CN109559314A - A kind of electromagnetic suspension ball system and its image processing method based on machine vision - Google Patents
A kind of electromagnetic suspension ball system and its image processing method based on machine vision Download PDFInfo
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- CN109559314A CN109559314A CN201910047374.1A CN201910047374A CN109559314A CN 109559314 A CN109559314 A CN 109559314A CN 201910047374 A CN201910047374 A CN 201910047374A CN 109559314 A CN109559314 A CN 109559314A
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- suspension ball
- levitation gap
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
A kind of electromagnetic suspension ball system and its image processing method based on machine vision, by the present invention in that being acquired with high-speed industrial camera to suspension ball levitation gap image, by image transmitting to PC machine, PC machine carries out the practical levitation gap value that magnetic levitation ball is extracted in processing to image, practical levitation gap value is sent to suspension controller again, suspension controller by comparing actual gap value and given gap width size, judgement needs to increase or reduce electric current, pass through the size of chopper regulating magnet winding current, the suspension for magnetic levitation ball is completed to control, stablize suspension ball in nominal clearance.The present invention can realize relatively stable control to suspension ball, and levitation gap testing result is not influenced by temperature, testee surface roughness, and levitation gap output valve is that digital quantity can be directly accessed control system, not need the calibration and correction that carry out sensor.
Description
Technical field
The present invention relates to image procossing and automation fields, pass through Machine Vision Recognition more particularly, to one kind
Magnetic levitation ball levitation gap and the system that suspension ball suspension control is completed with the gap width.
Background technique
Maglev ball system mainly includes electromagnet, suspension ball, gap sensor, suspension control circuit and chopper group
At.Maglev ball system is a closed-loop control system, and the change of the distance between steel ball and electromagnet is detected by gap sensor
Change, when steel ball is disturbed decline, steel ball and electromagnet apart from increasing, sensor output voltage changes, voltage signal warp
Analog-to-digital conversion is crossed, suspension controller processing is sent to, using chopper regulating magnet electric current, so that electromagnet winding current
Increasing, electromagnetic attraction increases, and steel ball is sucked back into equilbrium position, otherwise similarly, therefore steel ball can be enable to suspend in equilbrium position.In order to
Guaranteeing that suspension ball is able to achieve stable suspension, gap sensor is necessary for suspension control system and provides reliable, real-time gap width,
Therefore gap sensor occupys an important position in suspension control system.The levitation gap of magnetic levitation ball is measured at present
Majority uses electric eddy-current gap sensor.Its working principle is, according to faraday electromagnetic induction principle, metallic conductor is placed in change
When making cutting magnetic line movement in the magnetic field of change or in magnetic field, the induced current in vortex shape, this electric current will be generated in conductor
It is current vortex, the above phenomenon is known as eddy current effect.When the variation of levitation gap value, the size of current vortex can change therewith, lead
The variation of gap sensor detection coil equivalent inductance is caused, and inductance value is one-to-one relationship with gap width, according to more than
The measurement of principle completion levitation gap value.
Although current vortex sensor using extensively, there is also many shortcoming and deficiency, for example, measurement accuracy by temperature and
Testee surface roughness affect is very big, at high cost, and mounting process is complicated, and output valve is that analog quantity needs to carry out analog-to-digital conversion
Become digital quantity ability access control system later, it is necessary to could work normally by stringent calibration.
Currently, machine vision technique has also obtained more and more extensive with the rapid advances of hardware device and intelligent algorithm
Application.Wherein, good effect, measurement speed are achieved with the application that machine vision technique carries out distance or linear measure longimetry
Degree is fast, result is accurate.
Summary of the invention
For deficiency existing for existing electric eddy-current gap sensor, the present invention proposes that a kind of electromagnetism based on machine vision is outstanding
Floating ball system and its image processing method can control suspension ball stable suspersion in nominal clearance, and control process not by temperature with
And the influence of testee surface roughness.
