CN108873946A - A kind of positioning mechanism of holder, localization method, positioning system and video camera - Google Patents

A kind of positioning mechanism of holder, localization method, positioning system and video camera Download PDF

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Publication number
CN108873946A
CN108873946A CN201810563356.4A CN201810563356A CN108873946A CN 108873946 A CN108873946 A CN 108873946A CN 201810563356 A CN201810563356 A CN 201810563356A CN 108873946 A CN108873946 A CN 108873946A
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CN
China
Prior art keywords
rotation
positioning
coding chip
magnetic coding
holder
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Pending
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CN201810563356.4A
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Chinese (zh)
Inventor
刘彦辉
王可
帅树新
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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Priority to CN201810563356.4A priority Critical patent/CN108873946A/en
Publication of CN108873946A publication Critical patent/CN108873946A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction

Abstract

The invention belongs to technical field of automatic control, and in particular to a kind of positioning mechanism of holder, localization method, positioning system and video camera.Wherein, the positioning mechanism of holder, the holder includes main part and is rotatably assorted in the first rotation section of main part, the positioning mechanism includes the first magnet ring and the first magnetic coding chip, and first magnet ring is opposite with the first magnetic coding chip to be installed on main part and the first rotation section or first magnet ring and the first magnetic coding chip with respect to being installed on the first rotation section and main part;First magnet ring and the first magnetic coding chip eccentric setting;When the first rotation section is in rotary state, first magnet ring and the first magnetic coding chip are relatively rotated, and the first magnetic coding chip incudes the rotation of the first magnet ring to obtain the rotation information of the first rotation section.The positioning mechanism of holder of the present invention can be avoided the position in the middle part of the first magnet ring, by the first magnet ring and the first magnetic coding chip eccentric setting to arrange corresponding cable.

Description

A kind of positioning mechanism of holder, localization method, positioning system and video camera
Technical field
The invention belongs to technical field of automatic control, and in particular to a kind of positioning mechanism of holder, localization method, positioning System and video camera.
Background technique
Holder is the support equipment of installation, fixing camera, is divided into fixed holder and two kinds of electric platform.Fixed holder is suitable For monitoring the little situation of range, the level of adjustable camera and the angle of pitching after camera are installed on fixed holder Degree cannot achieve comprehensive monitoring as long as locking adjustment mechanism after reaching optimal operating attitude.However, electronic cloud Platform is suitable for monitoring is scanned on a large scale, it can expand the monitoring range of video camera;Electric platform high speed posture is by two Platform actuating motor realizes that motor receives the signal from controller and accurately runs positioning.Pan/Tilt/Zoom camera is just being configured with electronic Holder, may be implemented the horizontal and vertical rotation of camera, to realize the monitoring function of large scene.Wherein, Pan/Tilt/Zoom camera is It is a kind of in security system to support comprehensive (up and down, left and right) mobile and camera lens zoom, Zoom control video camera.
As shown in fig. 6, Pan/Tilt/Zoom camera mainly consists of three parts:Main support 1 ', horizontal revolving stage 2 ' and sphere 3 ', main branch Frame is fixed, and horizontal revolving stage can horizontally rotate with respect to main support, and sphere installation is on horizontal revolving stage, and sphere can Vertically to be rotated on horizontal revolving stage.Wherein, horizontally rotating and vertically rotating is to drive synchronous belt by stepper motor It realizes.Currently, Pan/Tilt/Zoom camera mainly passes through stepper motor opened loop control, stepper motor drives holder to carry out by synchronous belt Rotation.But opened loop control cannot achieve the high-accuracy intelligent control of holder.
