Control method and system for low-speed high-torque brushless dc torque motor

Abstract

The application provides a control method and system of a low-speed large-torque brushless DC torque motor, which shoots and monitors a target driven by the motor, so as to accurately determine whether the current movement of the target is stable, and determines whether the torque outputted by the motor needs to be adjusted by collecting the torque exerted between the motor and the target, so as to facilitate the voltage / current adjustment of the motor, thereby ensuring that the motor can always drive the target to move stably during different phase conversions in the whole operation process, and improving the power output efficiency of the motor.

Description

Technical Field

[0001] This invention relates to the technical field of brushless DC motor control, and particularly to a control method and system for a low-speed, high-torque brushless DC torque motor. Background Technology

[0002] A brushless DC torque motor is a type of DC motor widely used in motion control equipment such as electric vehicles and CNC machine tools. The brushless DC torque motor drives a target object through a power output shaft, and the magnitude of the torque output by the motor directly affects the smoothness of the target object's motion. Existing brushless DC torque motors only adjust the output torque by changing the current period and pulse amplitude of the control square wave current applied to the motor. This cannot guarantee that the target object maintains a smooth motion throughout the entire driving process, making effective feedback control of the brushless DC torque motor impossible and significantly reducing the smoothness and controllability of the driven target object's motion. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a control method and system for a low-speed, high-torque brushless DC torque motor. It involves capturing and analyzing motion images of a target object driven by the brushless DC torque motor to determine the object's center of gravity displacement during movement, thereby assessing the smoothness of the motor's drive. When the target object is in an unstable driving state, the system determines the adjusted target output torque based on the motor's current output torque and the reaction torque exerted by the target object on the motor during movement. Finally, using the target output torque as a reference, a compensation voltage is applied to the motor, and corresponding phase currents are applied during different phase transitions. By monitoring and capturing images of the target object, the system accurately determines whether the target object's current movement is smooth. Furthermore, by collecting data on the torque applied between the motor and the target object, it determines whether the final output torque of the motor needs adjustment. This facilitates voltage / current adjustments to the motor, ensuring that the motor consistently drives the target object smoothly during different phase transitions throughout the entire operation and improving the motor's power output efficiency.

[0004] This invention provides a control method for a low-speed, high-torque brushless DC torque motor, characterized by comprising the following steps:

[0005] Step S1: Take a picture of the target object driven by the brushless DC torque motor to obtain a motion image of the target object; analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process;

[0006] Step S2: Based on the information on the change in center of gravity displacement, determine whether the brushless DC torque motor drives the target object smoothly or not; when the target object is in an unstable driving state, collect the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement, so as to determine the target output torque after the brushless DC torque motor is adjusted.

[0007] Step S3: Apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, detect the phase transition state of the brushless DC torque motor; and then apply a corresponding phase current to the brushless DC torque motor according to the phase transition state.

[0008] Furthermore, in step S1, the target object driven by the brushless DC torque motor is photographed to obtain a motion image of the target object; analyzing the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion specifically includes:

[0009] Step S101: Perform binocular imaging on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor.

[0010] Step S102: Extract the corresponding binocular image disparity from the binocular motion image, and then generate a three-dimensional motion image corresponding to the target object based on the binocular image disparity.

[0011] Step S103: After identifying the outline of the target object from the three-dimensional motion image, determine the center of gravity of the target object itself based on the outline; then, based on the position change state of the outline of the target object in the three-dimensional motion image, determine the center of gravity movement path and center of gravity movement speed during the process of the target object's center of gravity being driven to move, and use this as the center of gravity displacement change information.

[0012] Further, in step S103, after identifying the outline of the target object from the three-dimensional moving image, the center of gravity of the target object is determined based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional moving image, the path and speed of the center of gravity movement during the process of the target object's center of gravity being driven to move are determined, specifically including:

[0013] First, a spatial rectangular coordinate system is constructed for the display space corresponding to the three-dimensional motion image. The spatial rectangular coordinate system takes the bottom left vertex of the display space as the origin O, the horizontal direction extending to the right from the origin as the X-axis, the horizontal direction extending forward as the Y-axis, and the vertical upward direction extending from the origin as the Z-axis. Then, the three views corresponding to the three-dimensional motion image are the projections of the three-dimensional motion image on the XOY plane, the YOZ plane, and the XOZ plane, respectively, thereby obtaining the projection images of the three-dimensional motion image on the XOY plane, the YOZ plane, and the XOZ plane.

[0014] Step S1031: Using the following formula (1), based on the projection images of the three-dimensional motion image onto the XOY plane, YOZ plane, and XOZ plane, obtain the pixel coordinates of the outline of the three-view drawing.

[0015]

[0016] In the above formula (1), H(i) k ,j k ) indicates that the projection of the 3D motion image after gradient detection onto the k-th plane corresponds to the coordinate point (i). k ,j k The detected value of the pixel at position (i) k ,j k (i) represents the coordinates of the projection of the 3D moving image onto the k-th plane. If the k-th plane is the XOY plane, then the coordinates (i) k ,j k The coordinates (x, y, 0) on the XOY plane are given. If the k-th plane is the YOZ plane, then the coordinates (i) are given. k ,j k The coordinates (0, y, z) on the YOZ plane are given. If the k-th plane is the XOZ plane, then the coordinates (i) are given. k ,j k ) is the coordinate point (x, 0, z) on the XOZ plane, and 1+i k,0 ≤i k ≤n k -1, 1+j k,0 ≤j k ≤m k -1, where the pixels at the outermost edge of the projected image are not included in the calculation and their detection values ​​are directly set to 0. k,0 n represents the minimum x-coordinate of the projection of the 3D moving image onto the k-th plane. k j represents the maximum x-coordinate of the projection of the 3D moving image onto the k-th plane. k,0m represents the minimum ordinate of the projection of the 3D moving image onto the k-th plane. k D(i) represents the maximum ordinate of the projection of the 3D moving image onto the k-th plane; k ,j k ) represents the coordinates (i) of the projection image of the 3D moving image on the k-th plane. k ,j k The pixel value at position (i) ; D(i) k +a,j k ) represents the coordinates (i) of the projection image of the 3D moving image on the k-th plane. k +a,j k The pixel value at position (i) ; D(i) k ,j k +b) represents the coordinates of the projection image of the 3D moving image on the k-th plane (i k ,j k The pixel value at point +b); H k,e H represents the mean gradient change along the lateral direction; k,r ∪ represents the mean of the gradient changes along the vertical direction; ∪ represents the union operation.

