2自由度磁気浮上システムにおける浮上体の視覚情報による位置検出

抄録

Vision-based sensors can obtain two or more information at the same time. A camera can be used instead of displacement sensors for measuring displacements in multi directions. In this research, a USB camera is used for measuring the vertical and horizontal displacements of a floator in a two-degree-of-freedom magnetic levitation system. The floator is controlled based on the information from eddy current sensors and levitates stably. A black circle marker is attached to the floator, then an image of marker will be taken by the camera. The center of the marker is calculated in real-time from the pixel intensity in a specific region of a captured image. The displacements by the visual position measurement are compared with the measured values by the eddy current sensors. The results show that the multi displacements can be measured by the camera. However, the displacements are affected by the rotation of the floator, therefore, compensation is required for the levitation control.