CN109559314B - Electromagnetic suspension ball system based on machine vision and image processing method thereof - Google Patents

Electromagnetic suspension ball system based on machine vision and image processing method thereof Download PDF

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CN109559314B
CN109559314B CN201910047374.1A CN201910047374A CN109559314B CN 109559314 B CN109559314 B CN 109559314B CN 201910047374 A CN201910047374 A CN 201910047374A CN 109559314 B CN109559314 B CN 109559314B
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suspension
ball
image
gap
levitation
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CN109559314A (en
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靖永志
张晨昊
廖珍贞
彭涛
孔杰
郝建华
龚倩文
钱程
张昆仑
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Southwest Jiaotong University
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Abstract

一种基于机器视觉的电磁悬浮球系统及其图像处理方法，本发明通过使用高速工业相机对悬浮球悬浮间隙图像进行采集，将图像传输到PC机，PC机对图像进行处理提取到磁悬浮球的实际悬浮间隙值，再将实际悬浮间隙值发送给悬浮控制器，悬浮控制器通过比较实际间隙值与给定间隙值的大小，判断需要增大还是减小电流，通过斩波器调节电磁铁绕组电流的大小，完成对于磁悬浮球的悬浮控制，使悬浮球稳定在额定间隙。本发明能对悬浮球实现较为稳定的控制，悬浮间隙检测结果不受温度、被测物体表面粗糙程度影响，悬浮间隙输出值为数字量可以直接接入控制系统，不需要进行传感器的标定与校正。

Figure 201910047374

An electromagnetic levitation ball system based on machine vision and its image processing method. The present invention collects images of the levitation gap of the levitation ball by using a high-speed industrial camera, transmits the image to a PC, and the PC processes the image to extract the image of the levitation ball. The actual suspension gap value, and then send the actual suspension gap value to the suspension controller. The suspension controller judges whether to increase or decrease the current by comparing the actual gap value with the given gap value, and adjusts the electromagnet winding through the chopper. The size of the current completes the levitation control of the magnetic levitation ball, making the levitation ball stable at the rated gap. The invention can realize relatively stable control on the suspension ball, the detection result of the suspension gap is not affected by the temperature and the surface roughness of the measured object, and the output value of the suspension gap can be directly connected to the control system as a digital value, without calibration and correction of the sensor .

Figure 201910047374

Description

一种基于机器视觉的电磁悬浮球系统及其图像处理方法An Electromagnetic Levitation Ball System Based on Machine Vision and Its Image Processing Method

技术领域technical field

本发明涉及图像处理以及自动控制领域，更具体地，涉及一种通过机器视觉识别磁悬浮球悬浮间隙并用该间隙值来完成悬浮球悬浮控制的系统。The present invention relates to the fields of image processing and automatic control, and more particularly relates to a system for identifying the levitation gap of a magnetic levitation ball through machine vision and using the gap value to complete the levitation control of the levitation ball.

