Research Of Accurate Position Technology Of Unbalanced Rotors Counterweight Position And Pose On Vision

With the vigorous development of China’s industrial technology,rotating machinery is playing a more and more important role in industrial production and life.The speed of rotating machinery is constantly improving.At the same time,the increase of speed also brings corresponding problems,among which the rotor imbalance problem is the main reason for the failure of rotating machinery.Dynamic balancing technology is usually used in industrial field to solve the problem of rotor imbalance,but the implementation process of this technology is more complex,during which multiple start and stop may change the experimental state of dynamic balance and will also introduce new errors.And this technology has high requirements for staff.Due to the advantages of non-contact,high precision and high efficiency of three-dimensional measurement technology,this paper proposes to use three-dimensional measurement method to locate the balance position and pose of unbalanced rotors.The main research contents are as follows:Firstly,the working principle of rotor counterweight pose positioning system based on vision measurement method is introduced.The point cloud of the unbalanced rotor was obtained by the method of structured light 3d measurement.The position and pose transformation matrix between the point cloud of the unbalanced rotor and the reference point cloud was obtained by matching them.According to the parameters in the transformation matrix,the motion parameters of the moving platform were determined to realize the rotor counterweight position and pose positioning.According to the working principle of the system,the overall architecture design of the positioning system is completed,and the hardware modules in the system architecture are analyzed.Secondly,the realization method of three-dimensional measurement of rotor counterweight position and pose is studied.The principle of monocular structured light measurement technology is introduced.The mathematical models of camera and projector are analyzed.The internal and external parameters of camera and projector are determined based on their mathematical models.The calibration parameters of the measurement system are calculated based on the internal and external parameters of camera and projector.The coding sequence of structured light is designed according to the parameters of the device,and the corresponding decoding scheme is designed.According to the calibration parameters of the system and the principle of codec,the 3d reconstruction experiment of rotor model is completed.Finally,the realization method of rotor counterweight pose positioning technology is studied.The preprocessing method of point cloud model is introduced.The transformation matrix between reference point cloud and measured point cloud is obtained by using rough matching and fine matching method.The motion parameters of the moving platform are calculated from the transformation matrix.The experiment of position orientation of unbalanced rotor counterweight is completed.The feasibility of the method is verified.In this thesis,a visual measurement technique for balancing position and pose of unbalanced rotors is studied.The work in this paper is of great significance for improving the dynamic balance accuracy of high-speed and high-precision rotor and ensuring the smooth operation of rotor under high-order critical speed.