With the continuous development of technology, closed-loop control progresses into the visual field of people.Angle in closed-loop control system passes Sensor, which generallys use coaxial-type magnetic coder, such as unmanned plane clouds terrace system, hand-held holder etc., to be encoded using coaxial-type magnetic Device, as shown in fig. 7, the installation requirement of this encoder is coaxial for the magnetic coding chip 1-1 ' and magnet ring element 1-2 ' of magnetic coder Installation, this will lead to that line can not be crossed at shaft 1-3 ', but the water that the main support of Pan/Tilt/Zoom camera and horizontal revolving stage relatively rotate It is needed at flat turn axis across cable, to realize that signal transmits.Therefore this kind of magnetic coder can not be mounted on the level of Pan/Tilt/Zoom camera At shaft, angle detection device can only be mounted at machine shaft, but be mounted at machine shaft and be only able to achieve closing for motor Ring control, cannot achieve the closed-loop control of entire video camera.Wherein, the magnet of single pair magnetic pole is mounted on rotation by coaxial magnetic coder Shaft shaft end forms annular array using 4~8 Hall elements and is incuded, and two opposite Hall sensors are put with difference Big device connection often rotates a circle and just generates the cosine and sine signal of a cycle, then is positive by DSP magnetic coding chip operation conversion Friendship or serial position input signal.Although cost is relatively low for the detection mode of coaxial magnetic coder, very to equipment installation requirement Height, the north and south magnetic pole midpoint, magnetic coding chip center and shaft end center for being embodied in magnet preferably must be held on same straight line, appoint The deviation what is installed can all reduce the accuracy of encoder.In practical applications, not only the radial wobble of shaft not can avoid, Deviation caused by the relative displacement of magnetic coding chip and magnet also will affect the precision of real output signal.
Summary of the invention
Based on the above deficiencies in the existing technologies, the present invention provides a kind of positioning mechanism of holder, localization method, determines Position system and video camera.
In order to achieve the above object of the invention, the present invention uses following technical scheme:
A kind of positioning mechanism of holder, the holder include main part and are rotatably assorted in the first rotation of main part Portion, the positioning mechanism include the first magnet ring and the first magnetic coding chip, and first magnet ring is opposite with the first magnetic coding chip Be installed on main part and the first rotation section or first magnet ring it is opposite with the first magnetic coding chip be installed on the first rotation section with Main part;First magnet ring and the first magnetic coding chip eccentric setting;When the first rotation section is in rotary state, described first Magnet ring and the first magnetic coding chip relatively rotate, and the first magnetic coding chip incudes the rotation of the first magnet ring to obtain first turn The rotation information in dynamic portion.It, can be by the position in the middle part of the first magnet ring by the first magnet ring and the first magnetic coding chip eccentric setting Evacuation, to arrange corresponding cable.
Preferably, the positioning mechanism further includes first position detection sensor, and the first position detection passes Sensor includes that the first trigger member and first are triggered part, and first trigger member is triggered with first, and part is opposite to be installed on main part Being triggered with the first rotation section or first trigger member with first, part is opposite to be installed on the first rotation section and main part.Setting the One position-detection sensor makes machine every time after powering on and restarting, calls the preset bit comparison of the first rotation section accurate.
Preferably, described first part is triggered as optocoupler, Hall switch or mechanical limit switch;Accordingly, institute Stating the first trigger member is optocoupler baffle, magnetic baffle or limit baffle.Realize the diversification of position-detection sensor type.
Preferably, first magnet ring is installed on the end of main part;Correspondingly, the first magnetic coding chip An actuator is installed on so that the marginal gap of the first magnetic coding chip and the first magnet ring cooperates, the actuator is installed on first Rotation section.Pass through the intermediation of actuator, it is ensured that the location matches of the first magnetic coding chip and the first magnet ring.
Preferably, the middle part of the end of the main part has outlet hole.Convenient for the cabling of cable.
Preferably, first rotation section is equipped with motor, and motor has the first synchronizing wheel;The main part tool There is the second synchronizing wheel;First synchronizing wheel engages with the second synchronizing wheel or by a toothed belt transmission.Pass through motor, first The synergistic effect of rotation section and main part realizes being rotatably assorted between the first rotation section and main part.
Preferably, the main part is connect with the first rotation section by bearing fit.It is convenient by bearing fit Realize that the first rotation section is rotatably connected on main part in ground.
