of FIG. 6A after the external moment image has been transformed;
FIG. 6C is an external moment ROI for the rectified image of FIG. 6B;
FIG. 6D is a schematic image of the notch position obtained for the image processing of FIG. 6C;
fig. 6E is a schematic diagram of an image calculation angle according to fig. 6D.
Detailed Description
For a better description of the present invention, a preferred embodiment will be described in detail with reference to the accompanying drawings, in which:
as shown in fig. 1, the present invention further provides an automatic motor rotation speed measuring device, which is characterized by comprising:
a camera 101 for acquiring an image of a spindle during rotation of the motor;
the image processing unit 102 may be configured as a computer or an embedded control system according to needs, and is configured to process the image and extract an angle difference between every two adjacent images, calculate a predicted rotation speed, calculate a frame rate h with the predicted rotation speed, control the camera to re-collect the image with the frame rate h, calculate a current verification rotation speed according to the re-collected image, determine whether the difference between the predicted rotation speed and the verification rotation speed is within a preset error range, if yes, determine that the verification rotation speed is an actual rotation speed of the motor, use the current verification rotation speed as the predicted rotation speed, and continue to perform acquisition and comparison of a new verification rotation speed until the actual rotation speed is obtained.
And a communication unit 103, configured to send the actual rotation speed to an external device connected to the apparatus after the image processing unit obtains the actual rotation speed.
The LED light filling lamp 104 is connected to the image processing unit, and is used for performing strobe light filling at the same frequency as the frame rate of the image collected by the camera under the control of the image processing unit when the camera collects the image.
The display 105, specifically a display screen connected to the image processing unit, is used for displaying the rotation state of the photographed motor spindle.
The device is used for acquiring the rotating speed of the motor, so that the automatic measurement of the rotating speed of the motor is realized. The LED light supplementing is instantly flashing when the camera shoots an image, so that the exposure time of the camera can be shortened. When the flashing frequency and the rotating speed are synchronous, the rotation condition of the motor can be clearly seen by human eyes. The accuracy of the test results can also be further verified by the human eye.
Wherein, the above-mentioned image processing unit also specifically includes:
the camera control module is used for controlling the camera to acquire images of the motor spindle according to the frame rate of the target;
the image processing module is used for processing the images and extracting the angle difference of every two adjacent frames of images;
the rotating speed calculating module is used for calculating a predicted rotating speed, a frame rate h and a verification rotating speed according to the angle difference;
the central control module is used for controlling the camera control module to collect images and judging whether the current verification rotating speed is the actual rotating speed of the motor, if so, the current verification rotating speed is taken as the predicted rotating speed, and if not, the acquisition and comparison of the new verification rotating speed are continuously executed until the actual rotating speed is obtained. Meanwhile, the central control module in the embodiment also controls the LED light supplementing lamp to supplement light when the camera shoots an image.
As shown in fig. 2, the invention provides a motor rotation speed automatic measurement method, which comprises the following steps:
s1: controlling a camera to continuously acquire n frames of images of a main shaft in the rotating process of a motor at a preset frame rate, wherein n is an integer greater than 1;
s2: identifying and calculating the angle difference of every two adjacent frames of images according to the acquired n frames of images, averaging the angle differences, and calculating the predicted rotating speed according to the average value;
s3: calculating a frame rate h according to the predicted rotation speed, controlling a camera to acquire n frames of images again according to the frame rate h, and calculating according to the step S2 according to the n frames of images acquired again to obtain the current verification rotation speed;
s4: judging whether the difference between the predicted rotating speed and the verification rotating speed is within a preset error range, if so, taking the verification rotating speed as the actual rotating speed of the motor and outputting the verification rotating speed, and if not, entering a step S5;
s5: and taking the current verification rotating speed as a predicted rotating speed, and returning to the step S3 to continue execution.
When the camera collects images, the LED light supplementing lamp is adopted to carry out stroboscopic light supplementing at the same frequency as the frame rate of the images collected by the camera, so that the images sampled by the camera on the motor spindle are clearer, and the spindle angle is more favorably extracted. The specific process of LED stroboscopic light filling comprises the following steps: the control system gives out LED stroboscopic light filling signals, the LED lamps are on, the system collects images, the LED lamps are off, and image collection is finished.
The step S1 further includes: and setting a mark point on a main shaft of the motor or selecting a key groove on the main shaft as the mark point, wherein the mark point is used as a reference point for identifying the acquired image. Typically, the spindle of the motor has a keyway (and not necessarily a mark) as a marker point, which serves as a reference point for identification on the spindle.