背景技术Background technique

磁悬浮球系统主要包括电磁铁、悬浮球、间隙传感器、悬浮控制电路以及斩波器组成。磁悬浮球系统是一个闭环控制系统，由间隙传感器来检测钢球与电磁铁之间的距离变化，当钢球受到扰动下降，钢球与电磁铁距离增大，传感器输出电压发生变化，电压信号经过模数转换，发送到悬浮控制器处理，再经过斩波器调节电磁铁电流，使得电磁铁绕组电流增大，电磁吸力增大，钢球被吸回平衡位置，反之同理，故能使钢球能在平衡位置悬浮。为了保证悬浮球能实现稳定的悬浮，间隙传感器必须为悬浮控制系统提供可靠、实时的间隙值，因此间隙传感器在悬浮控制系统中占据着重要的地位。目前对于磁悬浮球的悬浮间隙测量多数采用电涡流间隙传感器。它的工作原理是，根据法拉第电磁感应原理，金属导体置于变化的磁场中或在磁场中作切割磁力线运动时，导体内将产生呈涡旋状的感应电流，此电流叫电涡流，以上现象称为电涡流效应。当悬浮间隙值变化时，电涡流的大小会随之变化，导致间隙传感器检测线圈等效电感的变化，且电感值与间隙值为一一对应的关系，依据以上原理完成悬浮间隙值的测量。The magnetic levitation ball system mainly consists of electromagnet, levitation ball, gap sensor, levitation control circuit and chopper. The magnetic levitation ball system is a closed-loop control system. The gap sensor detects the distance change between the steel ball and the electromagnet. When the steel ball is disturbed and falls, the distance between the steel ball and the electromagnet increases, the output voltage of the sensor changes, and the voltage signal passes through The analog-to-digital conversion is sent to the suspension controller for processing, and then the electromagnet current is adjusted by the chopper, so that the current of the electromagnet winding increases, the electromagnetic suction force increases, and the steel ball is sucked back to the equilibrium position. The ball can be suspended in the equilibrium position. In order to ensure the stable suspension of the suspension ball, the gap sensor must provide a reliable and real-time gap value for the suspension control system, so the gap sensor occupies an important position in the suspension control system. At present, eddy current gap sensors are mostly used for the measurement of the levitation gap of the magnetic levitation ball. Its working principle is that according to the principle of Faraday's electromagnetic induction, when a metal conductor is placed in a changing magnetic field or cuts the magnetic force line in the magnetic field, a vortex-shaped induced current will be generated in the conductor. This current is called eddy current. The above phenomenon called the eddy current effect. When the suspension gap value changes, the size of the eddy current will change accordingly, resulting in a change in the equivalent inductance of the detection coil of the gap sensor, and the inductance value and the gap value have a one-to-one correspondence relationship. The measurement of the suspension gap value is completed based on the above principles.

电涡流传感器虽然使用广泛，但还存在很多缺点与不足，比如测量精度受温度和被测物体表面粗糙度影响很大，成本高，安装工艺复杂，输出值为模拟量需要进行模数转换变为数字量之后才能接入控制系统，必须经过严格的标定才能正常工作等。Although eddy current sensors are widely used, there are still many shortcomings and deficiencies. For example, the measurement accuracy is greatly affected by the temperature and the surface roughness of the measured object, the cost is high, the installation process is complicated, and the output value requires analog-to-digital conversion. Only after the digital quantity can be connected to the control system, it must undergo strict calibration before it can work normally.

目前，随着硬件设备与智能算法的快速进步，机器视觉技术也得到了越来越广泛的应用。其中，运用机器视觉技术进行距离或长度测量的应用均取得了良好的效果，测量速度快、结果精确。At present, with the rapid progress of hardware equipment and intelligent algorithms, machine vision technology has also been more and more widely used. Among them, the application of distance or length measurement using machine vision technology has achieved good results, with fast measurement speed and accurate results.

发明内容Contents of the invention

针对现有电涡流间隙传感器存在的不足，本发明提出一种基于机器视觉的电磁悬浮球系统及其图像处理方法，能控制悬浮球稳定悬浮在额定间隙，且控制过程不受温度以及被测物体表面粗糙度的影响。Aiming at the shortcomings of existing eddy current gap sensors, the present invention proposes a machine vision-based electromagnetic levitation ball system and its image processing method, which can control the levitation ball to be stably suspended in the rated gap, and the control process is not affected by temperature and the measured object. The effect of surface roughness.

本发明的目的是这样实现的：一种基于机器视觉的电磁悬浮球系统，包括斩波器，高速工业相机捕捉光源照射下悬浮球的悬浮间隙图像，图像传输到PC机，PC机对图像进行处理，通过相应的特征提取计算出悬浮球的悬浮间隙值，悬浮间隙值发送至所述悬浮控制电路，悬浮控制电路将实际悬浮间隙值与给定的悬浮间隙值比较，确定需要增大还是减小电磁铁电流，其信号输出至所述斩波器，斩波器调节电磁铁绕组电流，调节电磁吸力，从而调节悬浮球的悬浮间隙大小，使悬浮球稳定在额定间隙。The object of the present invention is achieved like this: a kind of electromagnetic levitation ball system based on machine vision comprises chopper, and high-speed industrial camera captures the levitation gap image of levitation ball under light source irradiation, and image is transmitted to PC, and PC carries out image processing. processing, calculate the levitation gap value of the levitation ball through corresponding feature extraction, the levitation gap value is sent to the levitation control circuit, and the levitation control circuit compares the actual levitation gap value with the given levitation gap value to determine whether to increase or decrease Small electromagnet current, the signal output to the chopper, the chopper adjusts the electromagnet winding current, adjusts the electromagnetic attraction, thereby adjusting the levitation gap size of the levitation ball, so that the levitation ball is stable at the rated gap.