Preferably, the holder further includes being rotatably assorted in the second rotation section of the first rotation section, and described second Rotation section is rotationally connected with the first rotation section by a shaft;The positioning mechanism further includes the second magnet ring and the second magnetic coding core Piece, second magnet ring is opposite with the second magnetic coding chip to be installed on the first rotation section and shaft or second magnet ring and second Magnetic coding chip is opposite to be installed on shaft and the first rotation section;Second magnet ring and the second magnetic coding chip eccentric setting;When Second rotation section is in rotary state, and second magnet ring and the second magnetic coding chip relatively rotate, and second magnetic encodes core Piece incudes the rotation of the second magnet ring to obtain the rotation information of the second rotation section.Realize the positioning of holder all directions position.
Preferably, the positioning mechanism further includes second position detection sensor, and the second position detection passes Sensor includes that the second trigger member and second are triggered part, second trigger member with second be triggered part it is opposite be installed on shaft and First rotation section or second trigger member are triggered with second, and part is opposite to be installed on the first rotation section and shaft.Second is set Detection sensor is set, makes machine every time after powering on and restarting, calls the preset bit comparison of the second rotation section accurate.
The present invention also provides a kind of localization methods of holder, applied to the positioning mechanism of holder described in scheme as above, packet Include following steps:
S1, the first rotation section Zero positioning;
The first step counting pulse information of S2, acquisition the first magnetic coding chip feedback, obtain according to the first step counting pulse information The rotation information of first rotation section.
Preferably, the step S1 includes the following steps:
S11, the rotation of the first rotation section of starting;
S12, when the first magnetic coding chip export collating pulse when, calibration current location be the first rotation section initial zero Position.
Preferably, when the positioning mechanism includes first position detection sensor, the first position detection is passed Sensor includes that the first trigger member and first are triggered part, and first trigger member is triggered with first, and part is opposite to be installed on main part Being triggered with the first rotation section or first trigger member with first, part is opposite to be installed on the first rotation section and main part;Accordingly Ground includes between the step S11 and S12:Obtain the first position for being triggered part first rotation section when being triggered by the first trigger member It sets, the first magnetic coding chip is then waited to export collating pulse.
Preferably, when the holder includes being rotatably assorted in the second rotation section of the first rotation section, described second Rotation section is rotationally connected with the first rotation section by a shaft;The positioning mechanism includes that the second magnet ring and the second magnetic encode core Piece, second magnet ring is opposite with the second magnetic coding chip to be installed on the first rotation section and shaft or second magnet ring and second Magnetic coding chip is opposite to be installed on shaft and the first rotation section;Second magnet ring and the second magnetic coding chip eccentric setting;When Second rotation section is in rotary state, and second magnet ring and the second magnetic coding chip relatively rotate, and second magnetic encodes core Piece incudes the rotation of the second magnet ring to obtain the rotation information of the second rotation section;Correspondingly, the step S1 further includes:Second turn The Zero positioning in dynamic portion;The step S2 further includes:The the second step counting pulse information for acquiring the second magnetic coding chip feedback, according to Second step counting pulse information obtains the rotation information of the second rotation section.
Preferably, the Zero positioning of second rotation section, includes the following steps:
S110, the rotation of the second rotation section of starting;
S120, when the second magnetic coding chip export collating pulse when, calibration current location be the second rotation section initial zero Position.
Preferably, when the positioning mechanism includes second position detection sensor, the second position detection is passed Sensor includes that the second trigger member and second are triggered part, second trigger member with second be triggered part it is opposite be installed on shaft and First rotation section or second trigger member are triggered with second, and part is opposite to be installed on the first rotation section and shaft;Correspondingly, institute It states between step S110 and S120 and includes:The second position for being triggered part second rotation section when being triggered by the second trigger member is obtained, Then the second magnetic coding chip is waited to export collating pulse.
The present invention also provides a kind of positioning systems of holder, including:
Zero positioning module, the Zero positioning for the first rotation section;
Acquisition module, for acquiring the first step counting pulse information of the first magnetic coding chip feedback;
Conversion module, for the first step counting pulse information to be converted to the rotation information of the first rotation section.
Preferably, the Zero positioning module is also used to the Zero positioning of the second rotation section;
The acquisition module is also used to acquire the second step counting pulse information of the second magnetic coding chip feedback;
The conversion module is also used to be converted to the second step counting pulse information the rotation information of the second rotation section.