The following describes a specific rotational speed calculation process of the method according to the present embodiment, specifically taking a motor spindle with a key slot as an example:
in step S1 of the present embodiment, the initial preset frame rate of the camera is a high frame rate, and 3 frames of images are continuously acquired at the high frame rate. As shown in fig. 3, for one of the original images acquired by the camera,
then, the original image is processed through the step S2, and the image recognition process is shown in fig. 4, and specifically includes:
s21: after loading a mask on the acquired original image, extracting an ROI;
the size of the mask is matched with the outer diameter of the main shaft in the original acquired image so as to acquire an image only containing the main shaft, the mask is shown in fig. 5A, and ROI (Region Of Interest) obtained by extraction is shown in fig. 5B.
S22: performing channel separation on the obtained ROI in HSV space to respectively obtain an H channel image, an S channel image and a V channel image, wherein the H channel image is taken as shown in figures 5C, 5D and 5E;
s23: binarizing the H-channel image, expanding and corroding to obtain a final image to be processed, as shown in FIG. 5F;
s24: the angle of the frame image is extracted from the final image.
Step S24 herein further includes:
(1) Extracting a connected domain outline from the final image, acquiring a minimum external moment, and extracting an inclination angle from the minimum external moment;
in this embodiment, all connected domain outlines are found out from the binary image by using a function findContours () in OpenCV, and the minimum external moment is obtained by using a function minarea rect () function, and the function can return the central coordinate of the external moment, the size and the size of the external moment, the inclination angle, the horizontal angle, and the counterclockwise direction are respectively 0 ° to-90 °. The final external moment of the image in this embodiment is shown in fig. 6A, and see the light gray rectangular frame in fig. 6A.
(2) Determining the current angle of a main shaft, and correcting the image according to mark points which are preset on the main shaft and displayed in the image;
in this embodiment, the angle of the edge where the notch of the main shaft is located, that is, the lower inclined edge 601 of the external moment in fig. 6A, is determined, and the angle of the inclined edge is adjusted to be horizontal, so that the image is corrected, the notch is convenient to be judged, and the corrected image is shown in fig. 6B.
(3) Acquiring an external moment ROI of the converted image, as shown in FIG. 6C;
(4) And judging the notch direction of the external moment ROI, and calculating the angle of the image according to the notch direction.
Here, the notch direction is determined, and a point is taken on the center line, and as shown in fig. 6D, the number of black pixels, that is, the notch position is large. After the notch position is obtained, when the angle of the image is calculated, the angle conversion is needed:
the horizontal direction is taken as a starting point, one circle of clockwise rotation is 360 degrees, the center of the ROI is taken as an origin, the vector OA points to the notch side, and the angle alpha is the angle after conversion.
As shown in fig. 6E, the angle w (negative angle) has been obtained when the outer joint distance is obtained, and the angle α can be calculated when the notch direction is determined.
When the notch is downward, α=90+w
When the notch is downward, α=180+w
When the notch is up, α=270+w
When the notch is beyond right, α=360+w
The angles of two adjacent images can be calculated according to the angles of different frame images to be alpha 1 and alpha 2 respectively, and the calculated rotating speed r is as follows:
wherein r is the rotation speed, and the unit is: revolutions per minute; delta t is the time difference between two continuous angle acquisitions, the calculated rotating speed in the first acquisition is very close to the real rotating speed, and the later verification rotating speed can be further acquired and verified according to the calculated result, so that the more accurate actual rotating speed is obtained. The method for measuring the motor rotation speed in the machine vision mode is suitable for remote or automatic rotation speed measurement, does not need personnel to approach, and is convenient to use.
