CN107356779A - A kind of three degree of freedom spherical rotor velocity vector detection method - Google Patents
A kind of three degree of freedom spherical rotor velocity vector detection method Download PDFInfo
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- CN107356779A CN107356779A CN201710474122.8A CN201710474122A CN107356779A CN 107356779 A CN107356779 A CN 107356779A CN 201710474122 A CN201710474122 A CN 201710474122A CN 107356779 A CN107356779 A CN 107356779A
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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
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Abstract
The invention discloses a kind of three degree of freedom spherical rotor velocity vector detection method, comprise the following steps：Six regions are divided into according to the interface of 120 ° of difference and the centre of sphere of process spherical spinner to the sphere of spherical spinner, six regions are set with different colors；On the surface of spherical spinner, multigroup orthogonal color sensor, the centre of sphere of the equal face spherical spinner of optical axis of sensor are set；The output signal of multiple color sensors is gathered, the angular velocity vector of spherical spinner is obtained according to the cycle of the phase difference of the output signal of multiple color sensors and single color sensor signal.The invention has the advantages that：Device for detection takes small volume, and follow-up data processing is convenient, is easy to the system integration, it is possible to achieve high tachometric survey.
Description
Technical field
The present invention relates to the detection field of three degree of freedom spherical rotor, and in particular to a kind of three degree of freedom spherical rotor angle speed
Spend vector detection method..
Background technology
In correlation technique, the detection method of three degree of freedom spherical rotor mainly has following several：
1st, spherical spinner magnetism of material periodic distribution, is detected using Hall sensor；
2nd, spherical spinner surface half coats highly reflective material, half low reflectivity material, while quality is according to certain
Rule is distributed, and its rotary shaft is on reflectivity interface, is detected using photoelectric sensor；
3rd, black and white coding is coated on spherical spinner surface, is detected using photoelectric sensor；
4th, the latitude and longitude on spherical spinner surface are encoded using pseudo noise code, coordinate Machine Vision Detection；
5th, double mouse sensor detections.
There is limitation in above-mentioned five kinds of methods, specially 1,2 have sternly for the material or Mass Distribution of spherical spinner
Lattice requirement；3rd, 4 detecting system volumes are excessive, and suitable under slow-speed of revolution situation；5th, suitable for rotating speed linear velocity 5.8m/s with
Under, and the roughness on spherical spinner surface is required.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem.
Therefore, it is an object of the invention to propose a kind of three degree of freedom spherical rotor velocity vector detection method, overcome
The shortcomings of other detection methods detection range of speeds is not high, and detecting system volume is big, realizes contactless in small size
The detection of high speed rotor.
To achieve these goals, embodiment of the invention discloses that a kind of three degree of freedom spherical rotor velocity vector is examined
Survey method, comprises the following steps：S1：According to three 120 ° of differences and the ball of the spherical spinner is passed through to the sphere of spherical spinner
The interface of the heart is divided into six regions, and different colors is set to six regions and different colours are encoded；S2：
On the surface of the spherical spinner, multigroup orthogonal color sensor, the equal face of execution optical axis of the multiple color sensor are set
The centre of sphere of the spherical spinner；S3：The output signal of the multiple color sensor is gathered, according to the multiple color sensor
The phase difference of output signal and the cycle of single sensor signal obtain the angular velocity vector of the spherical spinner；Wherein, exist
Any time, one group of three orthogonal color sensor in multigroup color sensor at least be present and rotated in rotor in one week
By same interface.
Three degree of freedom spherical rotor velocity vector detection method according to embodiments of the present invention, the device for detection account for
With small volume, follow-up data processing is convenient, is easy to the system integration, it is possible to achieve high tachometric survey.
, can be with addition, three degree of freedom spherical rotor velocity vector detection method according to the above embodiment of the present invention
With technical characteristic additional as follows：
Further, step S3 further comprises：By the coordinate value of three orthogonal color sensors of same interface
For xi,yi,ziI=1,2,3, then angular velocity vector be
Wherein, θ1, θ2And θ3, it is that three orthogonal color sensors correspond between the signal in same classification face respectively
Phase difference, T be single color sensor signal cycle, matrix ρi=[xi yi zi] effect be the angular velocity vector that will be surveyed
Amount is transformed into stator coordinate.
