CN108873946B - Positioning mechanism, positioning method and positioning system of holder and camera - Google Patents
Positioning mechanism, positioning method and positioning system of holder and camera Download PDFInfo
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- CN108873946B CN108873946B CN201810563356.4A CN201810563356A CN108873946B CN 108873946 B CN108873946 B CN 108873946B CN 201810563356 A CN201810563356 A CN 201810563356A CN 108873946 B CN108873946 B CN 108873946B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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Abstract
The invention belongs to the technical field of automatic control, and particularly relates to a positioning mechanism, a positioning method, a positioning system and a camera of a holder. The positioning mechanism of the tripod head comprises a main body part and a first rotating part which is in rotating fit with the main body part, the positioning mechanism comprises a first magnetic ring and a first magnetic coding chip, and the first magnetic ring and the first magnetic coding chip are relatively arranged on the main body part and the first rotating part or the first magnetic ring and the first magnetic coding chip are relatively arranged on the first rotating part and the main body part; the first magnetic ring and the first magnetic coding chip are eccentrically arranged; when the first rotating part is in a rotating state, the first magnetic ring and the first magnetic coding chip rotate relatively, and the first magnetic coding chip induces the rotation of the first magnetic ring to acquire the rotation information of the first rotating part. According to the positioning mechanism of the holder, the first magnetic ring and the first magnetic coding chip are eccentrically arranged, so that the position of the middle part of the first magnetic ring can be avoided, and a corresponding cable can be conveniently arranged.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a positioning mechanism, a positioning method, a positioning system and a camera of a holder.
Background
The holder is a supporting device for mounting and fixing the camera and is divided into a fixed holder and an electric holder. The fixed cloud platform is suitable for the condition that the monitoring range is not large, the horizontal and pitching angles of the camera can be adjusted after the camera is installed on the fixed cloud platform, the adjustment mechanism is locked after the optimal working posture is achieved, and the omnibearing monitoring cannot be realized. However, the motorized pan and tilt head is suitable for scanning and monitoring a large area, and can expand the monitoring range of the camera; the high-speed attitude of the electric cradle head is realized by two executing motors, and the motors receive signals from the controller to accurately operate and position. The PTZ camera is provided with the electric pan-tilt, so that the horizontal and vertical rotation of the camera can be realized, and the monitoring function of a large scene is realized. The PTZ camera is a camera supporting all-around (up-down, left-right) movement and lens zooming and zooming control in a security system.
As shown in fig. 6, the PTZ camera is mainly composed of three parts: the main support 1 ', horizontal revolving stage 2 ' and spheroid 3 ', the main support is fixed, and horizontal revolving stage can carry out the level rotation relatively the main support, and the spheroid is installed on horizontal revolving stage to the spheroid can carry out vertical rotation on horizontal revolving stage. Wherein, horizontal rotation and vertical rotation are realized by driving the synchronous belt through a stepping motor. At present, a PTZ camera is mainly controlled in an open loop mode through a stepping motor, and the stepping motor drives a holder to rotate through a synchronous belt. However, the open-loop control cannot realize high-precision intelligent control of the pan/tilt head.
With the continuous development of the technology, closed-loop control gradually enters the visual field of people. An angle sensor in a closed-loop control system usually adopts a coaxial magnetic encoder, for example, an unmanned aerial vehicle pan-tilt system, a handheld pan-tilt and the like all adopt the coaxial magnetic encoder, as shown in fig. 7, the installation requirement of the encoder is that a magnetic encoding chip 1-1 ' of the magnetic encoder and a magnetic ring element 1-2 ' are coaxially installed, which can cause that a rotating shaft 1-3 ' cannot pass through a wire, but a main support of a PTZ camera and a horizontal rotating shaft of a horizontal rotating platform relatively rotate need to pass through a cable so as to realize signal transmission. Therefore, the magnetic encoder cannot be installed at the horizontal rotating shaft of the PTZ camera, only the angle detection device can be installed at the rotating shaft of the motor, but the magnetic encoder can only realize the closed-loop control of the motor when being installed at the rotating shaft of the motor, and cannot realize the closed-loop control of the whole camera. The coaxial magnetic encoder is characterized in that magnets with a single pair of magnetic poles are arranged at the shaft end of a rotating shaft, 4-8 Hall elements are used for forming an annular array for induction, two opposite Hall sensors are connected through a differential amplifier, a periodic sine and cosine signal is generated every time the Hall sensors rotate for one circle, and then the signals are converted into orthogonal or serial position input signals through the operation of a DSP magnetic encoding chip. Although the detection mode of the coaxial magnetic encoder is low in cost, the detection mode has high requirements on equipment installation, the mid points of north and south magnetic poles of the magnet, the center of the magnetic encoding chip and the center of the rotating shaft end are required to be kept on the same straight line, and any installation deviation can reduce the accuracy of the encoder. In practical application, not only the radial jitter of the rotating shaft cannot be avoided, but also the deviation caused by the relative displacement of the magnetic encoding chip and the magnet can influence the precision of the actual output signal.
Disclosure of Invention
Based on the above defects in the prior art, the invention provides a positioning mechanism, a positioning method, a positioning system and a camera of a pan-tilt.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning mechanism of a tripod head comprises a main body part and a first rotating part which is rotationally matched with the main body part, wherein the positioning mechanism comprises a first magnetic ring and a first magnetic coding chip, and the first magnetic ring and the first magnetic coding chip are oppositely arranged on the main body part and the first rotating part or the first magnetic ring and the first magnetic coding chip are oppositely arranged on the first rotating part and the main body part; the first magnetic ring and the first magnetic coding chip are eccentrically arranged; when the first rotating part is in a rotating state, the first magnetic ring and the first magnetic coding chip rotate relatively, and the first magnetic coding chip induces the rotation of the first magnetic ring to acquire the rotation information of the first rotating part. Through the eccentric arrangement of the first magnetic ring and the first magnetic coding chip, the position in the middle of the first magnetic ring can be avoided so as to arrange corresponding cables.