[0017] If H(i) k ,j k ) = 1, indicating that the coordinates (i) of the three-dimensional moving image on the k-th plane are... k ,j k () is the coordinate point on the outline of the target object on the k-th plane;

[0018] If H(i) k ,j k ) = 0, indicating that the coordinates of the three-dimensional moving image on the k-th plane are (i k ,j k () is not a coordinate point on the outline of the target object on the k-th plane;

[0019] Step S1032, using the following formula (2), based on the coordinate point (i) corresponding to the projection image of the three-dimensional motion image on the k-th plane after gradient detection. k ,j k The detection value of the pixel at position () is used to obtain the centroid coordinates of the three views corresponding to the target object.

[0020]

[0021] In the above formula (2), The coordinates of the centroid of the projection of the 3D moving image onto the k-th plane are represented. Indicates i k The value is from 1+i k,0 Get nk -1 during the process of satisfying H(i) k ,j k The maximum value inside the parentheses given that ) = 1; Indicates i k The value is from 1+i k,0 Get n k -1 during the process of satisfying H(i) k ,j k The minimum value inside the parentheses given that ) = 1; This indicates that j k The value is from 1+j k,0 Get m k -1 during the process of satisfying H(i) k ,j k The maximum value inside the parentheses given that ) = 1; This indicates that j k The value is from 1+j k,0 Get m k -1 during the process of satisfying H(i) k ,j k The minimum value inside the parentheses given that ) = 1;

[0022] Since the centroid coordinates on the k-th plane correspond to the coordinates of the corresponding plane, where k = 1, 2, 3, we can obtain the centroid coordinates in the Cartesian coordinate system for each plane. The coordinates of the centroid of the target object in the spatial rectangular coordinate system are:

[0023] Because the center-of-gravity coordinates of the target object change as the target object moves within the 3D moving image, the center-of-gravity coordinates of the target object corresponding to each frame of the 3D moving image are denoted as follows: It represents the centroid coordinates of the target object corresponding to the t-th frame image contained in the 3D motion image; according to the order of each frame image in the 3D motion image, the centroid coordinates of all the target objects are connected sequentially to obtain the centroid movement path of the target object.

[0024] Step S1033: Using the formula (3) below, the velocity of the target object's center of gravity is obtained based on the coordinates of the target object's center of gravity in each frame of the 3D motion image.

[0025]

[0026] In the above formula (3), V(t) represents the velocity of the center of gravity of the target object in the t-th frame of the three-dimensional motion image; T represents the shooting time interval between two adjacent frames in the three-dimensional motion image.

[0027] Furthermore, in step S2, based on the information about the change in center of gravity displacement, it is determined whether the brushless DC torque motor is driving the target object smoothly or not. When the target object is in an unstable driving state, the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement are collected to determine the target output torque after adjustment of the brushless DC torque motor. Specifically, this includes:

[0028] Step S201: Compare the center of gravity movement path with a preset movement path to determine the maximum path deviation distance between the two paths; compare the maximum path deviation distance with a preset deviation distance threshold, and compare the center of gravity movement speed with a preset speed threshold; if the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, then the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state.

[0029] Step S202: When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined.

[0030] Step S203: Determine the target output torque Q of the brushless DC torque motor after adjustment according to the formula Q=A+α*│AB│. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

[0031] Further, in step S3, a compensation voltage is applied to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, the phase transition state of the brushless DC torque motor is detected; then, according to the phase transition state, a corresponding phase current is applied to the brushless DC torque motor, specifically including:

[0032] Step S301: Based on the target output torque, determine the output power that the brushless DC torque motor needs to increase to the target object; and based on the increased output power, determine the compensation voltage applied to the brushless DC torque motor.

[0033] Step S302: During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information.

[0034] Step S303: Based on the phase transition states, determine the start and end times of each phase transition state during the operation of the brushless DC torque motor; during the start and end times of each phase transition state, apply a corresponding phase current to the brushless DC torque motor; wherein the phase current enables the brushless DC torque motor to maximize the torque generated in the corresponding phase transition state.

[0035] This invention provides a control system for a low-speed, high-torque brushless DC torque motor, characterized in that it includes a target tracking and imaging module, a motion image analysis module, a motor output torque adjustment and determination module, and a motor operating voltage / current adjustment module; wherein,

[0036] The target tracking and imaging module is used to capture images of target objects driven by brushless DC torque motors, thereby obtaining motion images of the target objects.

[0037] The motion image analysis module is used to analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process;

[0038] The motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly or not based on the center of gravity displacement change information; when the target object is in an unstable driving state, the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are collected to determine the target output torque of the brushless DC torque motor after adjustment.

[0039] The motor operating voltage / current adjustment module is used to apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, it detects the phase transition state of the brushless DC torque motor; and then applies a corresponding phase current to the brushless DC torque motor according to the phase transition state.

[0040] Furthermore, the target tracking and imaging module is used to capture images of a target object driven by a brushless DC torque motor, thereby obtaining a moving image of the target object. Specifically, this includes:

[0041] Binocular imaging is performed on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor.

[0042] as well as,

[0043] The motion image analysis module is used to analyze the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion, specifically including:

[0044] The corresponding binocular image disparity is extracted from the binocular motion image, and then a three-dimensional motion image corresponding to the target object is generated based on the binocular image disparity.

[0045] After identifying the outline of the target object from the three-dimensional motion image, the center of gravity of the target object is determined based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional motion image, the center of gravity movement path and speed during the process of the target object's center of gravity being driven to move are determined, and these are used as the center of gravity displacement change information.

[0046] Furthermore, the motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly or not based on the center of gravity displacement change information; when the target object is in an unstable driving state, the module collects the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement, thereby determining the target output torque of the brushless DC torque motor after adjustment, specifically including:

[0047] The center of gravity movement path is compared with a preset movement path to determine the maximum path deviation distance between the two paths; the maximum path deviation distance is compared with a preset deviation distance threshold, and the center of gravity movement speed is compared with a preset speed threshold; if the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state.

[0048] When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined.