高速工业相机固定安装在电磁铁与悬浮球的侧面，使得采集到的图像中电磁铁底面为一条水平直线。The high-speed industrial camera is fixedly installed on the side of the electromagnet and the floating ball, so that the bottom surface of the electromagnet in the collected image is a horizontal straight line.

所述PC机对图像作如下处理：PC机通过相应的特征提取计算出悬浮球的悬浮间隙值，其计算流程为：图像输入PC机后，对图像进行边缘检测，确定悬浮球上顶点以及电磁铁下边界的坐标值，求出悬浮间隙在图像中的长度，依据像素与实际长度的对应关系求出悬浮球的实际悬浮间隙值。The PC performs the following processing on the image: the PC calculates the suspension gap value of the suspension ball through corresponding feature extraction, and its calculation process is: after the image is input into the PC, edge detection is performed on the image to determine the upper vertex and the electromagnetic gap of the suspension ball. The coordinate value of the lower boundary of the iron is used to obtain the length of the suspension gap in the image, and the actual suspension gap value of the suspension ball is obtained according to the corresponding relationship between the pixel and the actual length.

PC机对悬浮间隙图像处理的流程为：图像输入PC机后，对图像进行边缘检测，确定悬浮球上顶点P1(x1,y1)以及电磁铁下边界y2的坐标值，求出悬浮间隙在图像中所占的像素长度L，依据像素与实际长度的对应关系求出悬浮球的实际悬浮间隙值；像素与实际长度的对应关系计算方法如下：The process of the PC to process the levitation gap image is as follows: After the image is input into the PC, edge detection is performed on the image, and the coordinate values of the vertex P 1 (x 1 , y 1 ) on the levitation ball and the lower boundary y 2 of the electromagnet are determined, and the The pixel length L occupied by the floating gap in the image is calculated according to the corresponding relationship between the pixel and the actual length to obtain the actual floating gap value of the floating ball; the calculation method of the corresponding relationship between the pixel and the actual length is as follows:

悬浮球未悬浮时的位置也就是初始位置，确定此时悬浮球上顶点P0(x0,y0)，则悬浮球初始位置与电磁铁下边界在图中的像素长度：L0＝y2-y0，由于悬浮球的初始位置是固定的，故其与电磁铁下边界距离也是固定的，通过在实物系统中测量悬浮球未悬浮时悬浮球顶端到电磁铁下边界的距离即可得到L0所对应的实际长度x mm，从而得到在图像中一个像素与实际长度的对应关系：

Figure BDA0001949647060000021
当悬浮球上升至某一位置时，悬浮球与电磁铁下边界在图中的像素长度：L＝y2-y1；根据图像中一个像素与实际长度的比例关系P以及悬浮球与电磁铁下边界在图中的像素长度L，得到悬浮球与电磁铁下边界的实际距离也就是实际悬浮间隙值L1：
Figure BDA0001949647060000022
The position of the floating ball when it is not floating is also the initial position. Determine the upper vertex P 0 (x 0 , y 0 ) of the floating ball at this time, then the pixel length between the initial position of the floating ball and the lower boundary of the electromagnet in the figure: L 0 =y 2 -y 0 , since the initial position of the levitating ball is fixed, the distance between it and the lower boundary of the electromagnet is also fixed, which can be achieved by measuring the distance from the top of the levitating ball to the lower boundary of the electromagnet when the levitating ball is not suspended in the physical system Get the actual length x mm corresponding to L 0 , so as to get the corresponding relationship between a pixel in the image and the actual length:
Figure BDA0001949647060000021
When the floating ball rises to a certain position, the pixel length of the floating ball and the lower boundary of the electromagnet in the figure: L=y 2 -y 1 ; according to the proportional relationship P between a pixel and the actual length in the image and the floating ball and the electromagnet The lower boundary is the pixel length L in the figure, and the actual distance between the floating ball and the lower boundary of the electromagnet is obtained, that is, the actual floating gap value L 1 :
Figure BDA0001949647060000022

