CN108195318B - Spherical motor rotor positioning device and positioning method based on laser curtain imaging - Google Patents

Spherical motor rotor positioning device and positioning method based on laser curtain imaging Download PDF

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CN108195318B
CN108195318B CN201711420012.XA CN201711420012A CN108195318B CN 108195318 B CN108195318 B CN 108195318B CN 201711420012 A CN201711420012 A CN 201711420012A CN 108195318 B CN108195318 B CN 108195318B
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laser
imaging
curtain
output shaft
rotor
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CN108195318A (en
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陆寅
胡存刚
王群京
李国丽
郑常宝
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Anhui University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices

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  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a spherical motor rotor positioning device and a positioning method based on laser curtain imaging, wherein the spherical motor rotor positioning device comprises a fixed support, an imaging curtain, an auxiliary positioning laser emission module, a real-time position laser emission module and video camera equipment; the fixed support is a cuboid frame with a bottom surface, the spherical motor stator is arranged on the bottom surface of the fixed support, and the imaging curtain is fixed in the middle of the fixed support; the auxiliary positioning laser emitting modules are arranged in two; the real-time position laser emission module comprises laser emitters J1, J2 and J3, and the video camera equipment is arranged in the center of the top of the fixed support and is opposite to the imaging curtain. The invention determines the position and the self-rotation angle of the rotor output shaft in the space through the imaging of the three laser transmitters and the two auxiliary positioning laser modules on the imaging curtain, and has high efficiency, accuracy and easy realization.

Description

Spherical motor rotor positioning device and positioning method based on laser curtain imaging
Technical Field
The invention relates to the technical field of spherical motors, in particular to a spherical motor rotor positioning device and a positioning method based on laser curtain imaging.
Background
In the occasions of robot joints, satellite attitude adjustment and the like which need multi-degree-of-freedom motion, the prior art is realized by matching two or more motors with a complex mechanical transmission device. The size and weight of the system will be increased undoubtedly by adding mechanical transmission devices to a plurality of motors, and with the development of science and technology, in the fields such as satellite attitude adjustment, the performance of the whole system will be greatly improved by reducing the size and weight of the system. Since the spherical motor can realize multiple degrees of freedom operation on one motor, the first billiard-shaped motor has been attracting attention since its design. Compared with the traditional motor, the spherical motor has great difference in mechanical structure and control mode.
The technical difficulties of the spherical motor are mainly reflected in that: the spherical motor has more stator coils, complex driving, difficult multi-degree-of-freedom operation and positioning of a rotor and the like. At present, the detection of the position of a spherical motor rotor mainly comprises the modes of mechanical code disc, code spraying and laser code disc positioning on a motor rotor body and the like. The mechanical code wheel positioning test requires that the mechanical code wheel is installed in the spherical motor when the spherical motor is manufactured, and the volume of the spherical motor is increased. The spraying and code spraying mode of the rotor body needs to identify complex code spraying, the code spraying is carried out on the surface of the whole rotor, and the spraying and code spraying mode is difficult to apply due to the shielding of a stator and the limitation of the volume of the stator after the motor is installed. The laser code disc positioning mode needs a high-precision laser positioning device, is expensive, and has high requirements on installation precision. Thus, from the first billiard ball shaped motor manufactured to date, the development of the ball shaped motor has been very slow for technical reasons.
Disclosure of Invention
In order to solve the technical problems, the invention provides a positioning device and a positioning method thereof, wherein the positioning device has a simple structure and high positioning precision, and the volume of a spherical motor is not increased, and the invention provides the following technical scheme:
the spherical motor rotor positioning device based on laser curtain imaging comprises a fixed support, an imaging curtain, an auxiliary positioning laser emission module, a real-time position laser emission module and video camera equipment; the fixing support is a cuboid frame with a bottom surface, the spherical motor stator is arranged on the bottom surface of the fixing support, and the imaging curtain is fixed in the middle of the fixing support along the horizontal direction and is adjustable in position in the vertical direction; the auxiliary positioning laser emission modules are provided with two laser emitters F1 and F2 which are positioned on the diagonal line inside the bottom surface of the fixed support, and when the spherical motor rotor is positioned at the initial position, the output shaft of the rotor is positioned at the midpoint position of the two auxiliary positioning laser modules; the real-time position laser emission module is connected with a spherical motor rotor through a rotor output shaft and comprises laser emitters J1, J2 and J3 which are arranged towards an imaging curtain and are positioned on a straight line, the laser J2 is positioned on an extension line of the rotor output shaft, and the distance d1 between the laser J1 and the laser J2 is smaller than the distance d2 between the laser J2 and the laser J3; the video camera equipment is arranged at the center of the top of the fixed support and is opposite to the imaging curtain.