[0049] According to the formula Q=A+α*│AB│, the target output torque Q of the brushless DC torque motor after adjustment is determined. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

[0050] Furthermore, the motor operating voltage / current adjustment module is used to apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, it detects the phase transition state of the brushless DC torque motor; and then applies a corresponding phase current to the brushless DC torque motor according to the phase transition state, specifically including:

[0051] Based on the target output torque, determine the additional output power that the brushless DC torque motor needs to supply to the target object; and based on the additional output power, determine the compensation voltage applied to the brushless DC torque motor.

[0052] During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information.

[0053] Based on the phase transition states, the start and end times of each phase transition state during the operation of the brushless DC torque motor are determined; during the start and end times of each phase transition state, a corresponding phase current is applied to the brushless DC torque motor; wherein the phase current enables the brushless DC torque motor to maximize the torque generated in the corresponding phase transition state.

[0054] Compared to existing technologies, this control method and system for a low-speed, high-torque brushless DC torque motor captures and analyzes motion images of the target object driven by the brushless DC torque motor to determine the change in the target object's center of gravity displacement during movement, thereby judging whether the motor's drive of the target object is smooth. When the target object is in an unstable driving state, the system determines the adjusted target output torque of the motor based on the motor's current output torque and the reaction torque of the target object on the motor during movement. Finally, using the target output torque as a reference, a compensation voltage is applied to the motor, and corresponding phase currents are applied to the motor during different phase transitions. By capturing and monitoring the target object driven by the motor, the system accurately judges whether the target object's current movement is smooth. Furthermore, by collecting data on the torque applied between the motor and the target object, the system determines whether the final output torque of the motor needs adjustment. This facilitates voltage / current adjustments to the motor, ensuring that the motor can consistently drive the target object smoothly during different phase transitions throughout the entire operation process and improving the motor's power output efficiency.

[0055] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0056] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating the control method for a low-speed, high-torque brushless DC torque motor provided by the present invention.

[0059] Figure 2 This is a schematic diagram of the control system for the low-speed, high-torque brushless DC torque motor provided by the present invention. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] See Figure 1 This is a flowchart illustrating the control method for a low-speed, high-torque brushless DC torque motor provided in an embodiment of the present invention. The control method for this low-speed, high-torque brushless DC torque motor includes the following steps:

[0062] Step S1: Take a picture of the target object driven by the brushless DC torque motor to obtain a motion image of the target object; analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process.

[0063] Step S2: Based on the information on the change in center of gravity displacement, determine whether the brushless DC torque motor drives the target object smoothly or not; when the target object is in an unstable driving state, collect the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement, so as to determine the target output torque after the brushless DC torque motor is adjusted.

[0064] Step S3: Apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, detect the phase transition state of the brushless DC torque motor; and then apply a corresponding phase current to the brushless DC torque motor according to the phase transition state.

[0065] The beneficial effects of the above technical solution are as follows: The control method of the low-speed, high-torque brushless DC torque motor determines the center of gravity displacement change of the target object during its motion by photographing and analyzing the captured motion images. This allows for a judgment on the smoothness of the motor's drive on the target object. When the target object is in an unstable driving state, the adjusted target output torque is determined based on the motor's current output torque and the reaction torque exerted by the target object on the motor during its motion. Finally, a compensation voltage is applied to the motor based on the target output torque, and corresponding phase currents are applied during different phase transitions. By photographing and monitoring the target object driven by the motor, the method accurately determines whether the target object's current motion is smooth. Furthermore, by collecting data on the torque applied between the motor and the target object, it determines whether the final output torque of the motor needs adjustment. This facilitates voltage / current adjustments to the motor, ensuring that the motor can consistently drive the target object smoothly during different phase transitions throughout the entire operation process and improving the motor's power output efficiency.

[0066] Preferably, in step S1, the target object driven by the brushless DC torque motor is photographed to obtain a motion image of the target object; analyzing the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion specifically includes:

[0067] Step S101: Perform binocular imaging on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor.

[0068] Step S102: Extract the corresponding binocular image parallax from the binocular motion image, and then generate a three-dimensional motion image corresponding to the target object based on the binocular image parallax.

[0069] Step S103: After identifying the outline of the target object from the three-dimensional motion image, determine the center of gravity of the target object based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional motion image, determine the center of gravity movement path and speed during the process of the target object's center of gravity being driven to move, and use this as the center of gravity displacement change information.

[0070] The beneficial effects of the above technical solution are as follows: The brushless DC torque motor can be connected to a target object via its drive output shaft. The target object can be, but is not limited to, a rotating bearing, gear, or translational motion block, allowing the brushless DC torque motor to drive the target object to perform different types of motion, such as rotation or translation. In the motor's operation, a binocular camera can be used to capture images of the target object, thereby obtaining a binocular motion image of the target object under the motor's drive. Subsequently, the binocular image parallax contained in the image is extracted, and based on this parallax, a three-dimensional motion image of the target object under the motor's drive can be constructed.

[0071] This 3D motion image is a realistic representation of the target object's three-dimensional motion under the drive of an electric motor. It depicts the continuous motion of the target object, directly reflecting its positional changes during this process. To idealize the motion of the target object under the drive of the electric motor, the object's outline can be identified from the 3D motion image. This outline can be, but is not limited to, the object's edge or outer surface contour. Then, using this outline as a reference, the target object's center of gravity is determined. Finally, the target object's center of gravity is equated to the entire target object, and combined with the positional changes of the target object's outline in the 3D motion image—that is, the position of the target object's outline at different times—the movement path and speed of the target object's center of gravity within the 3D motion image can be fitted, thus providing a comprehensive representation of the target object's motion under the drive of the electric motor.

[0072] Preferably, in step S103, after identifying the outline of the target object from the three-dimensional moving image, the center of gravity of the target object is determined based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional moving image, the path and speed of the center of gravity movement during the process of the target object's center of gravity being driven to move are determined, specifically including:

[0073] First, a spatial rectangular coordinate system is constructed for the display space corresponding to the 3D moving image. This spatial rectangular coordinate system takes the bottom left vertex of the display space as the origin O, the horizontal direction extending to the right from the origin as the X-axis, the horizontal direction extending forward as the Y-axis, and the vertical upward direction extending from the origin as the Z-axis. Then, the three views corresponding to the 3D moving image are the projections of the 3D moving image on the XOY plane, YOZ plane, and XOZ plane, respectively, thus obtaining the projection images of the 3D moving image on the XOY plane, YOZ plane, and XOZ plane.