The object of the present invention is achieved like this: a kind of electromagnetic suspension ball system based on machine vision, including chopper,
High-speed industrial cameras capture light source irradiates the levitation gap image of lower suspension ball, image transmitting to PC machine, and PC machine carries out image
Processing, the levitation gap value of suspension ball is gone out by corresponding feature extraction and calculation, and levitation gap value is sent to the suspension control
Practical levitation gap value compared with given levitation gap value, is determined and needs to increase or reduce by circuit, suspension control circuit
Electromagnet current, signal are exported to the chopper, chopper regulating magnet winding current, adjust electromagnetic attraction, thus
The levitation gap size for adjusting suspension ball stablizes suspension ball in nominal clearance.
High-speed industrial camera is fixedly mounted on the side of electromagnet and suspension ball, so that electromagnet bottom in acquired image
Face is a horizontal linear.
The PC machine is handled as follows image: PC machine goes out the levitation gap of suspension ball by corresponding feature extraction and calculation
Value, calculation process are as follows: after image inputs PC machine, edge detection is carried out to image, determines vertex and electromagnet on suspension ball
The coordinate value of lower boundary finds out the length of levitation gap in the picture, and the corresponding relationship according to pixel and physical length finds out outstanding
The practical levitation gap value of floating ball.
Process of the PC machine to levitation gap image procossing are as follows: after image inputs PC machine, edge detection is carried out to image, is determined
Vertex P on suspension ball1(x1,y1) and electromagnet lower boundary y2Coordinate value, find out levitation gap shared pixel in the picture
Length L, the corresponding relationship according to pixel and physical length find out the practical levitation gap value of suspension ball；Pixel and physical length
Corresponding relationship calculation method is as follows:
Position i.e. initial position when suspension ball does not suspend determine vertex P on suspension ball at this time0(x0,y0), then it hangs
Floating ball initial position and length in pixels of the electromagnet lower boundary in figure: L0=y2-y0, since the initial position of suspension ball is solid
Fixed, therefore it is also fixed, suspension when not suspended by measuring suspension ball in prototype system with electromagnet lower boundary distance
L can be obtained in the distance of top dome end to electromagnet lower boundary0Corresponding physical length x mm, to obtain one in the picture
The corresponding relationship of pixel and physical length:When suspension ball rises to a certain position, suspension ball and electricity
Length in pixels of the magnet lower boundary in figure: L=y2-y1；According to the proportionate relationship P of a pixel and physical length in image with
And suspension ball and length in pixels L of the electromagnet lower boundary in figure, obtain the actual range of suspension ball Yu electromagnet lower boundary
It is exactly practical levitation gap value L1:
Suspension control circuit by the practical levitation gap value that inputs PC compared with given specified levitation gap value, if
It is that practical levitation gap value is less than specified levitation gap value, suspension control circuit, which controls the chopper, makes electromagnet winding current
Reduce, electromagnetic attraction reduces, so that practical levitation gap be made to become larger；Conversely, if practical levitation gap value is greater than specified suspension
Gap width, suspension control circuit control chopper increase electromagnet winding current, and electromagnetic attraction increases, to make practical suspension
Gap becomes smaller, and by constantly adjusting, so that suspension ball is stablized in specified levitation gap, suspension ball is enable to suspend in equilbrium position；
The signal of suspension control circuit is exported to chopper, chopper regulating magnet winding current, electromagnetic attraction is adjusted, to adjust
The levitation gap size of suspension ball stablizes suspension ball in nominal clearance.
The beneficial effects of the present invention are: by the present invention in that being carried out with high-speed industrial camera to suspension ball levitation gap image
Image transmitting to PC machine is carried out the practical levitation gap value that magnetic levitation ball is extracted in processing to image in PC machine, then will by acquisition
Practical levitation gap value is sent to suspension controller, and suspension controller is big by comparing actual gap value and given gap width
It is small, judge to need to increase or reduce electric current, by the size of chopper regulating magnet winding current, complete for magnetic suspension
The suspension of ball controls, and stablizes suspension ball in nominal clearance.
According to the electromagnetic suspension ball system that the present invention realizes, relatively stable control, levitation gap can be realized to suspension ball
Testing result is not influenced by temperature, testee surface roughness, and levitation gap output valve is that digital quantity can directly enter control
System processed does not need the calibration and correction that carry out sensor.
Detailed description of the invention
Attached drawing 1 is overall structure diagram of the invention.
Attached drawing 2 is the step of handling in PC machine image.
Attached drawing 3 is the schematic diagram of levitation gap value measurement method in image.