Preferably, the positioning mechanism further includes a first position detection sensor, the first position detection sensor includes a first trigger and a first triggered member, and the first trigger and the first triggered member are mounted on the main body and the first rotating portion or mounted on the first rotating portion and the main body in a manner of being opposed to each other. The first position detection sensor is arranged, so that the machine can call the preset position of the first rotating part more accurately after being restarted after being powered on every time.
As a preferred scheme, the first triggered piece is an optical coupler, a hall switch or a mechanical limit switch; correspondingly, the first trigger piece is an optical coupler separation blade, a magnetic separation blade or a limiting separation blade. The diversity of the types of the position detection sensors is realized.
Preferably, the first magnetic ring is mounted at the tail end of the main body part; correspondingly, the first magnetic coding chip is arranged on a driving piece so that the first magnetic coding chip is in clearance fit with the edge of the first magnetic ring, and the driving piece is arranged on the first rotating part. Through the intermediary effect of driving piece, can guarantee the position matching of first magnetic encoding chip and first magnetic ring.
Preferably, the main body has a terminal hole at a middle portion of a distal end thereof. The cable is convenient to run.
Preferably, the first rotating part is provided with a motor, and the motor is provided with a first synchronizing wheel; the main body part is provided with a second synchronous wheel; the first synchronizing wheel is meshed with the second synchronizing wheel or is driven by a synchronizing belt. The rotating matching between the first rotating part and the main body part is realized through the cooperation of the motor, the first rotating part and the main body part.
Preferably, the main body portion and the first rotating portion are connected in a fitting manner by a bearing. Through the bearing cooperation, realize first rotation portion conveniently and rotate and connect in the main part.
Preferably, the holder further comprises a second rotating part which is in rotating fit with the first rotating part, and the second rotating part is rotatably connected to the first rotating part through a rotating shaft; the positioning mechanism further comprises a second magnetic ring and a second magnetic coding chip, wherein the second magnetic ring and the second magnetic coding chip are oppositely arranged on the first rotating part and the rotating shaft or the second magnetic ring and the second magnetic coding chip are oppositely arranged on the rotating shaft and the first rotating part; the second magnetic ring and the second magnetic coding chip are eccentrically arranged; when the second rotating part is in a rotating state, the second magnetic ring and the second magnetic coding chip rotate relatively, and the second magnetic coding chip induces the rotation of the second magnetic ring to acquire the rotation information of the second rotating part. The positioning of the position of the holder in each direction is realized.
Preferably, the positioning mechanism further includes a second position detection sensor, the second position detection sensor includes a second trigger and a second triggered element, and the second trigger and the second triggered element are mounted on the rotating shaft and the first rotating portion or mounted on the first rotating portion and the rotating shaft. And a second position detection sensor is arranged, so that the preset position of the second rotating part is called more accurately after the machine is restarted after being powered on every time.
The invention also provides a positioning method of the holder, which is applied to the positioning mechanism of the holder in the scheme and comprises the following steps:
s1, zero calibration of the first rotating part;
s2, collecting first step counting pulse information fed back by the first magnetic coding chip, and acquiring rotation information of the first rotating part according to the first step counting pulse information.
Preferably, the step S1 includes the following steps:
s11, starting the first rotating part to rotate;
and S12, when the first magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the first rotating part.
Preferably, when the positioning mechanism includes a first position detection sensor, the first position detection sensor includes a first trigger and a first triggered part, and the first trigger and the first triggered part are mounted on the main body and the first rotating part in an opposite manner or are mounted on the first rotating part and the main body in an opposite manner; accordingly, the steps S11 and S12 include: and acquiring the position of the first rotating part when the first triggered piece is triggered by the first triggering piece, and then waiting for the first magnetic coding chip to output a check pulse.
Preferably, when the head comprises a second rotating part which is rotationally matched with the first rotating part, the second rotating part is rotationally connected with the first rotating part through a rotating shaft; the positioning mechanism comprises a second magnetic ring and a second magnetic coding chip, wherein the second magnetic ring and the second magnetic coding chip are oppositely arranged on the first rotating part and the rotating shaft or the second magnetic ring and the second magnetic coding chip are oppositely arranged on the rotating shaft and the first rotating part; the second magnetic ring and the second magnetic coding chip are eccentrically arranged; when the second rotating part is in a rotating state, the second magnetic ring and the second magnetic coding chip rotate relatively, and the second magnetic coding chip induces the rotation of the second magnetic ring to acquire the rotation information of the second rotating part; accordingly, the step S1 further includes: calibrating the zero position of the second rotating part; the step S2 further includes: and acquiring second step-counting pulse information fed back by the second magnetic coding chip, and acquiring rotation information of the second rotating part according to the second step-counting pulse information.
Preferably, the zero calibration of the second rotating part includes the following steps:
s110, starting the second rotating part to rotate;
and S120, when the second magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the second rotating part.
Preferably, when the positioning mechanism includes a second position detecting sensor, the second position detecting sensor includes a second triggering member and a second triggered member, and the second triggering member and the second triggered member are relatively mounted on the rotating shaft and the first rotating portion or the second triggering member and the second triggered member are relatively mounted on the first rotating portion and the rotating shaft; accordingly, the steps S110 and S120 include: and acquiring the position of the second rotating part when the second triggered piece is triggered by the second triggering piece, and then waiting for the second magnetic coding chip to output a check pulse.
The invention also provides a positioning system of the holder, comprising:
the zero calibration module is used for calibrating the zero of the first rotating part;
the acquisition module is used for acquiring first step counting pulse information fed back by the first magnetic coding chip;
and the conversion module is used for converting the first step counting pulse information into the rotation information of the first rotation part.
Preferably, the zero calibration module is further used for zero calibration of the second rotating part;
the acquisition module is also used for acquiring second step counting pulse information fed back by the second magnetic coding chip;
the conversion module is further used for converting the second step counting pulse information into rotation information of the second rotation part.