Further, the video camera device is one of a high-speed camera and a common camera, and may be any other device capable of video shooting.
The positioning method of the spherical motor rotor positioning device based on laser curtain imaging comprises the following steps:
s1, determining the center origin position of the imaging curtain by the aid of laser beams emitted by the auxiliary positioning laser emission module, enabling the laser beams emitted by the laser emitter J2 to fall on the center origin position, and dividing the imaging curtain into four quadrants, namely quadrants 1 to 4, by taking a straight line where the laser emitters J1-J3 are located as an x axis and an axis perpendicular to the x axis as a y axis;
s2, determining the deflection angle theta, the deflection azimuth angle omega and the quadrant of the rotor output shaft by the imaging point of the laser beam emitted by the laser emitter J2 on the imaging curtain, wherein:
the deflection angle theta of the output shaft of the rotor is arctan (d/h), and d is the distance from an imaging point J2' of the laser transmitter J2 on the imaging curtain to the center origin; h is the distance from the spherical center of the spherical motor rotor to the imaging curtain;
rotor output shaft deflection direction angle ω being arctan (d)x/dy)，dxIs the distance from J2' to the y-axis, dyIs the distance from J2' to the x-axis;
s3, determining the rotation angle of the rotor output shaft through the imaging point of the laser beam emitted by the laser emitters J1 and J3 on the imaging curtain
Figure BDA0001522770080000031
When the imaging point is located at the 1 st image limit, the autorotation angle phi of the rotor output shaft is arctan (O)y/Ox)；
When the imaging point is located in the 2 nd quadrant, the output shaft of the rotor is connected with the output shaft of the rotorThe rotation angle phi is 180- α -180-arctan (O)y/Ox)；
When the imaging point is located at the 3 rd image limit, the rotor output shaft rotation angle Φ is 180 ° + α is 180 ° + arctan (O)y/Ox)；
When the imaging point is positioned at the 4 th quadrant, the autorotation angle phi of the rotor output shaft is 360- α -360-arctan (O)y/Ox)；
Wherein, OxDistances on the x-axis, O, of imaging points J1 'and J3' on the imaging curtain for the laser beams emitted by the laser emitters J1, J3yα is the acute angle between the line connecting J1 'and J3' and the x-axis, which is the distance between imaging points J1 'and J3' on the y-axis.
The invention converts the information of the output shaft of the spherical motor rotor in a complicated spatial position state, an automatic angle and the like into the planar image information through the laser emission module and the imaging curtain, can efficiently and accurately detect the spatial position and the self-rotation angle information of the spherical motor rotor through the analysis and calculation of the planar image information, does not increase the volume and the weight of the spherical motor rotor compared with a mechanical code disc positioning mode, does not influence the precision due to the shielding of a stator compared with a spraying code disc spraying mode, and has low cost and low installation requirement compared with a laser code disc mode.
Drawings
Fig. 1 is a main structural schematic diagram of a spherical motor rotor positioning device of the invention.
Fig. 2 shows a laser transmitter mounting manner of the real-time position laser transmitter module according to the present invention.
Fig. 3 is a schematic laser projection diagram of the output shaft of the spherical motor rotor at the central initial position.
Fig. 4 and fig. 3 are schematic diagrams of laser imaging points on the imaging curtain in the projection mode.
Fig. 5 is a schematic laser projection diagram of the output shaft of the spherical motor rotor at the position of the maximum inclination angle.
FIG. 6 is a schematic diagram of laser imaging points formed on an imaging curtain when an output shaft of a spherical electronic rotor rotates for one circle at the maximum inclination angle.
Fig. 7 is a schematic diagram of the autorotation angle of the output shaft of the spherical motor rotor in four quadrants.
In the figure: 1. fixed bolster, 11, bottom surface, 2, formation of image curtain, 3, assistance-localization real-time laser emission module, 4, real-time position laser emission module, 5, video camera equipment, 61, spherical motor stator, 62, spherical motor rotor, 621, rotor output shaft.