The present invention also provides a kind of video cameras, including:The positioning mechanism of holder described in either a program as above, and/or such as The localization method of holder described in upper either a program, and/or the as above positioning system of holder described in either a program.
Compared with prior art, the present invention beneficial effect is:
(1) positioning mechanism of holder of the present invention can be by by the first magnet ring and the first magnetic coding chip eccentric setting Position evacuation in the middle part of one magnet ring, to arrange corresponding cable.
(2) localization method and system of holder of the present invention, accurate positioning and convenient and efficient.
(3) there is video camera of the invention the positioning mechanism of holder as above and the localization method and system of holder to be had The advantages of.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the positioning mechanism of the holder of the embodiment of the present invention one;
Fig. 2 is the structure top view of the positioning mechanism of the holder of the embodiment of the present invention one;
Fig. 3 is that the first magnet ring in the positioning mechanism of the holder of the embodiment of the present invention one is opposite with the first magnetic coding chip The schematic diagram of position;
Fig. 4 is that first magnet ring and the first magnetic coding chip relatively rotate in the positioning mechanism of the holder of the embodiment of the present invention one When the schematic diagram of step counting pulse and collating pulse that generates;
Fig. 5 is the flow chart of horizontal revolving stage Zero positioning in the localization method of the holder of the embodiment of the present invention six;
Fig. 6 is the structural schematic diagram of Pan/Tilt/Zoom camera in the prior art;
Fig. 7 is the mounting structure schematic diagram of coaxial magnetic coder in the prior art.
Specific embodiment
In order to illustrate the embodiments of the present invention more clearly, Detailed description of the invention a specific embodiment of the invention will be compareed below. It should be evident that drawings in the following description are only some embodiments of the invention, those of ordinary skill in the art are come It says, without creative efforts, is also possible to obtain other drawings based on these drawings, and obtain other real Apply mode.In addition, the direction term being previously mentioned in following embodiment, such as:Upper and lower, left and right, front or rear etc. are only with reference to attached The direction of figure.Therefore, the direction term used is intended to be illustrative and not intended to limit the present invention.
Embodiment one:
The positioning mechanism of the holder of the present embodiment is applied to the positioning of video camera applied to the positioning of holder.Such as Fig. 1- Shown in 3, the holder of the present embodiment includes main support 3, (connection structure of horizontal revolving stage and sphere can be with for horizontal revolving stage 4 and sphere With reference to the prior art, such as Fig. 6), main support 3 is connect with horizontal revolving stage 4 by bearing fit, by bearing fit, easily Realize that horizontal revolving stage 4 is rotatably connected on main support 3.Specifically, main support 3 is cylindrical structure, the inner ring of main support 3 and bearing It is fixedly connected;Horizontal revolving stage 4 is plane tabular structure, and 4 upper surface of horizontal revolving stage has convex ring, the outer ring of convex ring and bearing It is fixedly connected, the outer peripheral surface of convex ring is equipped with reinforcing rib.The lower surface of horizontal revolving stage 3 has lower convex ring, and lower convex ring and sphere are logical A shaft is crossed to be rotatably assorted.The convex ring that the upper end of main support 3 protrudes from horizontal revolving stage forms stepped cylindrical body structure, platform Scalariform cylindrical structure includes the relatively large lower cylindrical structure of diameter and the relatively small upper cylindrical structure of diameter, wherein lower cylinder The outer peripheral surface of structure has engaging structure, i.e. the second synchronizing wheel of main support 3.
As shown in Fig. 2, the upper surface of horizontal revolving stage 4 is equipped with motor 6, motor 6 is located at the left side of main support 3, and motor 6 has There is the first synchronizing wheel with the transmission cooperation of the second synchronizing wheel.In order to keep the first synchronizing wheel and the second synchronizing wheel contour, horizontal revolving stage 4 Upper surface be equipped with four support columns, motor 6 is mounted on the top of four support columns, and solid by fixing pieces such as bolt, screws It is fixed.By first synchronizing wheel of series connection of synchronous belt 5 and the second synchronizing wheel, thus in motor work, the rotation of the first synchronizing wheel, Link synchronous belt 5, and the second synchronizing wheel is fixed, in this way, rotating horizontal revolving stage 4 around main support 3;Pass through motor 6, water The synergistic effect of flat turn platform 4 and main support 3 realizes that horizontal revolving stage 4 is rotatably assorted with main support 3.