The present invention also provides a camera comprising: a positioning mechanism of a head according to any of the above aspects, and/or a positioning method of a head according to any of the above aspects, and/or a positioning system of a head according to any of the above aspects.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the positioning mechanism of the holder, the first magnetic ring and the first magnetic coding chip are eccentrically arranged, so that the position of the middle part of the first magnetic ring can be avoided, and a corresponding cable can be conveniently arranged.
(2) The method and the system for positioning the cradle head are accurate, convenient and quick to position.
(3) The camera has the advantages of the positioning mechanism of the holder, the positioning method of the holder and the system.
Drawings
Fig. 1 is a schematic structural view of a positioning mechanism of a pan/tilt head according to a first embodiment of the present invention;
fig. 2 is a structural plan view of a positioning mechanism of a pan/tilt head according to a first embodiment of the invention;
fig. 3 is a schematic view of the relative position of the first magnetic ring and the first magnetic encoding chip in the positioning mechanism of the pan/tilt head according to the first embodiment of the present invention;
fig. 4 is a schematic diagram of a step-counting pulse and a check pulse generated when a first magnetic ring and a first magnetic encoding chip rotate relatively in a positioning mechanism of a pan/tilt head according to a first embodiment of the present invention;
fig. 5 is a flowchart of zero calibration of a horizontal turntable in a method for positioning a pan/tilt head according to a sixth embodiment of the present invention;
FIG. 6 is a schematic diagram of a prior art PTZ camera configuration;
fig. 7 is a schematic view of a mounting structure of a coaxial magnetic encoder in the prior art.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort. In addition, directional terms referred to in the following examples, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology is used for purposes of illustration and is in no way limiting.
The first embodiment is as follows:
the positioning mechanism of the pan/tilt head of the embodiment is applied to the positioning of the pan/tilt head, that is, the positioning of a camera. As shown in fig. 1-3, the pan-tilt of this embodiment includes a main support 3, a horizontal rotary table 4, and a sphere (the connection structure of the horizontal rotary table and the sphere can refer to the prior art, for example, fig. 6), the main support 3 is connected with the horizontal rotary table 4 through a bearing in a matching manner, and through the bearing in a matching manner, the horizontal rotary table 4 is conveniently and rotatably connected to the main support 3. Specifically, the main support 3 is a cylindrical structure, and the main support 3 is fixedly connected with an inner ring of the bearing; the horizontal rotary table 4 is of a plane plate-shaped structure, an upper convex ring is arranged on the upper surface of the horizontal rotary table 4 and fixedly connected with the outer ring of the bearing, and reinforcing ribs are arranged on the outer peripheral surface of the upper convex ring. The lower surface of the horizontal rotary table 3 is provided with a lower convex ring which is in running fit with the ball body through a rotating shaft. The upper end of the main support 3 protrudes out of the upper convex ring of the horizontal rotary table to form a step-shaped cylindrical structure, the step-shaped cylindrical structure comprises a lower cylindrical structure with a relatively large diameter and an upper cylindrical structure with a relatively small diameter, and the outer peripheral surface of the lower cylindrical structure is provided with a meshing structure, namely, a second synchronizing wheel of the main support 3.
As shown in fig. 2, a motor 6 is mounted on the upper surface of the horizontal rotary table 4, the motor 6 is located at the left side of the main stand 3, and the motor 6 has a first synchronizing wheel in driving fit with a second synchronizing wheel. In order to enable the first synchronizing wheel and the second synchronizing wheel to be equal in height, four supporting columns are arranged on the upper surface of the horizontal rotary table 4, and the motor 6 is installed at the tops of the four supporting columns and fixed through fixing pieces such as bolts and screws. The first synchronous wheel and the second synchronous wheel are connected in series through the synchronous belt 5, so that when the motor works, the first synchronous wheel rotates to link the synchronous belt 5, the second synchronous wheel is fixed, and the horizontal rotary table 4 rotates around the main support 3; namely, the horizontal rotary table 4 and the main support 3 are in running fit through the cooperation of the motor 6, the horizontal rotary table 4 and the main support 3.
As shown in fig. 3, the positioning mechanism of the present embodiment includes a first magnetic ring 2 and a first magnetic encoding chip 1-1 (also referred to as a magnetic encoder), the first magnetic ring 2 adopts a multi-magnetic antipode encoder, and is in a circular ring structure; the first magnetic encoding chip 1-1 and the first magnetic ring 2 are eccentrically arranged, preferably, the first magnetic encoding chip 1-1 and the edge of the first magnetic ring 2 always keep clearance fit, during operation, each pair of magnetic poles generate a periodic sine and cosine signal, and the periodic sine and cosine signal is converted into an orthogonal or serial position signal through a hardware interpolator, such as a step-counting pulse shown in fig. 4. In addition, when the boundary of each magnetic antipole passes, the first magnetic encoding chip may emit a check pulse (such as the check pulse shown in fig. 4) to calibrate the zero position of the horizontal turntable 4. After the first magnetic ring and the first magnetic encoding chip rotate relatively, the magnetic field intensity sensed by the Hall element in the chip in the radial range is kept unchanged, and the radial shaking of the rotating shaft does not influence the precision of the Hall sensing output signal. Therefore, as long as the chip position and the radial mounting distance are ensured in the actual mounting process, the accuracy of the output signal can be ensured. The first magnetic ring 2 and the first magnetic coding chip of this embodiment are relatively installed on the main support 3 and the horizontal rotary table 4, specifically, the first magnetic ring 2 is installed on the top end of the main support 3, that is, the first magnetic ring 2 is installed on the top end of the upper cylindrical structure of the main support, the diameter of the first magnetic ring 2 is equal to that of the upper cylindrical structure, and the first magnetic ring 2 and the upper cylindrical structure are coaxially installed. Preferably, the first magnetic ring 2 is fixed on the top end of the main support 3 by gluing.