悬浮控制电路通过将PC输入的实际悬浮间隙值与给定的额定悬浮间隙值比较，若是实际悬浮间隙值小于额定悬浮间隙值，悬浮控制电路控制所述斩波器使电磁铁绕组电流减小，电磁吸力减小，从而使实际悬浮间隙变大；反之，若是实际悬浮间隙值大于额定悬浮间隙值，悬浮控制电路控制斩波器使电磁铁绕组电流增大，电磁吸力增大，从而使实际悬浮间隙变小，通过不断调整，使得悬浮球稳定在额定悬浮间隙，使悬浮球能在平衡位置悬浮；悬浮控制电路的信号输出至斩波器，斩波器调节电磁铁绕组电流，调节电磁吸力，从而调节悬浮球的悬浮间隙大小，使悬浮球稳定在额定间隙。The suspension control circuit compares the actual suspension gap value input by the PC with the given rated suspension gap value, if the actual suspension gap value is smaller than the rated suspension gap value, the suspension control circuit controls the chopper to reduce the electromagnet winding current, The electromagnetic suction decreases, so that the actual levitation gap becomes larger; on the contrary, if the actual levitation gap value is greater than the rated levitation gap value, the levitation control circuit controls the chopper to increase the current of the electromagnet winding, and the electromagnetic attraction force increases, so that the actual levitation The gap becomes smaller, and through continuous adjustment, the levitation ball is stabilized at the rated levitation gap, so that the levitation ball can levitate at the balance position; the signal of the levitation control circuit is output to the chopper, and the chopper adjusts the current of the electromagnet winding, and adjusts the electromagnetic suction force. Thereby adjusting the size of the suspension gap of the suspension ball, so that the suspension ball is stable at the rated clearance.

本发明的有益效果是：本发明通过使用高速工业相机对悬浮球悬浮间隙图像进行采集，将图像传输到PC机，在PC机对图像进行处理提取到磁悬浮球的实际悬浮间隙值，再将实际悬浮间隙值发送给悬浮控制器，悬浮控制器通过比较实际间隙值与给定间隙值的大小，判断需要增大还是减小电流，通过斩波器调节电磁铁绕组电流的大小，完成对于磁悬浮球的悬浮控制，使悬浮球稳定在额定间隙。The beneficial effects of the present invention are: the present invention collects the levitation gap image of the levitation ball by using a high-speed industrial camera, transmits the image to a PC, processes the image on the PC and extracts the actual levitation gap value of the magnetic levitation ball, and then converts the actual The levitation gap value is sent to the levitation controller. The levitation controller judges whether to increase or decrease the current by comparing the actual gap value with the given gap value, and adjusts the current of the electromagnet winding through the chopper to complete the control of the magnetic levitation ball. The suspension control makes the suspension ball stable at the rated clearance.

按照本发明实现的电磁悬浮球系统，能对悬浮球实现较为稳定的控制，悬浮间隙检测结果不受温度、被测物体表面粗糙程度影响，悬浮间隙输出值为数字量可以直接入控制系统，不需要进行传感器的标定与校正。The electromagnetic levitation ball system realized according to the present invention can realize relatively stable control on the levitation ball, the levitation gap detection result is not affected by the temperature and the roughness of the surface of the measured object, and the output value of the levitation gap can be directly input into the control system as a digital value, without Calibration and calibration of the sensor is required.

附图说明Description of drawings

附图1是本发明的整体结构示意图。Accompanying drawing 1 is the overall structure schematic diagram of the present invention.

附图2是在PC机上对图像进行处理的步骤。Accompanying drawing 2 is the step that image is processed on PC.