[0074] Step S1031: Using the formula (1) below, based on the projection images of the three-dimensional motion image onto the XOY, YOZ, and XOZ planes, obtain the pixel coordinates of the outline of the three-view drawing.

[0075]

[0076] In the above formula (1), H(i) k ,j k ) indicates that the projection of the 3D motion image after gradient detection onto the k-th plane corresponds to the coordinate point (i). k ,j k The detected value of the pixel at position (i) k ,j k (i) represents the coordinates of the projection of the 3D moving image onto the k-th plane. If the k-th plane is the XOY plane, then the coordinates (i) k ,j k The coordinates (x, y, 0) on the XOY plane are given. If the k-th plane is the YOZ plane, then the coordinates (i) are given. k ,j k The coordinates (0, y, z) on the YOZ plane are given. If the k-th plane is the XOZ plane, then the coordinates (i) are given. k ,j k ) is the coordinate point (x, 0, z) on the XOZ plane, and 1+i k,0 ≤i k ≤n k -1, 1+j k,0 ≤j k ≤m k -1, where the pixels at the outermost edge of the projected image are not included in the calculation and their detection values ​​are directly set to 0. k,0 n represents the minimum x-coordinate of the projection of the 3D moving image onto the k-th plane. k j represents the maximum x-coordinate of the projection of the 3D moving image onto the k-th plane. k,0 m represents the minimum ordinate of the projection of the 3D moving image onto the k-th plane. k D(i) represents the maximum ordinate of the projection of the 3D moving image onto the k-th plane; k ,j k ) represents the coordinates (i) of the projection image of the 3D moving image on the k-th plane. k ,j k The pixel value at position (i) ; D(i) k +a,j k ) represents the coordinates (i) of the projection image of the 3D moving image on the k-th plane. k +a,jk The pixel value at position (i) ; D(i) k ,j k +b) represents the coordinates of the projection image of the 3D moving image on the k-th plane (i k ,j k The pixel value at point +b); H k,e H represents the mean gradient change along the lateral direction; k,r ∪ represents the mean of the gradient changes along the vertical direction; ∪ represents the union operation.

[0077] If H(i) k ,j k ) = 1, indicating that the coordinates (i) of the three-dimensional moving image on the k-th plane are... k ,j k () is the coordinate point on the outline of the target object on the k-th plane;

[0078] If H(i) k ,j k ) = 0, indicating that the coordinates of the three-dimensional moving image on the k-th plane are (i k ,j k () is not a coordinate point on the outline of the target object on the k-th plane;

[0079] Step S1032, using the following formula (2), based on the coordinate point (i) corresponding to the projection image of the three-dimensional motion image on the k-th plane after gradient detection. k ,j k The detection value of the pixel at position () is used to obtain the centroid coordinates of the three views corresponding to the target object.

[0080]

[0081] In the above formula (2), The coordinates of the centroid of the projection of the 3D moving image onto the k-th plane are represented. Indicates i k The value is from 1+i k,0 Get n k -1 during the process of satisfying H(i) k ,j k The maximum value inside the parentheses given that ) = 1; Indicates i k The value is from 1+i k,0 Get n k -1 during the process of satisfying H(i) k ,j k The minimum value inside the parentheses given that ) = 1; This indicates that j k The value is from 1+j k,0 Get mk -1 during the process of satisfying H(i) k ,j k The maximum value inside the parentheses given that ) = 1; This indicates that j k The value is from 1+j k,0 Get m k -1 during the process of satisfying H(i) k ,j k The minimum value inside the parentheses given that ) = 1;

[0082] Since the centroid coordinates on the k-th plane correspond to the coordinates of the corresponding plane, where k = 1, 2, 3, we can obtain the centroid coordinates in the Cartesian coordinate system for each plane. The coordinates of the centroid of the target object in the spatial rectangular coordinate system are:

[0083] Because the center-of-gravity coordinates of the target object change as the target object moves within the 3D moving image, the center-of-gravity coordinates of the target object corresponding to each frame of the 3D moving image are denoted as follows: It represents the centroid coordinates of the target object corresponding to the t-th frame image contained in the 3D motion image; according to the order of each frame image in the 3D motion image, the centroid coordinates of all the target objects are connected sequentially to obtain the centroid movement path of the target object.

[0084] Step S1033: Using the formula (3) below, the velocity of the target object's center of gravity is obtained based on the coordinates of the target object's center of gravity in each frame of the 3D motion image.

[0085]

[0086] In the above formula (3), V(t) represents the velocity of the center of gravity of the target object in the t-th frame of the three-dimensional motion image; T represents the shooting time interval between two adjacent frames in the three-dimensional motion image.

[0087] The beneficial effects of the above technical solution are as follows: using the above formula (1), the outline pixel coordinates of the three-view object are obtained from the projection images of the three-dimensional motion image on the three planes, and then the outline in the three-view object is marked by gradient change; then using the above formula (2), the centroid coordinates of the three-view object are obtained from the detection value of the pixel points of the three-view object after gradient detection, and then the centroid of the object is obtained by regularization, and the centroid coordinates of the three-view object can be obtained by comprehensive analysis of the centroid coordinates of the three-view object, ensuring that the obtained spatial centroid coordinates have a small error, and then the centroid movement path of the object in each frame is obtained by combining the frame rate of the three-dimensional motion image; finally, using the above formula (3), the centroid movement speed of the object is obtained from the spatial centroid coordinates of the three-dimensional motion image of the object in each frame, and then the speed of the object in each frame can be analyzed, which is convenient for subsequent judgment and motor control.

[0088] Preferably, in step S2, based on the information about the change in center of gravity displacement, the smoothness of the brushless DC torque motor's drive on the target object is determined. When the target object is in an unstable driving state, the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement are collected to determine the target output torque of the brushless DC torque motor after adjustment. Specifically, this includes:

[0089] Step S201: Compare the center of gravity movement path with a preset movement path to determine the maximum path deviation distance between the two paths; compare the maximum path deviation distance with a preset deviation distance threshold, and compare the center of gravity movement speed with a preset speed threshold; if the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, then the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state.

[0090] Step S202: When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined.