Detailed Description
The positioning device for the spherical motor rotor 62 based on laser curtain imaging as shown in fig. 1 comprises a fixed support 1, an imaging curtain 2, an auxiliary positioning laser emission module 3, a real-time position laser emission module 4 and a video camera device 5; the fixing support 1 is a cuboid frame with a bottom surface 11, the spherical motor stator 61 is arranged on the bottom surface 11 of the fixing support 1, and the imaging curtain 2 is fixed in the middle of the fixing support 1 along the horizontal direction and is adjustable in position in the vertical direction; the auxiliary positioning laser emission modules 3 are provided with two laser emitters F1 and F2 which are positioned on the diagonal line inside the bottom surface 11 of the fixed support 1, and the rotor output shaft 621 is positioned at the midpoint position of the two auxiliary positioning laser modules when the spherical motor rotor 62 is positioned at the initial position; as shown in fig. 2, the real-time position laser emitting module 4 is connected with the spherical motor rotor 62 through a rotor output shaft 621, and includes laser emitters J1, J2 and J3 which are arranged towards the imaging curtain 2 and located on a straight line, the laser J2 is located on an extension line of the rotor output shaft 621, and a distance d1 between the laser J1 and the laser J2 is smaller than a distance d2 between the laser J2 and the laser J3; the video camera device 5 is arranged at the center of the top of the fixed support 1 and is opposite to the imaging curtain 2.
Further, the video camera device 5 may be one of a high-speed camera and a general camera, or any other device capable of capturing video.
The positioning method of the spherical motor rotor 62 positioning device based on laser curtain imaging comprises the following steps:
s1, determining the position of the center origin of the imaging curtain 2 by the aid of laser beams emitted by the auxiliary positioning laser emission module 3, enabling the laser beams emitted by the laser emitters J2 to fall on the position of the center origin, and dividing the imaging curtain 2 into four quadrants, namely quadrants 1 to 4, by taking a straight line where the laser emitters J1-J3 are located as an x axis and an axis perpendicular to the x axis as a y axis as shown in figure 3; as shown in fig. 4, the real-time position laser emission module 4 and the auxiliary positioning laser emission module 3 will form five laser imaging points on the imaging curtain 2, the imaging points F1 'and F2' formed by the auxiliary positioning laser emission modules 3F1 and F2 are located at the edges of quadrants 1 and 3 of the imaging curtain 2, and their positions are fixed, the central position of the connecting line of the two imaging points is the central origin, when the spherical motor rotor 62 is located at the initial position, the imaging point J2' of the laser transmitter J2 of the real-time position laser transmitter module 4 on the imaging curtain 2 is located at the central origin, in this embodiment, the auxiliary positioning laser transmitter module 3 is used to determine the central origin position of the curtain, and the auxiliary positioning laser transmitter module 3 is added or reduced or even subtracted, the mode of finding the position of the center origin through modes such as experimental calculation and the like can also be regarded as the protection scope of the patent.
S2, determining a deflection angle theta, a deflection azimuth angle omega and a quadrant of the rotor output shaft 621 by an imaging point of the laser beam emitted by the laser emitter J2 on the imaging curtain 2, wherein:
the deflection angle θ of the rotor output shaft 621 is arctan (d/h), as shown in fig. 5 and 6, d is the distance from the imaging point J2' of the laser transmitter J2 on the imaging curtain 2 to the central origin; h is the distance from the center of the spherical motor rotor 62 to the imaging curtain 2;
the angle ω of the rotor output shaft 621 in the yaw direction is arctan (d)x/dy)，dxIs the distance from J2' to the y-axis, dyIs the distance from J2' to the x-axis;
s3, determining the self-rotation angle of the rotor output shaft 621 through the imaging point of the laser beam emitted by the laser emitters J1 and J3 on the imaging curtain 2
Figure BDA0001522770080000061
As shown in figure 7 of the drawings,
when the imaging point is located at the 1 st quadrant, the rotation angle Φ of the rotor output shaft 621 is arctan (O)y/Ox)；
When the imaging point is located in the 2 nd quadrant, the rotorThe rotation angle phi of the output shaft 621 is 180- α -180-arctan (O)y/Ox)；
When the imaging point is located at the 3 rd quadrant, the rotor output shaft 621 rotates by 180 ° + α ° + 180 ° + arctan (O)y/Ox)；
When the imaging point is located at the 4 th quadrant, the rotation angle Φ of the rotor output shaft 621 is 360 ° - α is 360 ° -arctan (O)y/Ox)；
Wherein, OxDistances on the x-axis, O, of imaging points J1 'and J3' on the imaging curtain 2 for the laser beams emitted by the laser emitters J1, J3yα is the acute angle between the line connecting J1 'and J3' and the x-axis, which is the distance between imaging points J1 'and J3' on the y-axis.