The first magnetic coding chip 1-1 opposite to the first magnetic ring 2 is arranged on the horizontal rotary table 4 through a driving piece. Specifically, the driving member of the present embodiment is a magnetic encoding driving plate 1, and may also be an L-shaped driving plate; the first magnetic coding chip 1-1 is fixedly installed on the lower surface of the magnetic coding driving flat plate 1, in order to enable the first magnetic coding chip 1-1 to be located above the first magnetic ring 2, the upper surface of the horizontal rotary table 4 is further provided with four upright posts, and the tops of the four upright posts are fixed with the magnetic coding driving flat plate 1, so that the first magnetic coding chip 1-1 is always in clearance fit with the edge of the first magnetic ring 2 in the rotating process (as shown in fig. 3). The position matching of the first magnetic coding chip 1-1 and the first magnetic ring 2 can be ensured through the intermediary effect of the magnetic coding driving flat plate 1. When the motor 6 drives the horizontal rotary table 4 to rotate, the first magnetic ring 2 rotates relatively below the first magnetic coding chip 1-1, and the first magnetic coding chip 1-1 induces the rotation information of the first magnetic ring 2 to acquire the rotation information of the horizontal rotary table 4. Specifically, the rotation information is the angle of rotation, and may also be the speed of rotation.
Based on the fact that the first magnetic coding chip 1-1 is located at the edge of the first magnetic ring 2, the central space of the rotating shaft can be avoided, the wire outlet hole 3-2 is formed in the middle of the top end of the main support 3, and therefore a cable can be led out from the wire outlet hole in the main support, space is saved, and the appearance of the mechanism is not affected.
In addition, as shown in fig. 1 and 2, the positioning mechanism of the present embodiment further includes a first position detection sensor, the first position detection sensor includes a first triggering member and a first triggered member, and the first triggering member and the first triggered member are mounted on the main bracket and the horizontal turntable opposite to each other. Specifically, the first triggered piece in this embodiment is an optical coupler 1-2, and the optical coupler 1-2 is installed on the lower surface of a magnetic coding driving flat plate 1 on a horizontal turntable; correspondingly, the first trigger piece of this embodiment is an optical coupling baffle 3-1, and the optical coupling baffle 3-1 is installed on the outer wall of the upper cylindrical structure of the main bracket. Specifically, the optical coupling baffle 3-1 is an L-shaped structure and comprises a horizontal section and a vertical section, the free end of the horizontal section is fixed on the outer wall of the upper cylindrical structure of the main support, and the vertical section is located above the horizontal section. When the motor 6 drives the horizontal turntable 4 to rotate, the optical coupler separation blade 3-1 penetrates through the optical coupler 1-2 and is used for triggering the optical coupler 1-2 to generate a triggering signal. In addition, the first triggered piece can also be a Hall switch or a mechanical limit switch; correspondingly, the first trigger piece can also be a magnetic separation blade or a limiting separation blade; the diversity of the types of the position detection sensors is realized.
Similarly to the principle that the first magnetic ring, the first magnetic coding chip, the first triggering piece and the first triggered piece are arranged between the main support and the horizontal rotary table, similarly, the second magnetic ring and the second magnetic coding chip are arranged between the horizontal rotary table and the rotating shaft of the sphere, the second magnetic ring and the second magnetic coding chip are oppositely arranged on the horizontal rotary table and the rotating shaft, and the second magnetic ring and the second magnetic coding chip are eccentrically arranged. Specifically, the second magnetic ring is arranged on the inner wall of a lower convex ring of the horizontal rotary table, and the second magnetic coding chip is arranged at the end part of the rotary shaft, so that the second magnetic coding chip is always in clearance fit with the edge of the second magnetic ring in the rotating process. In addition, the second magnetic coding chip is arranged on the inner wall of the lower convex ring of the horizontal rotary table, and the second magnetic ring is arranged at the end part of the rotating shaft, so that the edge of the second magnetic ring is always in clearance fit with the second magnetic coding chip in the rotating process of the second magnetic ring.
In order to ensure that the preset position of the ball is called more accurately after the machine is restarted after being powered on every time; and a second position detection sensor is also arranged between the horizontal rotary table and the rotary shaft of the ball body, the second position detection sensor comprises a second trigger part and a second triggered part, and the second trigger part and the second triggered part are relatively arranged on the rotary shaft and the horizontal rotary table, or the second trigger part and the second triggered part are relatively arranged on the horizontal rotary table and the rotary shaft. For example: the second trigger piece is arranged at the end part of the rotating shaft, and the second triggered piece is arranged on the inner wall of the lower convex ring of the horizontal rotary table; or the second triggering piece is arranged on the inner wall of the lower convex ring of the horizontal turntable, and the second triggered piece is arranged at the end part of the rotating shaft. The second triggered piece is an optical coupler, a Hall switch or a mechanical limit switch, and correspondingly, the second triggered piece is an optical coupler separation blade, a magnetic separation blade or a limit separation blade.
In addition, the horizontal rotary table can be replaced by a rotary table with a certain inclination angle, a rotary table with an irregular plane structure and the like.
The positioning mechanism of the holder of the embodiment has the following advantages:
(1) the magnetic ring is arranged at the transmission tail end, so that the transmission error caused by mechanical transmission can be eliminated;
(2) the magnetic encoder chip and the magnetic ring are eccentrically arranged, so that the cable can be led out from the rotating shaft.
Example two:
the positioning mechanism of the pan/tilt head of the present embodiment is different from that of the first embodiment in that: the mounting positions of the first magnetic ring and the first magnetic coding chip are interchanged.