附图3是图像中悬浮间隙值测量方法的示意图。Accompanying drawing 3 is a schematic diagram of the measurement method of the suspension gap value in the image.

附图4是采用机器视觉的磁悬浮球闭环控制系统结构示意图。Accompanying drawing 4 is the structural diagram of the closed-loop control system of the magnetic levitation ball using machine vision.

具体实施方式Detailed ways

本发明提出的基于机器视觉的电磁悬浮球系统可以实现闭环控制，整个发明的结构如图1所示。由高速工业相机1捕捉光源2照射下悬浮球3的悬浮间隙图像，图像传输到PC机4，在PC机上经过对图像的处理，计算出悬浮球的实际悬浮间隙值，将实际悬浮间隙值发送至悬浮控制电路5，悬浮控制电路将实际悬浮间隙值与给定的悬浮间隙值比较，确定需要增大还是减小电磁铁电流，再通过斩波器6调节电磁铁7绕组电流，调节电磁吸力，从而调节悬浮球的悬浮间隙大小。The electromagnetic levitation ball system based on machine vision proposed by the present invention can realize closed-loop control, and the structure of the entire invention is shown in FIG. 1 . The high-speed industrial camera 1 captures the floating gap image of the floating ball 3 illuminated by the light source 2, and transmits the image to the PC 4. After processing the image on the PC, the actual floating gap value of the floating ball is calculated, and the actual floating gap value is sent. To the suspension control circuit 5, the suspension control circuit compares the actual suspension gap value with the given suspension gap value to determine whether to increase or decrease the electromagnet current, and then adjust the electromagnet 7 winding current through the chopper 6 to adjust the electromagnetic attraction force , so as to adjust the size of the suspension gap of the suspension ball.

具体地，在PC机上对悬浮间隙图像处理的流程如图2所示。将图像输入PC后，对图像进行边缘检测，确定悬浮球上顶点P1(x1,y1)以及电磁铁下边界y2的坐标值，求出悬浮间隙在图像中所占的像素长度L，依据像素与实际长度的对应关系求出悬浮球的实际悬浮间隙值。其中，像素与实际长度的对应关系计算方法如图3所示，虚线圆表示悬浮球未悬浮时的位置也就是初始位置，确定此时悬浮球上顶点P0(x0,y0)，则悬浮球初始位置与电磁铁下边界在图中的像素长度：L0＝y2-y0。由于悬浮球的初始位置是固定的，故其与电磁铁下边界距离也是固定的，通过在实物系统中测量悬浮球未悬浮时悬浮球顶端到电磁铁下边界的距离即可得到L0所对应的实际长度x mm。可以得到在图像中一个像素与实际长度的对应关系：

Figure BDA0001949647060000031
当悬浮球上升至实线圆位置时，悬浮球与电磁铁下边界在图中的像素长度：L＝y2-y1。根据图像中一个像素与实际长度的比例关系P以及悬浮球与电磁铁下边界在图中的像素长度L，得到悬浮球与电磁铁下边界的实际距离也就是悬浮间隙值：
Figure BDA0001949647060000041
Specifically, the process of processing the floating gap image on the PC is shown in FIG. 2 . After inputting the image into the PC, perform edge detection on the image, determine the coordinate values of the upper vertex P 1 (x 1 , y 1 ) of the floating ball and the lower boundary y 2 of the electromagnet, and calculate the pixel length L occupied by the floating gap in the image , and calculate the actual suspension gap value of the suspension ball according to the corresponding relationship between the pixel and the actual length. Among them, the calculation method of the corresponding relationship between the pixel and the actual length is shown in Figure 3. The dotted circle indicates the position of the floating ball when it is not floating, that is, the initial position. If the vertex P 0 (x 0 , y 0 ) on the floating ball is determined at this time, then The pixel length of the initial position of the floating ball and the lower boundary of the electromagnet in the figure: L 0 =y 2 -y 0 . Since the initial position of the levitating ball is fixed, the distance between it and the lower boundary of the electromagnet is also fixed. By measuring the distance from the top of the levitating ball to the lower boundary of the electromagnet when the levitating ball is not suspended in the physical system, the corresponding value of L 0 can be obtained. The actual length x mm. The correspondence between a pixel in the image and the actual length can be obtained:
Figure BDA0001949647060000031
When the floating ball rises to the position of the solid line circle, the pixel length of the floating ball and the lower boundary of the electromagnet in the figure is: L=y 2 -y 1 . According to the proportional relationship P between a pixel and the actual length in the image and the pixel length L in the figure between the floating ball and the lower boundary of the electromagnet, the actual distance between the floating ball and the lower boundary of the electromagnet is the suspension gap value:
Figure BDA0001949647060000041