Attached drawing 4 is the magnetic levitation ball closed-loop control system structural schematic diagram using machine vision.
Specific embodiment
Closed-loop control may be implemented in electromagnetic suspension ball system proposed by the present invention based on machine vision, the knot entirely invented
Structure is as shown in Figure 1.The levitation gap image that light source 2 irradiates lower suspension ball 3, image transmitting to PC are captured by high-speed industrial camera 1
Machine 4 calculates the practical levitation gap value of suspension ball by the processing to image in PC machine, and practical levitation gap value is sent out
It send to suspension control circuit 5, practical levitation gap value compared with given levitation gap value, is determined and needed by suspension control circuit
Increase or reduce electromagnet current, then by 6 regulating magnet of chopper, 7 winding current, electromagnetic attraction is adjusted, to adjust
The levitation gap size of suspension ball.
Specifically, as shown in Figure 2 to the process of levitation gap image procossing in PC machine.After image is inputted PC, to figure
As carrying out edge detection, vertex P on suspension ball is determined1(x1,y1) and electromagnet lower boundary y2Coordinate value, find out between suspension
Shared length in pixels L, the corresponding relationship according to pixel and physical length are found out between the practical suspension of suspension ball gap in the picture
Gap value.Wherein, the corresponding relationship calculation method of pixel and physical length is as shown in figure 3, when circle of dotted line indicates that suspension ball does not suspend
Position i.e. initial position, determine vertex P on suspension ball at this time0(x0,y0), then under suspension ball initial position and electromagnet
Length in pixels of the boundary in figure: L0=y2-y0.Since the initial position of suspension ball is fixed, therefore itself and electromagnet lower boundary
Distance be also it is fixed, when not suspended by measuring suspension ball in prototype system suspension ball top to electromagnet lower boundary away from
From L can be obtained0Corresponding physical length x mm.An available pixel in the picture is corresponding with physical length to close
System:When suspension ball rises to solid line circle position, suspension ball and picture of the electromagnet lower boundary in figure
Plain length: L=y2-y1.It is following according to the proportionate relationship P and suspension ball of a pixel and physical length in image and electromagnet
Length in pixels L of the boundary in figure obtains the actual range i.e. levitation gap value of suspension ball and electromagnet lower boundary:
After obtaining actual gap value, levitation gap value is sent to suspension controller, suspension controller is by inputting PC
Practical levitation gap value compared with given specified levitation gap value, if practical levitation gap value is less than specified levitation gap
Value, suspension controller control chopper reduce electromagnet winding current, and electromagnetic attraction reduces, so that practical levitation gap be made to become
Greatly；If suspension controller control chopper makes electromagnet winding conversely, practical levitation gap value is greater than specified levitation gap value
Electric current increases, and electromagnetic attraction increases, so that practical levitation gap be made to become smaller.By constantly adjusting, so that suspension ball is stablized in volume
Determine levitation gap, suspension ball is enable to suspend in equilbrium position.The workflow of whole system is as shown in Figure 4.Suspend control in Fig. 4
Device, that is, suspension control circuit, suspension ball are steel suspension ball.
Claims (5)
1. a kind of electromagnetic suspension ball system based on machine vision, including, chopper (6), which is characterized in that high-speed industrial camera
(1) the levitation gap image that light source (2) irradiate lower suspension ball (3), image transmitting to PC machine (4) are captured, PC machine carries out image
Processing, the levitation gap value of suspension ball is gone out by corresponding feature extraction and calculation, and levitation gap value is sent to the suspension control
Practical levitation gap value compared with given levitation gap value, is determined and increase is needed still to subtract by circuit (5), suspension control circuit
Small electromagnet current, signal are exported to the chopper (6), chopper (6) regulating magnet (7) winding current, adjust electricity
Magnetic attraction stablizes suspension ball in nominal clearance to adjust the levitation gap size of suspension ball.
2. a kind of electromagnetic suspension ball system based on machine vision according to claim 1, which is characterized in that high-speed industrial
Camera (1) is fixedly mounted on the side of electromagnet and suspension ball, so that electromagnet (7) bottom surface is a water in acquired image
Flat line.