Specifically, the first magnetic encoding chip of this embodiment is installed at the edge of the top end of the main support, that is, the first magnetic ring is installed at the edge of the top end of the upper cylindrical structure of the main support, and correspondingly, the first magnetic ring is installed and fixed on the lower surface of the magnetic encoding driving plate, and the edge of the first magnetic ring is always in clearance fit with the first magnetic encoding chip in the rotation process. The structure of the positioning mechanism of the holder is diversified. In addition, the mounting positions of the first magnetic ring and the first magnetic coding chip can be interchanged, the mounting positions of the first triggering piece and the first triggered piece can be interchanged, the mounting positions of the second magnetic ring and the second magnetic coding chip can be interchanged, the mounting positions of the second triggering piece and the second triggered piece can be interchanged, and the interchange schemes can be arranged and combined, so that the corresponding mounting scheme can be selected according to actual requirements, and the requirements of different application scenes can be met.
Other structures can refer to the first embodiment.
Example three:
the positioning mechanism of the pan/tilt head of the present embodiment is different from that of the first embodiment in that: the structure of the sphere is omitted.
Specifically, the cradle head of the present embodiment only includes the main support and the horizontal turntable, and the corresponding positioning mechanism does not include the magnetic ring, the magnetic encoding chip and the position detection sensor between the horizontal turntable and the sphere; so that the positioning mechanism is diversified.
Other structures can refer to the first embodiment.
Example four:
the positioning mechanism of the pan/tilt head of the present embodiment is different from that of the first embodiment in that: the structure of the main support is omitted.
Specifically, the horizontal turntable of this embodiment directly serves as a main support, the horizontal turntable is fixed, the sphere is rotatably connected below the horizontal turntable, and the corresponding positioning mechanism also only includes the technical features of the second magnetic ring, the second magnetic encoding chip and the second position detecting sensor. So that the positioning mechanism is diversified.
Other structures can refer to the first embodiment.
Example five:
the positioning mechanism of the pan/tilt head of the present embodiment is different from that of the first embodiment in that: the first synchronizing wheel and the second synchronizing wheel have different transmission modes.
Specifically, the transmission manner of the first synchronizing wheel and the second synchronizing wheel of the present embodiment is: first synchronizing wheel and the direct meshing of second synchronizing wheel replace in the embodiment one through synchronous belt drive's mode, realize the structural diversification of horizontal revolving stage normal running fit main support.
Other structures can refer to the first embodiment.
As a preferred embodiment, the first position detection sensor and/or the second position detection sensor in the first embodiment may be omitted, but only simple positioning of the position of the pan/tilt head may be achieved, and recall of the horizontal turntable or the preset position of the sphere after power-on restart may not be achieved.
Example six:
based on the positioning mechanism of the pan/tilt head described in the first embodiment, the present embodiment provides a positioning method of the pan/tilt head, including the following steps:
s5, zero calibration; specifically, the zero calibration comprises zero calibration of a horizontal turntable and zero calibration of a sphere; as shown in fig. 5, step S5 specifically includes the following steps:
s51, starting the horizontal rotary table to rotate; specifically, after the machine is powered on and started, the machine enters a self-checking state, and the motor drives the horizontal rotary table to rotate continuously;
s52, when the first triggered piece is triggered by the first trigger piece, the horizontal rotary table continuously rotates; specifically, when the motor drives the horizontal turntable to continuously rotate until the optical coupler separation blade penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to a main control unit of the machine, the main control unit enters a waiting state, and the horizontal turntable continuously rotates;
s53, when the first magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the horizontal rotary table; specifically, when the motor drives the horizontal rotary table to continuously rotate until the first magnetic coding chip passes through a boundary of a nearest magnetic antipode away from a position generated by the trigger signal, the first magnetic coding chip outputs a check pulse, and the current position is calibrated to be the initial zero position of the horizontal rotary table. In the zero calibration mode, the optical coupler only has a coarse positioning function, and can finally use the check pulse as accurate positioning, and the optical coupler can also adopt position detection sensors such as a Hall switch and a mechanical limit switch. If the optical coupler is directly triggered to serve as a zero calibration signal, zero calibration of the machine during each power-on restart is inconsistent due to the influence of the sensitivity of the optical coupler, and the positioning precision of the machine for recalling the preset position after each power-on restart is influenced.
S54, starting the sphere to rotate after the initial zero calibration of the horizontal turntable is finished; specifically, after the initial zero calibration of the horizontal turntable is finished, the main control unit controls the driving motor of the sphere to drive the sphere to rotate continuously;
s55, when the second triggered piece is triggered by the second trigger piece, the ball body continuously rotates; specifically, when the motor drives the sphere to continuously rotate until the optical coupler separation blade penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to a main control unit of the machine, the main control unit enters a waiting state, and the sphere continuously rotates;
s56, when the second magnetic encoding chip outputs the check pulse, calibrating the current position as the initial zero position of the sphere; specifically, when the motor drives the horizontal rotary table to continuously rotate until the second magnetic coding chip passes through a boundary of a nearest magnetic antipode away from a position where the trigger signal is generated, the second magnetic coding chip outputs a check pulse, the current position is calibrated to be the initial zero position of the sphere, and the self-checking state is finished.
And S6, after zero calibration is finished, acquiring first step counting pulse information or second step counting pulse information fed back by the first magnetic coding chip or the second magnetic coding chip, and acquiring rotation information of the horizontal turntable or the sphere according to the first step counting pulse information or the second step counting pulse information. The rotation information of the horizontal turntable or the sphere is a rotation angle, and may also include a rotation rate. Judging whether the horizontal rotary table or the ball body rotates to the respective preset position according to the rotation angle of the horizontal rotary table or the ball body, and stopping rotating if the horizontal rotary table or the ball body rotates in place; if the horizontal rotary table or the sphere is not rotated in place, the horizontal rotary table or the sphere is continuously rotated, so that the accurate positioning of the horizontal rotary table or the sphere is realized.