得到实际间隙值后，将悬浮间隙值发送至悬浮控制器，悬浮控制器通过将PC输入的实际悬浮间隙值与给定的额定悬浮间隙值比较，若是实际悬浮间隙值小于额定悬浮间隙值，悬浮控制器控制斩波器使电磁铁绕组电流减小，电磁吸力减小，从而使实际悬浮间隙变大；反之，若是实际悬浮间隙值大于额定悬浮间隙值，悬浮控制器控制斩波器使电磁铁绕组电流增大，电磁吸力增大，从而使实际悬浮间隙变小。通过不断调整，使得悬浮球稳定在额定悬浮间隙，使悬浮球能在平衡位置悬浮。整个系统的工作流程如图4所示。图4中悬浮控制器即悬浮控制电路，悬浮球为钢质悬浮球。After the actual clearance value is obtained, the suspension clearance value is sent to the suspension controller. The suspension controller compares the actual suspension clearance value input by the PC with the given rated suspension clearance value. If the actual suspension clearance value is less than the rated suspension clearance value, the suspension The controller controls the chopper to reduce the current of the electromagnet winding and the electromagnetic attraction force, thereby increasing the actual levitation gap; on the contrary, if the actual levitation gap value is greater than the rated levitation gap value, the levitation controller controls the chopper to make the electromagnet As the winding current increases, the electromagnetic attraction increases, so that the actual suspension gap becomes smaller. Through continuous adjustment, the suspension ball is stabilized at the rated suspension clearance, so that the suspension ball can be suspended in a balanced position. The workflow of the whole system is shown in Figure 4. The suspension controller in Fig. 4 is the suspension control circuit, and the suspension ball is a steel suspension ball.

Claims (5)