As shown in figure 3, the positioning mechanism of the present embodiment includes the first magnet ring 2 and the first magnetic coding chip 1-1 (also referred to as magnetic Encoder), the first magnet ring 2, to pole code-disc, is circular ring structure using more magnetic;First magnetic coding chip 1-1 and the first magnet ring 2 are eccentric Setting, it is preferable that the edge of the first magnetic coding chip 1-1 and the first magnet ring 2 remains clearance fit, in the process of running, Every a pair of magnetic pole can all generate the cosine and sine signal of a cycle, and converted by hardware interpolators and to be orthogonal or serial position Signal, step counting pulse as shown in Figure 4.In addition, the first magnetic coding chip can issue when line of demarcation of each magnetic to pole is passed through One collating pulse (collating pulse as shown in Figure 4), so as to the Zero positioning to horizontal revolving stage 4.When the first magnet ring and first After magnetic coding chip relative rotation is got up, the magnetic field strength that chip interior Hall element senses in radial extension is kept not Become, the radial wobble of shaft will not influence the precision of hall sensing output signal.Therefore, as long as in actual installation process really Chip position and radially installed distance are protected, ensures that the accuracy of output signal.First magnet ring 2 of the present embodiment and the first magnetic Coding chip is opposite to be installed on main support 3 and horizontal revolving stage 4, and specifically, the first magnet ring 2 is mounted on the top of main support 3, i.e., and the One magnet ring 2 is mounted on the top of the upper cylindrical structure of main support, and the diameter of the first magnet ring 2 is equal with the diameter of upper cylindrical structure, First magnet ring 2 is co-axially mounted with upper cylindrical structure.Preferably, the first magnet ring 2 is fixed on the top of main support 3 by adhesive means End.
The first magnetic coding chip 1-1 opposite with the first magnet ring 2, is mounted on horizontal revolving stage 4 by actuator.Specifically Ground, the actuator of the present embodiment are magnetic coding driving plate 1, or L-shaped structure drives piece;First magnetic coding chip 1-1 It is fixed on the lower surface of magnetic coding driving plate 1, in order to make the first magnetic coding chip 1-1 be located at the top of the first magnet ring 2, The upper surface of horizontal revolving stage 4 is additionally provided with four columns, and the top of four columns and magnetic coding driving plate 1 are fixed, so that first Magnetic coding chip 1-1 cooperates (as shown in Figure 3) with the marginal gap of the first magnet ring 2 always during rotation.It is encoded by magnetic Drive the intermediation of plate 1, it is ensured that the location matches of the first magnetic coding chip 1-1 and the first magnet ring 2.When motor 6 drives When dynamic horizontal revolving stage 4 rotates, the first magnet ring 2 relatively rotates below the first magnetic coding chip 1-1, the first magnetic coding chip 1-1 The rotation information of the first magnet ring 2 is incuded to obtain the rotation information of horizontal revolving stage 4.Specifically, rotation information is the angle of rotation, It can also be the speed of rotation.
It is in the edge of the first magnet ring 2 based on above-mentioned first magnetic coding chip 1-1, thus spindle central can be avoided Space opens up outlet hole 3-2 in the middle part of 3 top of main support, cable is drawn from the outlet hole on main support, both Space is saved, and does not influence the appearance of mechanism.
In addition, as illustrated in fig. 1 and 2, the positioning mechanism of the present embodiment further includes first position detection sensor, first position Detection sensor includes that the first trigger member and first are triggered part, and the first trigger member is triggered with first, and part is opposite to be installed on main branch Frame and horizontal revolving stage.Specifically, the first of the present embodiment is triggered part as optocoupler 1-2, and optocoupler 1-2 is mounted on horizontal revolving stage The lower surface of magnetic coding driving plate 1;Correspondingly, first trigger member of the present embodiment is optocoupler baffle 3-1, optocoupler baffle 3-1 It is mounted on the outer wall of the upper cylindrical structure of main support.Specifically, optocoupler baffle 3-1 is L-shaped structure, including horizontal segment and vertical Section, the free end of horizontal segment are fixed on the outer wall of the upper cylindrical structure of main support, and vertical section is located at the top of horizontal segment.Motor 6 It drives in 4 rotation process of horizontal revolving stage, optocoupler baffle 3-1 can be passed through from optocoupler 1-2, generate triggering for triggering optocoupler 1-2 Signal.In addition, first part that is triggered can also be Hall switch, mechanical limit switch;Accordingly, the first trigger member can also be Magnetic baffle or limit baffle;Realize the diversification of position-detection sensor type.