Corresponding to the positioning method of the cradle head of this embodiment, this embodiment further provides a positioning system of the cradle head, including:
the zero calibration module is used for calibrating the zero of the horizontal turntable and the sphere; specifically, the zero calibration module can be connected with a main control unit of the machine, and the zero calibration of the horizontal turntable and the sphere is performed through interaction of the main control unit of the machine and the zero calibration module. The main control unit controls the motor-driven horizontal rotary table, when the motor-driven horizontal rotary table continuously rotates until the optical coupler blocking piece penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to the main control unit of the machine, the main control unit enters a waiting state at the moment, the horizontal rotary table continuously rotates, when the motor-driven horizontal rotary table rotates until the first magnetic coding chip passes through a boundary line of a nearest magnetic antipode away from a position generated by a trigger signal, the first magnetic coding chip outputs a checking pulse, and at the moment, the zero position calibration module calibrates the current position to be the initial zero position of the horizontal rotary table. In addition, the main control unit also controls a driving motor of the sphere to drive the sphere, when the motor drives the sphere to continuously rotate until the optical coupling blocking piece penetrates through the optical coupling, the optical coupling is triggered, the optical coupling outputs a signal to the main control unit of the machine, at the moment, the main control unit enters a waiting state, the sphere continuously rotates, when the second magnetic coding chip rotates to pass through a boundary line of a nearest magnetic antipode from a position generated by the trigger signal, the second magnetic coding chip outputs a checking pulse, and at the moment, the zero position calibration module calibrates the current position to be the initial zero position of the sphere.
The acquisition module is used for acquiring first step counting pulse information fed back by the first magnetic coding chip and second step counting pulse information fed back by the second magnetic coding chip; specifically, after zero calibration of the horizontal rotary table and the sphere is completed, when the horizontal rotary table rotates, the acquisition module starts and acquires first step counting pulse information fed back by the first magnetic coding chip; when the ball body rotates, the acquisition module starts and acquires second step-counting pulse information fed back by the second magnetic coding chip. And when the horizontal rotary table and the ball rotate simultaneously, the acquisition module starts and acquires first step counting pulse information fed back by the first magnetic coding chip and second step counting pulse information fed back by the second magnetic coding chip.
And the conversion module is used for converting the first step-counting pulse information and the second step-counting pulse information into rotation information of the horizontal rotary table and the ball body. The rotation information of the horizontal turntable and the sphere is a rotation angle, and can also comprise a rotation rate. Judging whether the horizontal rotary table or the ball body rotates to the respective preset position according to the rotation angle of the horizontal rotary table or the ball body, and stopping rotating if the horizontal rotary table or the ball body rotates in place; if the horizontal rotary table or the sphere is not rotated in place, the horizontal rotary table or the sphere is continuously rotated, so that the accurate positioning of the horizontal rotary table or the sphere is realized.
According to the positioning method and the positioning system of the holder, the optical coupler only has a coarse positioning function, and finally the check pulse is used as accurate positioning, so that the zero calibration of the horizontal rotary table and the sphere is more accurate, and meanwhile, the subsequent positioning of the horizontal rotary table and the sphere is more accurate.
Example seven:
the difference between the positioning method of the pan/tilt head of the present embodiment and the sixth embodiment is that: the sequence of the zero calibration of the horizontal rotary table and the zero calibration of the ball body can be reversed.
Specifically, step S5 specifically includes the following steps:
s51, starting the sphere to rotate; specifically, after the machine is powered on, the machine enters a self-checking state, and a motor for driving the ball body drives the ball body to rotate continuously;
s52, when the second triggered piece is triggered by the second trigger piece, the ball body continuously rotates; specifically, when the motor drives the sphere to continuously rotate until the optical coupler separation blade penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to a main control unit of the machine, the main control unit enters a waiting state, and the sphere continuously rotates;
s53, when the second magnetic encoding chip outputs the check pulse, calibrating the current position as the initial zero position of the sphere; specifically, when the motor drives the sphere to continuously rotate until the second magnetic encoding chip passes through a boundary of a nearest magnetic antipode away from the position generated by the trigger signal, the second magnetic encoding chip outputs a check pulse, and the current position is calibrated to be the initial zero position of the sphere. In the zero calibration mode, the optical coupler only has a coarse positioning function, and can finally use the check pulse as accurate positioning, and the optical coupler can also adopt position detection sensors such as a Hall switch and a mechanical limit switch. If the optical coupler is directly triggered to serve as a zero calibration signal, zero calibration of the machine during each power-on restart is inconsistent due to the influence of the sensitivity of the optical coupler, and the positioning precision of the machine for recalling the preset position after each power-on restart is influenced.
S54, after the initial zero calibration of the sphere is finished, starting the horizontal turntable to rotate; specifically, after the initial zero calibration of the sphere is finished, the main control unit controls the motor to drive the horizontal turntable to rotate continuously;
s55, when the first triggered piece is triggered by the first trigger piece, the horizontal rotary table continuously rotates; specifically, when the motor drives the horizontal turntable to continuously rotate until the optical coupler separation blade penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to a main control unit of the machine, the main control unit enters a waiting state, and the horizontal turntable continuously rotates;
s56, when the first magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the horizontal rotary table; specifically, when the motor drives the horizontal rotary table to continuously rotate until the first magnetic coding chip passes through a boundary of a nearest magnetic antipode away from a position where the trigger signal is generated, the first magnetic coding chip outputs a check pulse, the current position is calibrated to be an initial zero position of the horizontal rotary table, and the self-checking state is finished.
The positioning method of the cradle head of the embodiment realizes the sequence interchange of the zero calibration of the horizontal turntable and the sphere. In other embodiments, the zero calibration sequence of the horizontal turntable and the sphere is not limited, for example, the horizontal turntable and the rotation motion of the sphere are controlled independently, and zero calibration is performed separately.
Other steps can refer to embodiment seven. The seventh embodiment can be referred to as a positioning system corresponding to the positioning method of the pan/tilt head of the present embodiment.