[0091] Step S203: Determine the target output torque Q of the brushless DC torque motor after adjustment according to the formula Q=A+α*│AB│. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

[0092] The beneficial effects of the above technical solution are as follows: After determining the center of gravity movement path and speed of the target object, the stability of the target object's motion can be comprehensively evaluated from both aspects. By comparing the center of gravity movement path with a preset movement path, the maximum path deviation distance between the two paths is determined. This preset movement path can be obtained by fitting an idealized motion state of the target object driven by an electric motor; it is a pre-defined, known movement path. Then, the maximum path deviation distance and the center of gravity movement speed are compared with preset deviation distance thresholds and preset speed thresholds, respectively. This allows for a quantitative and accurate judgment of whether the target object is in a stable driving state. The preset deviation distance threshold and preset speed threshold can be determined based on the motion inertia of different target objects; that is, different types of target objects can correspond to different preset deviation distance thresholds and preset speed thresholds.

[0093] Once it is determined that the target object is in an unstable driving state, the torque output of the motor needs to be adjusted to readjust the target object's motion state, thereby achieving smooth driving of the target object by the motor. During actual driving, the motor outputs a corresponding torque to the target object, while the target object exerts a corresponding reaction torque on the motor during its movement. These two torques interact, thus affecting the target object's operating state. Since both the motor's output torque and the target object's reaction torque change over time, by periodically collecting the motor's output torque and the target object's reaction torque during its movement, and based on the periodic collection results, the corresponding average output torque and average reaction torque can be determined. This allows for a quantitative characterization of the motor's torque output state and the target object's reaction torque state. Finally, the above formula can accurately determine the final target output torque formed by the motor after torque output adjustment, enabling the motor to quickly adjust to the corresponding output torque state during subsequent torque adjustment processes. In the above formula, the operating power conversion coefficient α of the brushless DC torque motor refers to the ratio between the torque output to the target object by the brushless DC torque motor during operation and the torque generated internally. Since the torque generated internally by the motor will undergo a certain loss before becoming the final torque output to the target object, the coefficient α is used to characterize the magnitude of this loss. Different types of motors have different coefficients α, which can be obtained through pre-measurement. The measurement process is a common technique in this field and will not be described in detail here.

[0094] Preferably, in step S3, the compensation voltage applied to the brushless DC torque motor is based on the target output torque; and during the application of the compensation voltage, the phase transition state of the brushless DC torque motor is detected; and based on the phase transition state, the corresponding phase current is applied to the brushless DC torque motor, specifically including:

[0095] Step S301: Based on the target output torque, determine the output power that the brushless DC torque motor needs to increase to the target object; and based on the increased output power, determine the compensation voltage applied to the brushless DC torque motor.

[0096] Step S302: During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information.

[0097] Step S303: Based on the phase transition state, determine the start and end times of each phase transition state during the operation of the brushless DC torque motor; during the start and end times of each phase transition state, apply a corresponding phase current to the brushless DC torque motor; wherein the phase current can maximize the torque generated by the brushless DC torque motor in the corresponding phase transition state.

[0098] The beneficial effects of the above technical solution are as follows: Since the torque output of the motor is positively correlated with the output power of the motor, and the greater the voltage applied to the motor, the corresponding output power is also greater. Therefore, based on the determined target output torque and combined with the electromagnetic induction working principle of the motor, the compensation voltage applied to the motor can be determined according to this target output torque. This compensation voltage typically increases the motor's output power / torque, corresponding to the required increase in operating voltage. During operation, the motor is in a three-phase cyclic switching state. The current phase transition state of the motor is mainly determined by the position of the rotor inside the motor. By detecting the rotor's position information, the current phase transition state of the motor can be accurately determined. Determining the phase transition state of the motor based on the rotor's position is a conventional technical method in this field and will not be elaborated upon here. Furthermore, by determining the start and end times corresponding to each phase transition state, and applying a corresponding rated phase current to the motor within the time period corresponding to each start and end time, this phase current effectively adjusts the rotor's rotation state by changing the magnetic field distribution inside the motor, thereby maximizing the torque generated by the motor in the corresponding phase transition state. This ensures that the motor can operate smoothly and reliably. The phase current can be determined by performing a corresponding inversion on the process of torque generation from the rotor rotation in the motor. This is a conventional rotor electromagnetic characteristic analysis method in motors, which will not be elaborated on here.

[0099] See Figure 2This is a schematic diagram of the control system for a low-speed, high-torque brushless DC torque motor provided in an embodiment of the present invention. The control system for this low-speed, high-torque brushless DC torque motor includes a target tracking and imaging module, a motion image analysis module, a motor output torque adjustment and determination module, and a motor operating voltage / current adjustment module; wherein,

[0100] This target tracking and imaging module is used to capture images of targets driven by brushless DC torque motors, thereby obtaining motion images of the targets.

[0101] This motion image analysis module is used to analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process;

[0102] The motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly or not based on the center of gravity displacement change information. When the target object is in an unstable driving state, the module collects the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement, thereby determining the target output torque of the brushless DC torque motor after adjustment.

[0103] The motor operating voltage / current adjustment module is used to apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, it detects the phase transition state of the brushless DC torque motor; and then applies the corresponding phase current to the brushless DC torque motor according to the phase transition state.

[0104] The beneficial effects of the above technical solution are as follows: The control system of the low-speed, high-torque brushless DC torque motor determines the center of gravity displacement change of the target object during its motion by capturing and analyzing the captured motion images of the target object driven by the brushless DC torque motor, and then judges whether the motor drives the target object smoothly. When the target object is in an unstable driving state, the system determines the adjusted target output torque of the motor based on the current output torque of the motor and the reaction torque of the target object on the motor during its motion. Finally, based on the target output torque, a compensation voltage is applied to the motor, and a corresponding phase current is applied to the motor during different phase transitions. By capturing and monitoring the target object driven by the motor, the system accurately judges whether the current motion of the target object is smooth. At the same time, by collecting the torque applied between the motor and the target object, the system determines whether the final output torque of the motor needs to be adjusted. This facilitates the adjustment of the motor's voltage / current, thereby ensuring that the motor can always drive the target object to move smoothly during different phase transitions throughout the entire operation process, and improving the power output efficiency of the motor.