1. An electromagnetic suspension ball system based on machine vision comprises a chopper (6) and is characterized in that a high-speed industrial camera (1) captures an image of a suspension gap of a suspension ball (3) irradiated by a light source (2), the image is transmitted to a PC (4), the PC processes the image, the suspension gap value of the suspension ball is calculated through corresponding characteristic extraction, the suspension gap value is sent to a suspension control circuit (5), the suspension control circuit compares the actual suspension gap value with a given suspension gap value to determine whether the current of an electromagnet needs to be increased or decreased, a signal of the current is output to the chopper (6), the chopper (6) adjusts the winding current of the electromagnet (7) and adjusts the electromagnetic attraction force, so that the size of the suspension gap of the suspension ball is adjusted, and the suspension ball is stabilized at a rated gap; the flow of the PC machine for processing the suspension gap image is as follows:
inputting the image into PC, performing edge detection on the image, and determining the top point P of the floating ball 1 (x 1 ,y 1 ) And electromagnet lower boundary y 2 The pixel length L of the suspension gap in the image is obtained, and the actual suspension gap value of the suspension ball is obtained according to the corresponding relation between the pixel and the actual length, wherein the corresponding relation calculation method of the pixel and the actual length is as follows, the position of the suspension ball when the suspension ball is not suspended is the initial position, and the vertex P on the suspension ball at the moment is determined 0 (x 0 ,y 0 ) And then, the pixel length of the initial position of the levitation ball and the lower boundary of the electromagnet is as follows: l is a radical of an alcohol 0 ＝y 2 -y 0 And the initial position of the floating ball is fixed, so the distance between the floating ball and the lower boundary of the electromagnet is also fixed, and L can be obtained by measuring the distance from the top end of the floating ball to the lower boundary of the electromagnet when the floating ball is not suspended in a real object system 0 Obtaining the corresponding relation between one pixel in the image and the actual length by the corresponding actual length xmm:
Figure FDA0003980358100000011
when the floating ball rises to a certain position, the pixel length of the lower boundary of the floating ball and the electromagnet in the figure is as follows: l = y 2 -y 1 And obtaining the actual distance between the suspension ball and the lower boundary of the electromagnet, namely the suspension gap value, according to the proportional relation P between one pixel and the actual length in the image and the pixel length L of the lower boundary of the suspension ball and the electromagnet in the image:
Figure FDA0003980358100000012
2. the machine vision-based electromagnetic levitation ball system as recited in claim 1, wherein the high-speed industrial camera (1) is fixedly mounted on the side of the electromagnet and the levitation ball, so that the bottom surface of the electromagnet (7) in the acquired image is a horizontal straight line.
3. The machine-vision-based electromagnetic levitation ball system as recited in claim 1, wherein the PC processes the image as follows: the PC machine calculates the suspension clearance value of the suspension ball through corresponding characteristic extraction, and the calculation process is as follows: after the image is input into a PC, the edge detection is carried out on the image, the coordinate values of the upper vertex of the floating ball and the lower boundary of the electromagnet are determined, the length of the floating gap in the image is worked out, and the actual floating gap value of the floating ball is worked out according to the corresponding relation between the pixel and the actual length.
4. The levitation gap image processing method of the electromagnetic levitation ball system according to claim 1, wherein the flow of the PC processing the levitation gap image is as follows: after the image is input into a PC (personal computer), edge detection is carried out on the image, and the vertex P on the floating ball is determined 1 (x 1 ,y 1 ) And electromagnet lower boundary y 2 The pixel length L of the suspension gap in the image is calculated, and the actual suspension gap value of the suspension ball is calculated according to the corresponding relation between the pixel and the actual length; the corresponding relation calculation method of the pixel and the actual length is as follows:
determining the position of the suspension ball when the suspension ball is not suspended, namely the initial position, and determining the top point P of the suspension ball at the moment 0 (x 0 ,y 0 ) And then the pixel length of the initial position of the levitation ball and the lower boundary of the electromagnet in the graph is as follows: l is 0 ＝y 2 -y 0 And the initial position of the floating ball is fixed, so the distance between the floating ball and the lower boundary of the electromagnet is also fixed, and L can be obtained by measuring the distance from the top end of the floating ball to the lower boundary of the electromagnet when the floating ball is not suspended in a real object system 0 The corresponding actual length xmm, thereby obtaining the corresponding relation between one pixel in the image and the actual length:
Figure FDA0003980358100000021
when the floating ball rises to a certain position, the lower boundary of the floating ball and the electromagnet is positionedPixel length in the figure: l = y 2 -y 1 (ii) a Obtaining the actual distance between the suspension ball and the lower boundary of the electromagnet, namely the actual suspension gap value L according to the proportional relation P between one pixel in the image and the actual length and the pixel length L of the lower boundary of the suspension ball and the electromagnet in the image 1 ：/>
Figure FDA0003980358100000022
5. The levitation gap image processing method of the electromagnetic levitation ball system according to claim 4, characterized in that the levitation control circuit compares an actual levitation gap value obtained by the PC through the levitation gap image processing with a given rated levitation gap value, and if the actual levitation gap value is smaller than the rated levitation gap value, the levitation control circuit controls the chopper to reduce the current of the electromagnet winding and reduce the electromagnetic attraction force, so that the actual levitation gap becomes larger; on the contrary, if the actual suspension gap value is larger than the rated suspension gap value, the suspension control circuit controls the chopper to increase the current of the electromagnet winding and increase the electromagnetic suction force, so that the actual suspension gap is reduced, the suspension ball is stabilized in the rated suspension gap through continuous adjustment, and the suspension ball can suspend in a balance position; the signal of the suspension control circuit (5) is output to the chopper (6), the chopper (6) adjusts the winding current of the electromagnet (7) and adjusts the electromagnetic attraction force, so that the size of the suspension gap of the suspension ball is adjusted, and the suspension ball is stabilized at the rated gap.
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