Example eight:
based on the positioning mechanism of the cradle head described in the third embodiment, the present embodiment provides a positioning method of the cradle head, including the following steps:
s1, zero calibration; specifically, calibrating the zero position of the horizontal rotary table;
wherein, step S1 specifically includes the following steps:
s11, starting the horizontal rotary table to rotate; specifically, after the machine is powered on, the machine enters a self-checking state, and the motor drives the horizontal rotary table to rotate continuously;
s12, when the first triggered piece is triggered by the first trigger piece, the horizontal rotary table continuously rotates; specifically, when the motor drives the horizontal turntable to continuously rotate until the optical coupler separation blade penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to a main control unit of the machine, the main control unit enters a waiting state, and the horizontal turntable continuously rotates;
and S13, when the first magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the horizontal rotary table. Specifically, when the motor drives the horizontal rotary table to continuously rotate until the first magnetic coding chip passes through a boundary of a nearest magnetic antipode away from a position where the trigger signal is generated, the first magnetic coding chip outputs a check pulse, the current position is calibrated to be an initial zero position, and the self-checking state is finished.
In the zero calibration mode, the optical coupler only has a coarse positioning function, and can finally use the check pulse as accurate positioning, and the optical coupler can also adopt position detection sensors such as a Hall switch and a mechanical limit switch. If the optical coupler is directly triggered to serve as a zero calibration signal, zero calibration of the machine during each power-on restart is inconsistent due to the influence of the sensitivity of the optical coupler, and the positioning precision of the machine for recalling the preset position after each power-on restart is influenced.
S2, collecting first step counting pulse information fed back by the first magnetic coding chip, and acquiring rotation information of the horizontal rotary table according to the first step counting pulse information. Specifically, after the zero calibration is finished, the main control unit obtains the rotation angle of the horizontal turntable through the step counting pulse information fed back by the first magnetic coding chip, and judges whether the horizontal turntable rotates in place or not to determine whether the horizontal turntable continues to rotate or stops rotating, so that the accurate positioning of the horizontal turntable is realized.
Corresponding to the positioning method of the cradle head of this embodiment, this embodiment further provides a positioning system of the cradle head, including:
the zero calibration module is used for calibrating the zero of the horizontal turntable; specifically, the zero calibration module can be connected with a main control unit of the machine, and the zero calibration of the horizontal turntable and the sphere is performed through interaction of the main control unit of the machine and the zero calibration module. The main control unit controls the motor-driven horizontal rotary table, when the motor-driven horizontal rotary table continuously rotates until the optical coupler blocking piece penetrates through the optical coupler, the optical coupler is triggered, the optical coupler outputs a signal to the main control unit of the machine, the main control unit enters a waiting state at the moment, the horizontal rotary table continuously rotates, when the motor-driven horizontal rotary table rotates until the first magnetic coding chip passes through a boundary line of a nearest magnetic antipode away from a position generated by a trigger signal, the first magnetic coding chip outputs a checking pulse, and at the moment, the zero position calibration module calibrates the current position to be the initial zero position of the horizontal rotary table.
The acquisition module is used for acquiring first step counting pulse information fed back by the first magnetic coding chip; specifically, when the horizontal rotary table rotates, the acquisition module starts and acquires first step-counting pulse information fed back by the first magnetic coding chip;
and the conversion module is used for converting the first step counting pulse information into rotation information of the horizontal turntable. The rotation information of the horizontal turntable is a rotation angle, and may also include a rotation rate. Judging whether the horizontal rotary table rotates to a preset position according to the rotation angle of the horizontal rotary table, and stopping rotating if the horizontal rotary table rotates in place; and if the horizontal rotary table is not rotated in place, the horizontal rotary table is continuously rotated, so that the accurate positioning of the horizontal rotary table is realized.
According to the positioning method and the positioning system of the holder, the optical coupler only has a coarse positioning function, and finally the check pulse is used as accurate positioning, so that the zero calibration of the horizontal rotary table is more accurate, and meanwhile, the subsequent positioning of the horizontal rotary table is more accurate.
As a preferred embodiment, in the sixth embodiment, steps S52 and/or S55 may be omitted, that is, the first position detection sensor in the positioning mechanism of the pan/tilt head may be omitted, and/or the second position sensor may be omitted, that is, when the zero position calibration of the horizontal turntable and/or the sphere directly outputs the calibration pulse through the corresponding magnetic encoding chip, the current position is calibrated to be the initial zero position of the horizontal turntable and/or the sphere; but the position of the holder can be simply positioned, and the recall of the horizontal turntable and/or the preset position of the sphere after the power-on restart cannot be realized.
In addition, the present invention also provides a camera including: the positioning mechanism of a pan/tilt head according to any of the above embodiments, and/or the positioning method of a pan/tilt head according to any of the above embodiments, and/or the positioning system of a pan/tilt head according to any of the above embodiments. Similarly, the camera of the invention also has the technical effects of the positioning mechanism, the positioning method and the positioning system of the holder.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (17)
1. A positioning mechanism of a tripod head comprises a main body part and a first rotating part which is rotationally matched with the main body part, and is characterized in that the positioning mechanism comprises a first magnetic ring and a first magnetic encoding chip, wherein the first magnetic ring and the first magnetic encoding chip are oppositely arranged on the main body part and the first rotating part or the first magnetic ring and the first magnetic encoding chip are oppositely arranged on the first rotating part and the main body part; the first magnetic ring and the first magnetic coding chip are eccentrically arranged; when the first rotating part is in a rotating state, the first magnetic ring and the first magnetic coding chip rotate relatively, and the first magnetic coding chip induces the rotation of the first magnetic ring to acquire the rotation information of the first rotating part.
2. A positioning mechanism of a tripod head according to claim 1, wherein said positioning mechanism further comprises a first position detecting sensor, said first position detecting sensor comprising a first triggering member and a first triggered member, said first triggering member and said first triggered member being mounted with respect to said main body portion and said first rotating portion or said first triggering member and said first triggered member being mounted with respect to said first rotating portion and said main body portion.