Further, at least three groups, totally nine of the color sensor.
Further, six kinds of colors are respectively red, green, blue, magenta, Huang Heqing.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of the three degree of freedom spherical rotor velocity vector detection method of the present invention；
Fig. 2 is the schematic diagram that the spherical spinner of one embodiment of the invention is color coded；
Fig. 3 is the schematic three dimensional views that the spherical spinner of one embodiment of the invention is encoded；
Fig. 4 is the schematic diagram of the single interface situation of one embodiment of the invention；
Fig. 5 is the schematic diagram of one embodiment of the invention rotary shaft and color sensor installation vector position relation；
Fig. 6 is the schematic diagram of the phase difference of the color sensor signal of one embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions
In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent to implement the implementation of the present invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention
Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
Below in conjunction with the three degree of freedom spherical rotor velocity vector detection method of the accompanying drawing description present invention.
Fig. 1 is refer to, a kind of three degree of freedom spherical rotor velocity vector detection method, is comprised the following steps：
S1：It is according to three 120 ° of differences and equal by the interface of the centre of sphere of the spherical spinner to the sphere of spherical spinner
It is divided into six regions, sets different colors to encode in six regions；
Specifically, the sphere of spherical spinner is divided equally according to three 120 ° of differences and by the interface of the centre of sphere of spherical spinner
For six color lumps.In one embodiment of the invention, six color lumps are set with different colors, is followed successively by magenta clockwise
Color, red, yellow, green, cyan and blueness, as shown in Figures 2 and 3；
S2：Multigroup orthogonal color sensor is set on the surface of the spherical spinner, the multiple color sensor is held
The centre of sphere of spherical spinner described in the equal face of row optical axis；.
Specifically, multiple color sensors are set on the surface of spherical spinner, if first group of orthogonal sensor coordinates point
Wei not x1=(1,0,0)T,y1=(0,1,0)T,z1=(0,0,1)T, by x1,y1,z1Around rotary shaft45 ° of rotation
X is obtained with 90 °2=(cos2(π/8),sin2(π/8),1/2)T,y2=(sin2(π8),cos2(π8),-12)T,With This nine sensors
Mounting coordinate ensures, when rotary shaft points to any direction, there is one group of orthogonal sensor to pass through above-mentioned same boundary
Face.Such as the schematic diagram that Fig. 4 is single interface, work as φ<αi<During π-φ, sensor will pass through interface, and the signal of output is also
On the square-wave signal of this interface, the phase difference between signal can be obtained.
S3：The output signal of multiple color sensors is gathered, according to the phase difference of the output signal of multiple color sensors
The angular velocity vector of spherical spinner is obtained with the cycle of single sensor signal.Wherein, at any time, multiple color sensors
The middle angle in the presence of at least three orthogonal color sensors and rotary shaft vector is in default angular range.
In one embodiment of the invention, the quantity of color sensor is three groups totally nine
Specifically, when rotary shaft isWhen, sensor x1,y1,z1All pass through blue interface,
So from ρ1=[x1 y1 z1], as shown in figure 5, it can be seen from the cosine law of spherical triangle：
And sensor is orthogonal, so cosa=0, is obtained
Pass through RGB color sensor x1,y1,z1Blue channel output signal calculate phase difference, as shown in fig. 6, θ1=
2πt1/T,θ2=2 π t2/T,θ3=2 π-θ1-θ2.Work as θ2>Cos α during π1Take positive sign, θ3>Cos α during π2Take positive sign, θ1>Cos α during π3
Take positive sign.
And then obtain rotation axis vector and must ask that expression formula is：
In addition, the other compositions and work of the three degree of freedom spherical rotor velocity vector detection method of the embodiment of the present invention
All it is known with for a person skilled in the art, in order to reduce redundancy, does not repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (4)
- A kind of 1. three degree of freedom spherical rotor velocity vector detection method, it is characterised in that comprise the following steps：S1：The sphere of spherical spinner is divided into according to three 120 ° of differences and by the interface of the centre of sphere of the spherical spinner Six regions, different colors is set to six regions and different colours are encoded；S2：On the surface of the spherical spinner, multigroup orthogonal color sensor, the execution light of the multiple color sensor are set The centre of sphere of spherical spinner described in the equal face of axle；S3：The output signal of the multiple color sensor is gathered, according to the phase of the output signal of the multiple color sensor The cycle of potential difference and single sensor signal obtains the angular velocity vector of the spherical spinner；Wherein, at any time, one group of three orthogonal color sensor in multigroup color sensor at least be present turning Son, which rotates, passes through same interface in one week.