The spherical motor rotor 62 positioning mode converts the complex space state of the spherical motor rotor 62 into a simple imaging point on the screen plane and identifies the imaging point through a camera. Compared with the existing spherical motor positioning mode, the method can greatly improve the precision and response speed of position detection.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (3)

1. Spherical electric motor rotor positioner based on laser curtain formation of image, its characterized in that: the device comprises a fixed support, an imaging curtain, an auxiliary positioning laser emission module, a real-time position laser emission module and video camera equipment; the fixing support is a cuboid frame with a bottom surface, the spherical motor stator is arranged on the bottom surface of the fixing support, and the imaging curtain is fixed in the middle of the fixing support along the horizontal direction and is adjustable in position in the vertical direction; the auxiliary positioning laser emission modules are provided with two laser emitters F1 and F2 which are positioned on the diagonal line inside the bottom surface of the fixed support, and when the spherical motor rotor is positioned at the initial position, the output shaft of the rotor is positioned at the midpoint position of the two auxiliary positioning laser emission modules; the real-time position laser emission module is connected with a spherical motor rotor through a rotor output shaft and comprises laser emitters J1, J2 and J3 which are arranged towards an imaging curtain and are positioned on a straight line, the laser emitter J2 is positioned on an extension line of the rotor output shaft, and the distance d1 between the laser emitters J1 and J2 is smaller than the distance d2 between the laser emitters J2 and J3; the video camera equipment is arranged at the center of the top of the fixed support and is opposite to the imaging curtain.
2. The laser curtain imaging-based spherical motor rotor positioning device as claimed in claim 1, wherein: the video camera equipment is one of a high-speed camera and a common camera.
3. The positioning method of the spherical motor rotor positioning device based on the laser curtain imaging as claimed in any one of claims 1 to 2, characterized by comprising the following steps:
s1, determining the center origin position of the imaging curtain by the aid of laser beams emitted by the auxiliary positioning laser emission module, enabling the laser beams emitted by the laser emitter J2 to fall on the center origin position, and dividing the imaging curtain into four quadrants, namely quadrants 1 to 4, by taking a straight line where the laser emitters J1-J3 are located as an x axis and an axis perpendicular to the x axis as a y axis;
s2, determining the deflection angle theta, the deflection azimuth angle omega and the quadrant of the rotor output shaft by the imaging point of the laser beam emitted by the laser emitter J2 on the imaging curtain, wherein:
the deflection angle theta of the output shaft of the rotor is arctan (d/h), and d is the distance from an imaging point J2' of the laser transmitter J2 on the imaging curtain to the center origin; h is the distance from the spherical center of the spherical motor rotor to the imaging curtain;
rotor output shaft deflection direction angle ω being arctan (d)x/dy)，dxIs the distance from J2' to the y-axis, dyIs the distance from J2' to the x-axis;
s3, determining the self-rotation angle phi of the rotor output shaft through the imaging points of the laser beams emitted by the laser emitters J1 and J3 on the imaging curtain,
when the imaging point is located at the 1 st image limit, the autorotation angle phi of the rotor output shaft is arctan (O)y/Ox)；
When the imaging point is positioned in the 2 nd quadrant, the autorotation angle phi of the rotor output shaft is 180- α -180-arctan (O)y/Ox)；
When the imaging point is located at the 3 rd image limit, the rotor output shaft rotation angle Φ is 180 ° + α is 180 ° + arctan (O)y/Ox)；
When the imaging point is positioned at the 4 th quadrant, the autorotation angle phi of the rotor output shaft is 360- α -360-arctan (O)y/Ox)；
Wherein, OxDistances on the x-axis, O, of imaging points J1 'and J3' on the imaging curtain for the laser beams emitted by the laser emitters J1, J3yα is the acute angle between the line connecting J1 'and J3' and the x-axis, which is the distance between imaging points J1 'and J3' on the y-axis.
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