3. a kind of electromagnetic suspension ball system based on machine vision according to claim 1, which is characterized in that the PC machine
Be handled as follows to image: PC machine goes out the levitation gap value of suspension ball, calculation process by corresponding feature extraction and calculation are as follows:
After image inputs PC machine, edge detection is carried out to image, the coordinate value of vertex and electromagnet lower boundary on suspension ball is determined, asks
The length of levitation gap in the picture out, the corresponding relationship according to pixel and physical length find out the practical levitation gap of suspension ball
Value.
4. a kind of levitation gap image processing method of electromagnetic suspension ball system as described in claim 1, which is characterized in that PC
Process of the machine to levitation gap image procossing are as follows: after image inputs PC machine, edge detection is carried out to image, determines and is pushed up on suspension ball
Point P1(x1,y1) and electromagnet lower boundary y2Coordinate value, find out levitation gap shared length in pixels L in the picture, foundation
The corresponding relationship of pixel and physical length finds out the practical levitation gap value of suspension ball；The corresponding relationship meter of pixel and physical length
Calculation method is as follows:
Position i.e. initial position when suspension ball does not suspend determine vertex P on suspension ball at this time0(x0,y0), then suspension ball
Initial position and length in pixels of the electromagnet lower boundary in figure: L0=y2-y0, due to the initial position of suspension ball be it is fixed,
Therefore it is also fixed, suspension ball top when not suspended by measuring suspension ball in prototype system with electromagnet lower boundary distance
L can be obtained in distance to electromagnet lower boundary0Corresponding physical length x mm, thus obtain in the picture pixel with
The corresponding relationship of physical length:When suspension ball rises to a certain position, under suspension ball and electromagnet
Length in pixels of the boundary in figure: L=y2-y1；According to the proportionate relationship P and suspension of a pixel and physical length in image
Ball and length in pixels L of the electromagnet lower boundary in figure obtain the actual range of suspension ball and electromagnet lower boundary i.e. real
Border levitation gap value L1:
5. a kind of levitation gap image processing method of electromagnetic suspension ball system according to claim 4, which is characterized in that
The practical levitation gap value and given specified levitation gap that suspension control circuit obtains PC machine to levitation gap image procossing
Value compares, if practical levitation gap value is less than specified levitation gap value, suspension control circuit, which controls the chopper, makes electromagnetism
Iron winding current reduces, and electromagnetic attraction reduces, so that practical levitation gap be made to become larger；Conversely, if practical levitation gap value is big
In specified levitation gap value, suspension control circuit control chopper increases electromagnet winding current, and electromagnetic attraction increases, thus
So that practical levitation gap is become smaller, by constantly adjusting, so that suspension ball is stablized in specified levitation gap, suspension ball is enable to balance
Position suspends；The signal of suspension control circuit (5) is exported to chopper (6), chopper (6) regulating magnet (7) winding current,
Electromagnetic attraction is adjusted, to adjust the levitation gap size of suspension ball, stablizes suspension ball in nominal clearance.
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| CN110930407A (en) * | 2020-02-07 | 2020-03-27 | 西南交通大学 | Suspension gap visual detection method based on image processing |
| CN113148537A (en) * | 2021-04-30 | 2021-07-23 | 安徽理工大学 | Magnetic repulsion type magnetic suspension belt conveyor based on machine vision |
| CN114043879A (en) * | 2022-01-13 | 2022-02-15 | 西南交通大学 | Medium-low speed maglev train track-passing seam control system based on image processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110458785A (en) * | 2019-08-16 | 2019-11-15 | 西南交通大学 | A kind of magnetic levitation ball levitation gap detection method based on image sensing |
| CN110930407A (en) * | 2020-02-07 | 2020-03-27 | 西南交通大学 | Suspension gap visual detection method based on image processing |
| CN110930407B (en) * | 2020-02-07 | 2020-05-15 | 西南交通大学 | Suspension gap visual detection method based on image processing |
| CN113148537A (en) * | 2021-04-30 | 2021-07-23 | 安徽理工大学 | Magnetic repulsion type magnetic suspension belt conveyor based on machine vision |
| CN114043879A (en) * | 2022-01-13 | 2022-02-15 | 西南交通大学 | Medium-low speed maglev train track-passing seam control system based on image processing |
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