The frame rate h=r1/60 in the step S3, that is, the image capturing frequency of the computer is r1/60. H is fixed, namely the acquired time period delta t is fixed to be 1/h, the rotating speed calculation can be carried out after each image is sampled, the calculated value is compared with the previous calculation result, and the test result of the motor is obtained within the error allowable range.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any modification or replacement made by those skilled in the art within the scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The automatic motor rotation speed measuring method is applied to realizing automatic motor rotation speed measurement when a high-speed rotating motor rotates at a high speed and is characterized by comprising the following steps of:
s1: controlling a camera to continuously acquire n frames of images of a main shaft in the rotating process of a motor at a preset frame rate, wherein n is an integer greater than 1;
s2: identifying and calculating the angle difference of every two adjacent frames of images according to the acquired n frames of images, averaging the angle differences, and calculating the predicted rotating speed according to the average value;
s21: after loading a mask on the acquired image, extracting an ROI;
s22: performing channel separation on the ROI in HSV space to obtain an H channel image;
s23: performing binarization treatment, expansion and corrosion on the H channel image to obtain a final image to be treated;
s24: extracting the angle of the frame image from the final image;
s3: calculating a frame rate h according to the predicted rotation speed, controlling a camera to acquire n frames of images again according to the frame rate h, and calculating according to the step S2 according to the n frames of images acquired again to obtain the current verification rotation speed;
s4: judging whether the difference between the predicted rotating speed and the verification rotating speed is within a preset error range or not, if so, judging that the verification rotating speed is the actual rotating speed of the motor, and if not, entering step S5;
s5: and taking the current verification rotating speed as a predicted rotating speed, and returning to the step S3 to continue execution.
2. The automatic motor rotation speed measurement method according to claim 1, wherein when the camera collects an image, further comprising: the LED light filling lamp is adopted to perform stroboscopic light filling at the same frequency as the frame rate of the image collected by the camera.
3. The automatic motor rotation speed measurement method according to claim 1, wherein the step S1 further includes: and setting a mark point on the main shaft or selecting a key groove on the main shaft as the mark point, wherein the mark point is used as a reference point for identifying the acquired image.
4. The automatic motor rotation speed measurement method according to claim 1, wherein the step S24 further includes:
(1) Extracting a connected domain outline from the final image, acquiring a minimum external moment, and extracting an inclination angle from the minimum external moment;
(2) Determining the current angle of a main shaft, and correcting the image according to mark points which are preset on the main shaft and displayed in the image;
(3) Acquiring an external moment ROI of the converted image;
(4) And judging the notch direction of the external moment ROI, and calculating the angle of the image according to the notch direction.
5. An automatic motor rotation speed measuring device for realizing automatic motor rotation speed measurement when being applied to high-speed rotation of a high-speed rotating motor, which is characterized by comprising:
the camera is used for collecting n images of the main shaft in the rotation process of the motor at a preset frame rate, wherein n is an integer greater than 1;
the image processing unit is a computer or an embedded system connected with the camera and is used for extracting the angle difference of every two adjacent frames of images and obtaining the rotating speed according to the angle difference so as to obtain the actual rotating speed of the motor;
the communication unit is used for sending the actual rotating speed to external equipment connected with the device after the image processing unit obtains the actual rotating speed;
the camera control module is used for controlling the camera to acquire images of the motor spindle according to the frame rate of the target;
the image processing module is used for processing the images and extracting the angle difference of every two adjacent frames of images;
the rotating speed calculating module is used for calculating a predicted rotating speed, a frame rate h and a verification rotating speed according to the angle difference;
the central control module is used for controlling the camera control module to collect images and judging whether the current verification rotating speed is the actual rotating speed of the motor, if so, the current verification rotating speed is taken as the predicted rotating speed, and if not, the acquisition and comparison of the new verification rotating speed are continuously executed until the actual rotating speed is obtained.
6. The automatic motor rotation speed measuring device according to claim 5, further comprising an LED light supplementing lamp for strobing light supplementing at the same frequency as the frame rate of the image captured by the camera under the control of the image processing unit when the camera captures the image.
7. The automatic motor rotation speed measuring device according to claim 5, further comprising a display for displaying the photographed rotation state of the motor spindle.
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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 |
| CN109085374B (en) * | 2018-07-27 | 2020-06-16 | 江苏科技大学 | Kinect-based multi-point speed measuring device for low-rotating-speed system and speed measuring method thereof |
| CN111545306B (en) * | 2020-05-18 | 2022-04-19 | 中国科学技术大学 | Method and system for realizing detection of working state of ball mill equipment through monitoring video |
| 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 |
| CN113865677A (en) * | 2021-10-12 | 2021-12-31 | 安徽翼迈科技股份有限公司 | Water meter plum-blossom needle rotation speed detection method and water meter plum-blossom needle |
| CN115661970B (en) * | 2022-12-26 | 2023-05-12 | 海外远景(北京)科技有限公司 | Wind power equipment inspection system based on image recognition technology |
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| DE10151678A1 (en) * | 2000-12-23 | 2002-06-27 | Bosch Gmbh Robert | Determining current engine revolution rates involves sensing gear wheel, using first method for revolution rates greater than definable threshold, second method for rates less then threshold |
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