基于单目视觉的球形电机转子方位测量方法

球形转子方位测量是构成永磁球形电动机闭环控制系统的重要组成部分,传统的非接触式测量方法算法复杂且实时性差,针对该问题提出了基于单目视觉的球形电动机转子二自由度方位测量方法。通过球形电机的机械结构确定了视觉测量装置的构成,在电机转子表面与输出轴固联位置喷涂圆形标记,分析相机获取的图像得到具有转子方位信息的特征点的坐标,从而计算出特征点在实际空间中所对应的转子方位。利用滑轨支架测量系统进行实验验证,实验结果表明该方法的有效性。

Method of Measuring the Rotor Orientation of Spherical MotorBased on Monocular Vision

The orientation measurement of spherical rotor is an important part of the closed loop control system for spherical motor. And traditional non-contact measurement methods are complex and poor in real time. In order to solve this problem, this paper presents a method for measuring rotor orientation of spherical motor with two degrees of freedom based on monocular vision. The structure of the vision measuring device is determined by the mechanical structure of the spherical motor. The circular mark is sprayed on the fixed position of the motor rotor surface and connected to theS the output shaft. The image obtained by the camera gets the coordinates of the feature points with the rotor orientation information, and the rotor orientation is calculated which is corresponding to the characteristic points in the actual space. The experimental results are verified by the test system of the slide rail support measurement system, which show the effectiveness of the method.