First magnet ring, the first magnetic coding chip, the first trigger member and first are set between above-mentioned main support, horizontal revolving stage Be triggered part principle it is similar, similarly, be arranged between horizontal revolving stage and the shaft of sphere the second magnet ring and the second magnetic coding core Piece, the second magnet ring is opposite with the second magnetic coding chip to be installed on horizontal revolving stage and shaft, and the second magnet ring and the second magnetic encode core Piece eccentric setting.Specifically, the second magnet ring is mounted on the inner wall of the lower convex ring of horizontal revolving stage, and the second magnetic coding chip, which is mounted on, to be turned The end of axis, so as to cooperate always with the marginal gap of the second magnet ring in the second magnetic coding chip rotation process.In addition, second Magnetic coding chip is mounted on the inner wall of the lower convex ring of horizontal revolving stage, and the second magnet ring is mounted on the end of shaft, so that the second magnet ring In rotation process, the edge of the second magnet ring always with the second magnetic coding chip clearance fit.
In order to make machine after powering on and restarting, call the preset bit comparison of sphere accurate every time;In horizontal revolving stage and sphere Shaft between also set up second position detection sensor, second position detection sensor includes that the second trigger member and second is touched Outbox, the second trigger member is triggered with second, and part is opposite to be installed on shaft and horizontal revolving stage, alternatively, the second trigger member and the second quilt Trigger member is opposite to be installed on horizontal revolving stage and shaft.Such as:Second trigger member is mounted on the end of shaft, and second is triggered part peace Mounted in the inner wall of the lower convex ring of horizontal revolving stage;Alternatively, the second trigger member is mounted on the inner wall of the lower convex ring of horizontal revolving stage, the second quilt Trigger member is mounted on the end of shaft.Wherein, second part that is triggered selects optocoupler, Hall switch or mechanical limit switch, corresponding Ground, the second trigger member are optocoupler baffle, magnetic baffle or limit baffle.
In addition, horizontal revolving stage may be replaced by the turntable with certain tilt angle, plane is turning for irregular structure Platform etc..
The positioning mechanism of the present embodiment holder has the following advantages that:
(1) magnet ring is mounted on driven end, can eliminate the driving error of machine driving introducing;
(2) magnetic coder chip is eccentrically mounted with magnet ring, and cable is drawn from shaft.
Embodiment two:
The positioning mechanism of the present embodiment holder and embodiment one the difference is that:First magnet ring and the first magnetic encode core The installation site of piece is exchanged.
Specifically, the first magnetic coding chip of the present embodiment is mounted on the edge on the top of main support, i.e. the first magnet ring peace Mounted in the edge on the top of the upper cylindrical structure of main support, accordingly, the first magnet ring is fixed on magnetic coding driving plate Lower surface, the edge of the first magnet ring during rotation always with the first magnetic coding chip clearance fit.Realize the positioning of holder The structure diversification of mechanism.In addition, the installation site of the first magnet ring and the first magnetic coding chip can be interchanged, the first trigger member with First installation site for being triggered part also can be interchanged, and the installation site of the second magnet ring and the second magnetic coding chip can also be mutual It changes, the installation site that the second trigger member is triggered part with second also can be interchanged, and may be permuted between above-mentioned exchange scheme Combination, in this way, corresponding mount scheme can be selected according to actual needs, adapts to the demand of different application scene.
Other structures can be with reference implementation example one.
Embodiment three:
The positioning mechanism of the present embodiment holder and embodiment one the difference is that:Omit the structure of sphere.