[0105] Preferably, the target tracking and imaging module is used to capture images of a target object driven by a brushless DC torque motor, thereby obtaining a moving image of the target object, specifically including:

[0106] Binocular imaging is performed on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor.

[0107] as well as,

[0108] This motion image analysis module is used to analyze the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion, specifically including:

[0109] The corresponding binocular image disparity is extracted from the binocular motion image, and then a three-dimensional motion image corresponding to the target object is generated based on the binocular image disparity.

[0110] After identifying the outline of the target object from the 3D motion image, the center of gravity of the target object is determined based on the outline. Then, based on the positional change of the outline of the target object in the 3D motion image, the center of gravity movement path and speed during the process of the target object's center of gravity being driven to move are determined, and this is used as the center of gravity displacement change information.

[0111] The beneficial effects of the above technical solution are as follows: The brushless DC torque motor can be connected to a target object via its drive output shaft. The target object can be, but is not limited to, a rotating bearing, gear, or translational motion block, allowing the brushless DC torque motor to drive the target object to perform different types of motion, such as rotation or translation. In the motor's operation, a binocular camera can be used to capture images of the target object, thereby obtaining a binocular motion image of the target object under the motor's drive. Subsequently, the binocular image parallax contained in the image is extracted, and based on this parallax, a three-dimensional motion image of the target object under the motor's drive can be constructed.

[0112] This 3D motion image is a realistic representation of the target object's three-dimensional motion under the drive of an electric motor. It depicts the continuous motion of the target object, directly reflecting its positional changes during this process. To idealize the motion of the target object under the drive of the electric motor, the object's outline can be identified from the 3D motion image. This outline can be, but is not limited to, the object's edge or outer surface contour. Then, using this outline as a reference, the target object's center of gravity is determined. Finally, the target object's center of gravity is equated to the entire target object, and combined with the positional changes of the target object's outline in the 3D motion image—that is, the position of the target object's outline at different times—the movement path and speed of the target object's center of gravity within the 3D motion image can be fitted, thus providing a comprehensive representation of the target object's motion under the drive of the electric motor.

[0113] Preferably, the motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly based on the center of gravity displacement change information; when the target object is in an unstable driving state, the module collects the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement, thereby determining the adjusted target output torque of the brushless DC torque motor, specifically including:

[0114] The center of gravity movement path is compared with a preset movement path to determine the maximum path deviation distance between the two paths. This maximum path deviation distance is then compared with a preset deviation distance threshold, and the center of gravity movement speed is compared with a preset speed threshold. If the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state.

[0115] When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined.

[0116] According to the formula Q=A+α*│AB│, the target output torque Q of the brushless DC torque motor after adjustment is determined. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

[0117] The beneficial effects of the above technical solution are as follows: After determining the center of gravity movement path and speed of the target object, the stability of the target object's motion can be comprehensively evaluated from both aspects. By comparing the center of gravity movement path with a preset movement path, the maximum path deviation distance between the two paths is determined. This preset movement path can be obtained by fitting an idealized motion state of the target object driven by an electric motor; it is a pre-defined, known movement path. Then, the maximum path deviation distance and the center of gravity movement speed are compared with preset deviation distance thresholds and preset speed thresholds, respectively. This allows for a quantitative and accurate judgment of whether the target object is in a stable driving state. The preset deviation distance threshold and preset speed threshold can be determined based on the motion inertia of different target objects; that is, different types of target objects can correspond to different preset deviation distance thresholds and preset speed thresholds.

[0118] Once it is determined that the target object is in an unstable driving state, the torque output of the motor needs to be adjusted to readjust the target object's motion state, thereby achieving smooth driving of the target object by the motor. During actual driving, the motor outputs a corresponding torque to the target object, while the target object exerts a corresponding reaction torque on the motor during its movement. These two torques interact, thus affecting the target object's operating state. Since both the motor's output torque and the target object's reaction torque change over time, by periodically collecting the motor's output torque and the target object's reaction torque during its movement, and based on the periodic collection results, the corresponding average output torque and average reaction torque can be determined. This allows for a quantitative characterization of the motor's torque output state and the target object's reaction torque state. Finally, the above formula can accurately determine the final target output torque formed by the motor after torque output adjustment, enabling the motor to quickly adjust to the corresponding output torque state during subsequent torque adjustment processes. In the above formula, the operating power conversion coefficient α of the brushless DC torque motor refers to the ratio between the torque output to the target object by the brushless DC torque motor during operation and the torque generated internally. Since the torque generated internally by the motor will undergo a certain loss before becoming the final torque output to the target object, the coefficient α is used to characterize the magnitude of this loss. Different types of motors have different coefficients α, which can be obtained through pre-measurement. The measurement process is a common technique in this field and will not be described in detail here.

[0119] Preferably, the motor operating voltage / current adjustment module is used to apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, detect the phase transition state of the brushless DC torque motor; and then apply a corresponding phase current to the brushless DC torque motor according to the phase transition state, specifically including:

[0120] Based on the target output torque, determine the additional output power that the brushless DC torque motor needs to supply to the target object; and based on the additional output power, determine the compensation voltage to be applied to the brushless DC torque motor.

[0121] During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information.

[0122] Based on the phase transition state, the start and end times of each phase transition state during the operation of the brushless DC torque motor are determined; during the start and end times of each phase transition state, a corresponding phase current is applied to the brushless DC torque motor; wherein, the phase current enables the brushless DC torque motor to maximize the torque generated in the corresponding phase transition state.

[0123] The beneficial effects of the above technical solution are as follows: Since the torque output of the motor is positively correlated with the output power of the motor, and the greater the voltage applied to the motor, the corresponding output power is also greater. Therefore, based on the determined target output torque and combined with the electromagnetic induction working principle of the motor, the compensation voltage applied to the motor can be determined according to this target output torque. This compensation voltage typically increases the motor's output power / torque, corresponding to the required increase in operating voltage. During operation, the motor is in a three-phase cyclic switching state. The current phase transition state of the motor is mainly determined by the position of the rotor inside the motor. By detecting the rotor's position information, the current phase transition state of the motor can be accurately determined. Determining the phase transition state of the motor based on the rotor's position is a conventional technical method in this field and will not be elaborated upon here. Furthermore, by determining the start and end times corresponding to each phase transition state, and applying a corresponding rated phase current to the motor within the time period corresponding to each start and end time, this phase current effectively adjusts the rotor's rotation state by changing the magnetic field distribution inside the motor, thereby maximizing the torque generated by the motor in the corresponding phase transition state. This ensures that the motor can operate smoothly and reliably. The phase current can be determined by performing a corresponding inversion on the process of torque generation from the rotor rotation in the motor. This is a conventional rotor electromagnetic characteristic analysis method in motors, which will not be elaborated on here.