3. A positioning mechanism of a head according to claim 2, wherein said first triggered member is an optocoupler, a hall switch or a mechanical limit switch; correspondingly, the first trigger piece is an optical coupler separation blade, a magnetic separation blade or a limiting separation blade.
4. A positioning mechanism of a head according to claim 1, wherein said first magnetic ring is mounted at a distal end of said main body portion; correspondingly, the first magnetic coding chip is arranged on a driving piece so that the first magnetic coding chip is in clearance fit with the edge of the first magnetic ring, and the driving piece is arranged on the first rotating part.
5. A tripod head positioning mechanism according to claim 4, wherein the body portion has an outlet hole in a central portion of a distal end thereof.
6. A positioning mechanism of a head according to claim 1, wherein said first rotating portion is provided with a motor having a first synchronizing wheel; the main body part is provided with a second synchronous wheel; the first synchronizing wheel is meshed with the second synchronizing wheel or is driven by a synchronizing belt.
7. A positioning mechanism for a head according to any one of claims 1 to 6, wherein said head further comprises a second rotary portion rotationally coupled to the first rotary portion, said second rotary portion being rotationally coupled to the first rotary portion via a rotation axis; the positioning mechanism further comprises a second magnetic ring and a second magnetic coding chip, wherein the second magnetic ring and the second magnetic coding chip are oppositely arranged on the first rotating part and the rotating shaft or the second magnetic ring and the second magnetic coding chip are oppositely arranged on the rotating shaft and the first rotating part; the second magnetic ring and the second magnetic coding chip are eccentrically arranged; when the second rotating part is in a rotating state, the second magnetic ring and the second magnetic coding chip rotate relatively, and the second magnetic coding chip induces the rotation of the second magnetic ring to acquire the rotation information of the second rotating part.
8. A positioning mechanism for a pan and tilt head according to claim 7, wherein said positioning mechanism further comprises a second position detecting sensor, said second position detecting sensor comprising a second trigger and a second triggered member, said second trigger and said second triggered member being mounted to said first rotating portion and said second rotating portion or said second trigger and said second triggered member being mounted to said first rotating portion and said rotating shaft.
9. A method for positioning a head, applied to a positioning mechanism of a head according to claim 1, 4, 5 or 6, characterized by comprising the steps of:
s1, zero calibration of the first rotating part;
s2, collecting first step counting pulse information fed back by the first magnetic coding chip, and acquiring rotation information of the first rotating part according to the first step counting pulse information.
10. A method for positioning a pan/tilt head according to claim 9, wherein said step S1 comprises the steps of:
s11, starting the first rotating part to rotate;
and S12, when the first magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the first rotating part.
11. A method according to claim 10, wherein when said positioning mechanism comprises a first position detecting sensor, said first position detecting sensor comprises a first triggering member and a first triggered member, said first triggering member and said first triggered member are mounted to said main body portion and said first rotating portion or said first triggering member and said first triggered member are mounted to said first rotating portion and said main body portion; accordingly, the steps S11 and S12 include: and acquiring the position of the first rotating part when the first triggered piece is triggered by the first triggering piece, and then waiting for the first magnetic coding chip to output a check pulse.
12. A method according to any one of claims 9 to 11, wherein, when said head comprises a second rotating portion rotationally coupled to the first rotating portion, said second rotating portion is rotationally coupled to the first rotating portion by means of a rotating shaft; the positioning mechanism comprises a second magnetic ring and a second magnetic coding chip, wherein the second magnetic ring and the second magnetic coding chip are oppositely arranged on the first rotating part and the rotating shaft or the second magnetic ring and the second magnetic coding chip are oppositely arranged on the rotating shaft and the first rotating part; the second magnetic ring and the second magnetic coding chip are eccentrically arranged; when the second rotating part is in a rotating state, the second magnetic ring and the second magnetic coding chip rotate relatively, and the second magnetic coding chip induces the rotation of the second magnetic ring to acquire the rotation information of the second rotating part; accordingly, the step S1 further includes: calibrating the zero position of the second rotating part; the step S2 further includes: and acquiring second step-counting pulse information fed back by the second magnetic coding chip, and acquiring rotation information of the second rotating part according to the second step-counting pulse information.
13. A method according to claim 12, wherein said zero calibration of said second rotary part comprises the following steps:
s110, starting the second rotating part to rotate;
and S120, when the second magnetic coding chip outputs the check pulse, calibrating the current position as the initial zero position of the second rotating part.
14. A method according to claim 13, wherein when said positioning mechanism comprises a second position detecting sensor, said second position detecting sensor comprises a second triggering member and a second triggered member, said second triggering member and said second triggered member are mounted to said first rotating portion and said rotating shaft in a manner opposite to each other or said second triggering member and said second triggered member are mounted to said first rotating portion and said rotating shaft in a manner opposite to each other; accordingly, the steps S110 and S120 include: and acquiring the position of the second rotating part when the second triggered piece is triggered by the second triggering piece, and then waiting for the second magnetic coding chip to output a check pulse.
15. A positioning system of a head, applied to a positioning mechanism of a head according to claim 1, characterized in that it comprises:
the zero calibration module is used for calibrating the zero of the first rotating part;
the acquisition module is used for acquiring first step counting pulse information fed back by the first magnetic coding chip;
and the conversion module is used for converting the first step counting pulse information into the rotation information of the first rotation part.
16. A positioning system of a pan and tilt head according to claim 15,
the zero calibration module is also used for calibrating the zero of the second rotating part;
the acquisition module is also used for acquiring second step counting pulse information fed back by the second magnetic coding chip; the conversion module is further used for converting the second step counting pulse information into rotation information of the second rotation part.
17. A camera, comprising:
a positioning mechanism of a head according to any one of claims 1 to 8;
and/or a method of positioning a head according to any one of claims 9 to 14;
and/or a head positioning system according to claim 15 or 16.
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