- 2. three degree of freedom spherical rotor velocity vector detection method according to claim 1, it is characterised in that step S3 Further comprise：Coordinate value by three orthogonal color sensors of same interface is xi,yi,ziI=1,2,3, then angular velocity vector For<mrow> <mi>&omega;</mi> <mo>=</mo> <mi>&omega;</mi> <mo>&CenterDot;</mo> <mi>e</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> <mi>T</mi> </mfrac> <msub> <mi>&rho;</mi> <mi>i</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>&PlusMinus;</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>tan&theta;</mi> <mn>1</mn> </msub> <msub> <mi>tan&theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> <mo>/</mo> <mn>2</mn> </mrow> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&PlusMinus;</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>tan&theta;</mi> <mn>1</mn> </msub> <msub> <mi>tan&theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> <mo>/</mo> <mn>2</mn> </mrow> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&PlusMinus;</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>tan&theta;</mi> <mn>2</mn> </msub> <msub> <mi>tan&theta;</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> <mo>/</mo> <mn>2</mn> </mrow> </msup> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein, θ1, θ2And θ3, it is the phase that three orthogonal color sensors correspond between the signal in same classification face respectively Difference, T be single color sensor signal cycle, matrix ρi=[xi yi zi] effect be by the angular velocity vector surveyed turn Change in stator coordinate.
- 3. three degree of freedom spherical rotor velocity vector detection method according to claim 2, it is characterised in that the face Colour sensor is at least three groups, and every group of three sensors are orthogonal, and quantity is at least nine.
- 4. the three degree of freedom spherical rotor velocity vector detection method according to Claims 2 or 3, it is characterised in that institute It is respectively red, green, blue, magenta, Huang Heqing to state six kinds of colors.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109084677A (en) * | 2018-08-31 | 2018-12-25 | 扬州大学 | A kind of magnetic levitation ball rotor rotation section detecting method based on RGB color sensor |
| CN109751993A (en) * | 2019-03-20 | 2019-05-14 | 扬州大学 | A kind of spherical spinner apparatus for detecting position and posture and its detection method based on Photoelectric Detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071737A (en) * | 2015-08-19 | 2015-11-18 | 巢湖学院 | Relative coordinate transformation algorithm and detection system based on three-freedom-degree spherical motor |
| CN106526218A (en) * | 2016-10-13 | 2017-03-22 | 清华大学 | Angular velocity vector detection method for three degree of freedom spherical rotor |
| CN106525088A (en) * | 2016-10-13 | 2017-03-22 | 中国空间技术研究院 | Chromatmetry-based spherical rotor posture detection method |
-
2017
- 2017-06-21 CN CN201710474122.8A patent/CN107356779B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071737A (en) * | 2015-08-19 | 2015-11-18 | 巢湖学院 | Relative coordinate transformation algorithm and detection system based on three-freedom-degree spherical motor |
| CN106526218A (en) * | 2016-10-13 | 2017-03-22 | 清华大学 | Angular velocity vector detection method for three degree of freedom spherical rotor |
| CN106525088A (en) * | 2016-10-13 | 2017-03-22 | 中国空间技术研究院 | Chromatmetry-based spherical rotor posture detection method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109084677A (en) * | 2018-08-31 | 2018-12-25 | 扬州大学 | A kind of magnetic levitation ball rotor rotation section detecting method based on RGB color sensor |
| CN109084677B (en) * | 2018-08-31 | 2020-12-08 | 扬州大学 | Magnetic levitation ball rotor rotation interval detection method based on RGB color sensor |
| CN109751993A (en) * | 2019-03-20 | 2019-05-14 | 扬州大学 | A kind of spherical spinner apparatus for detecting position and posture and its detection method based on Photoelectric Detection |
| CN109751993B (en) * | 2019-03-20 | 2023-09-01 | 扬州大学 | Spherical rotor pose detection device based on photoelectric detection and detection method thereof |
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