[0124] As can be seen from the above embodiments, the control method and system for the low-speed, high-torque brushless DC torque motor determines the center of gravity displacement change of the target object during its motion by photographing and analyzing the captured motion images. This allows for a judgment on the smoothness of the motor's drive over the target object. When the target object is in an unstable driving state, the system determines the adjusted target output torque based on the motor's current output torque and the reaction torque exerted by the target object on the motor during its motion. Finally, using the target output torque as a reference, a compensation voltage is applied to the motor, and corresponding phase currents are applied during different phase transitions. By photographing and monitoring the target object driven by the motor, the system accurately determines whether the target object's current motion is smooth. Furthermore, by collecting data on the torque applied between the motor and the target object, the system determines whether the final output torque of the motor needs adjustment. This facilitates voltage / current adjustments to the motor, ensuring that the motor can consistently drive the target object smoothly during different phase transitions throughout the entire operation process and improving the motor's power output efficiency.

[0125] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A control method for a low-speed, high-torque brushless DC torque motor, characterized in that, It includes the following steps: Step S1: Take a picture of the target object driven by the brushless DC torque motor to obtain a motion image of the target object; analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process; Step S2: Based on the information on the change in center of gravity displacement, determine whether the brushless DC torque motor drives the target object smoothly or not; when the target object is in an unstable driving state, collect the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement, so as to determine the target output torque after the brushless DC torque motor is adjusted. Step S3: Apply a compensation voltage to the brushless DC torque motor according to the target output torque; and detect the phase transition state of the brushless DC torque motor during the application of the compensation voltage. Then, based on the phase transition state, a corresponding phase current is applied to the brushless DC torque motor, specifically including: Step S301: Based on the target output torque, determine the output power that the brushless DC torque motor needs to increase to the target object; and based on the increased output power, determine the compensation voltage applied to the brushless DC torque motor. Step S302: During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information. Step S303: Based on the phase transition states, determine the start and end times of each phase transition state during the operation of the brushless DC torque motor; during the start and end times of each phase transition state, apply a corresponding phase current to the brushless DC torque motor; wherein the phase current enables the brushless DC torque motor to maximize the torque generated in the corresponding phase transition state.

2. The control method for a low-speed, high-torque brushless DC torque motor as described in claim 1, characterized in that: In step S1, the target object driven by the brushless DC torque motor is photographed to obtain a motion image of the target object; analyzing the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion specifically includes: Step S101: Perform binocular imaging on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor. Step S102: Extract the corresponding binocular image disparity from the binocular motion image, and then generate a three-dimensional motion image corresponding to the target object based on the binocular image disparity. Step S103: After identifying the outline of the target object from the three-dimensional motion image, determine the center of gravity of the target object based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional motion image, determine the center of gravity movement path and speed during the process of the target object's center of gravity being driven to move, and use this as the center of gravity displacement change information.

3. The control method for a low-speed, high-torque brushless DC torque motor as described in claim 2, characterized in that: In step S103, after identifying the outline of the target object from the three-dimensional motion image, the center of gravity of the target object is determined based on the outline; then, based on the positional change of the outline of the target object in the three-dimensional motion image, the path and speed of the center of gravity movement during the process of the target object's center of gravity being driven to move are determined, specifically including: First, a spatial rectangular coordinate system is constructed for the display space corresponding to the three-dimensional motion image. The spatial rectangular coordinate system takes the bottom left vertex of the display space as the origin O, the horizontal direction extending to the right from the origin as the X-axis, the horizontal direction extending forward as the Y-axis, and the vertical upward direction extending from the origin as the Z-axis. Then, the three views corresponding to the three-dimensional motion image are the projections of the three-dimensional motion image on the XOY plane, the YOZ plane, and the XOZ plane, respectively, thereby obtaining the projection images of the three-dimensional motion image on the XOY plane, the YOZ plane, and the XOZ plane. Step S1031: Using the following formula (1), based on the projection images of the three-dimensional motion image onto the XOY plane, YOZ plane, and XOZ plane, obtain the pixel coordinates of the outline of the three-view drawing. （1） In the above formula (1), This indicates that the projection of the 3D motion image after gradient detection onto the k-th plane corresponds to the coordinate point. The detected value of the pixel; This represents the coordinates of the projection of a 3D moving image onto the k-th plane. If the k-th plane is the XOY plane, then the coordinates are... That is, the coordinates of the points on the XOY plane. If the k-th plane is the YOZ plane, then the coordinates of the point are... That is, the coordinates of the points on the YOZ plane. If the k-th plane is the XOZ plane, then the coordinates of the point are... That is, the coordinates of the points on the XOZ plane. ,and In this case, the pixels at the outermost edge of the projected image are not included in the calculation; instead, the detection value of the pixel corresponding to the outermost edge is directly set to 0. This represents the minimum x-coordinate of the projection of the 3D moving image onto the k-th plane. This represents the maximum x-coordinate of the projection of the 3D moving image onto the k-th plane. This represents the minimum ordinate of the projected image of the 3D moving image on the k-th plane. This represents the maximum ordinate of the projected image of the 3D motion image on the k-th plane; Represents the coordinates of the projection of a 3D moving image onto the k-th plane. The pixel value at that pixel; Represents the coordinates of the projection of a 3D moving image onto the k-th plane. The pixel value at that pixel; Represents the coordinates of the projection of a 3D moving image onto the k-th plane. The pixel value at that pixel; This represents the mean of the gradient change along the horizontal direction; This represents the mean gradient change along the longitudinal direction; This represents the union operation; like , representing the coordinates of the 3D moving image on the k-th plane. These are the coordinates of the target object's outline on the k-th plane; like , representing the coordinates of the 3D moving image on the k-th plane. The coordinates of the target object are not on the outer contour of the target object on the k-th plane; Step S1032, using the following formula (2), the coordinate points are determined based on the projection image of the 3D motion image after gradient detection onto the k-th plane. By analyzing the detected pixel values, the centroid coordinates of the target object's three views are obtained. （2） In the above formula (2), The coordinates of the centroid of the projection of the 3D moving image onto the k-th plane are represented. Indicates i k The value from Received In the process of satisfying The maximum value within the parentheses under the given condition; Indicates i k The value from Received In the process of satisfying The minimum value within the parentheses under the given conditions; Indicates will The value from Received In the process of satisfying The maximum value within the parentheses under the given condition; Indicates will The value from Received In the process of satisfying The minimum value within the parentheses under the given conditions; Since the coordinates of the barycenter on the k-th plane correspond to the coordinates of the corresponding plane, where k = 1, 2, 3, we can obtain the barycenter coordinates in the Cartesian coordinate system for each plane. , , Then the coordinates of the centroid of the target object in the spatial rectangular coordinate system are: ; Because the center-of-gravity coordinates of the target object change as the target object moves within the 3D moving image, the center-of-gravity coordinates of the target object corresponding to each frame of the 3D moving image are denoted as follows: , which represents the centroid coordinates of the target object corresponding to the t-th frame image contained in the 3D motion image; according to the order of each frame image in the 3D motion image, the centroid coordinates of all the target objects are connected sequentially to obtain the centroid movement path of the target object. Step S1033: Using the formula (3) below, the velocity of the target object's center of gravity is obtained based on the coordinates of the target object's center of gravity in each frame of the 3D motion image. （3） In the above formula (3). The value represents the velocity of the center of gravity of the target object in the t-th frame of the 3D motion image; T represents the time interval between two adjacent frames in the 3D motion image.

4. The control method for a low-speed, high-torque brushless DC torque motor as described in claim 2, characterized in that: In step S2, based on the information about the change in center of gravity displacement, it is determined whether the brushless DC torque motor is driving the target object smoothly or not. When the target object is in an unstable driving state, the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement are collected to determine the target output torque of the brushless DC torque motor after adjustment. Specifically, this includes: Step S201: Compare the center of gravity movement path with a preset movement path to determine the maximum path deviation distance between the two paths; compare the maximum path deviation distance with a preset deviation distance threshold, and compare the center of gravity movement speed with a preset speed threshold; if the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, then the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state. Step S202: When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined. Step S203: Determine the target output torque Q of the brushless DC torque motor after adjustment according to the formula Q=A+α*│AB│. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

5. A control system for a low-speed, high-torque brushless DC torque motor, characterized in that, It includes a target tracking and imaging module, a motion image analysis module, a motor output torque adjustment and determination module, and a motor operating voltage / current adjustment module; among which, The target tracking and imaging module is used to capture images of target objects driven by brushless DC torque motors, thereby obtaining motion images of the target objects. The motion image analysis module is used to analyze the motion image to obtain information on the change of the center of gravity displacement of the target object during the motion process; The motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly or not based on the center of gravity displacement change information; when the target object is in an unstable driving state, the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are collected to determine the target output torque of the brushless DC torque motor after adjustment. The motor operating voltage / current adjustment module is used to apply a compensation voltage to the brushless DC torque motor according to the target output torque; and during the application of the compensation voltage, it detects the phase transition state of the brushless DC torque motor; and then applies a corresponding phase current to the brushless DC torque motor according to the phase transition state, specifically including: Based on the target output torque, determine the additional output power that the brushless DC torque motor needs to supply to the target object; and based on the additional output power, determine the compensation voltage applied to the brushless DC torque motor. During the application of compensation voltage, the position information of the rotor inside the brushless DC torque motor is detected, and the phase transition state of the brushless DC torque motor is determined based on the position information. Based on the phase transition states, the start and end times of each phase transition state during the operation of the brushless DC torque motor are determined; during the start and end times of each phase transition state, a corresponding phase current is applied to the brushless DC torque motor; wherein the phase current enables the brushless DC torque motor to maximize the torque generated in the corresponding phase transition state.

6. The control system for the low-speed, high-torque brushless DC torque motor as described in claim 5, characterized in that: The target tracking and imaging module is used to capture images of a target object driven by a brushless DC torque motor, thereby obtaining motion images of the target object. Specifically, it includes: Binocular imaging is performed on the target object driven by the brushless DC torque motor to obtain the corresponding binocular motion image of the target object during the process of being driven by the brushless DC torque motor. as well as, The motion image analysis module is used to analyze the motion image to obtain information on the change in the center of gravity displacement of the target object during its motion, specifically including: The corresponding binocular image disparity is extracted from the binocular motion image, and then a three-dimensional motion image corresponding to the target object is generated based on the binocular image disparity. After identifying the outline of the target object from the three-dimensional motion image, the center of gravity of the target object is determined based on the outline. Then, based on the positional change of the outline of the target object in the three-dimensional motion image, the center of gravity movement path and speed during the process of the target object's center of gravity being driven to move are determined, and these are used as the center of gravity displacement change information.

7. The control system for the low-speed, high-torque brushless DC torque motor as described in claim 6, characterized in that: The motor output torque adjustment determination module is used to determine whether the brushless DC torque motor drives the target object smoothly or not based on the center of gravity displacement change information. When the target object is in an unstable driving state, the module collects the current output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during its movement, thereby determining the target output torque of the brushless DC torque motor after adjustment. Specifically, this includes: The center of gravity movement path is compared with a preset movement path to determine the maximum path deviation distance between the two paths; the maximum path deviation distance is compared with a preset deviation distance threshold, and the center of gravity movement speed is compared with a preset speed threshold; if the maximum path deviation distance is greater than the preset deviation distance threshold or the center of gravity movement speed is greater than the preset speed threshold, the target object is determined to be in an unstable driving state; otherwise, the target object is determined to be in a stable driving state. When the target object is in an unstable driving state, the output torque of the brushless DC torque motor and the reaction torque of the target object on the brushless DC torque motor during the movement are periodically collected; and based on the periodic collection results, the average output torque of the brushless DC torque motor and the average reaction torque of the target object on the brushless DC torque motor during the movement are determined. The target output torque Q of the brushless DC torque motor after adjustment is determined according to the formula Q=A+α*│AB│. In the above formula, A represents the average output force, B represents the average reaction torque, and α represents the operating power conversion coefficient of the brushless DC torque motor.

Images