Specifically, the holder of the present embodiment only includes main support and horizontal revolving stage, and corresponding positioning mechanism does not include level Magnet ring, magnetic coding chip and position-detection sensor between turntable and sphere;So that positioning mechanism is diversified.
Other structures can be with reference implementation example one.
Example IV:
The positioning mechanism of the present embodiment holder and embodiment one the difference is that:Omit the structure of main support.
Specifically, for the horizontal revolving stage of the present embodiment directly as main support, horizontal revolving stage is fixed, sphere rotation connection In the lower section of horizontal revolving stage, corresponding positioning mechanism also only includes the second magnet ring, the second magnetic coding chip and second position inspection Survey the technical characteristic of sensor.So that positioning mechanism is diversified.
Other structures can be with reference implementation example one.
Embodiment five:
The positioning mechanism of the present embodiment holder and embodiment one the difference is that:First synchronizing wheel and the second synchronizing wheel The kind of drive it is different.
Specifically, the kind of drive of first synchronizing wheel and the second synchronizing wheel of the present embodiment is:First synchronizing wheel and second Synchronizing wheel directly engages, and in alternate embodiment one by way of toothed belt transmission, realizes that horizontal revolving stage is rotatably assorted main support Structure diversification.
Other structures can be with reference implementation example one.
As a preferred embodiment, the first position detection sensor in embodiment one can be omitted and/or the second position passes Sensor can be omitted, but simple positioning can be only realized to the position of holder, cannot achieve power on restart rear horizontal revolving stage or Sphere presetting bit re-calls.
Embodiment six:
Based on the positioning mechanism of holder described in embodiment one, the present embodiment provides the localization method of holder, including it is as follows Step:
S5, Zero positioning;Specifically, Zero positioning includes the Zero positioning of horizontal revolving stage and the Zero positioning of sphere;Its In, as shown in figure 5, step S5 specifically comprises the following steps:
S51, starting horizontal revolving stage rotation;Specifically, after machine powers on booting, into self-test state, motor driven is horizontal Turntable persistently rotates;
S52, when first be triggered part triggered by the first trigger member when, horizontal revolving stage persistently rotates;Specifically, when motor drives Dynamic horizontal revolving stage persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the master of machine Unit is controlled, main control unit enters wait state at this time, and horizontal revolving stage persistently rotates;
S53, when the first magnetic coding chip export collating pulse when, calibration current location be horizontal revolving stage initial zero position; Specifically, motor driven horizontal revolving stage persistently turns to the first magnetic coding chip and passes through the position that generates with trigger signal from most When close magnetic is to the line of demarcation of pole, the first magnetic coding chip exports a collating pulse, and calibration current location is horizontal revolving stage Initial zero position.In this Zero positioning mode, optocoupler only plays coarse positioning function, eventually using collating pulse as accurately The position-detection sensors such as Hall switch, mechanical limit switch can also be used in positioning, optocoupler.If directly being triggered with optocoupler as zero Position demarcation signal, since the sensitivity of optocoupler influences, it is inconsistent to will lead to the Zero positioning that machine is powered on every time when restarting, and influences Machine powers on every time restarts the positioning accuracy that rear presetting bit re-calls.
After S54, the initial zero position calibration to horizontal revolving stage, starting sphere rotation;Specifically, to the first of horizontal revolving stage After beginning Zero positioning, the driving motor driving sphere of main control unit control sphere is persistently rotated;
S55, when second be triggered part triggered by the second trigger member when, sphere persistently rotates;Specifically, when motor driven ball Body persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the main control unit of machine, this When main control unit enter wait state, sphere persistently rotates;
S56, when the second magnetic coding chip export collating pulse when, calibration current location be sphere initial zero position;Specifically Ground, motor driven horizontal revolving stage persistently turn to the second magnetic coding chip pass through the position that is generated with trigger signal from recently When magnetic is to the line of demarcation of pole, the second magnetic coding chip exports a collating pulse, and calibration current location is the initial zero position of sphere, Self-test state terminates.
After S6, Zero positioning, the first step counting arteries and veins of the first magnetic coding chip or the second magnetic coding chip feedback is acquired Rush information or the second step counting pulse information, according to the first step counting pulse information or the second step counting pulse information obtain horizontal revolving stage or The rotation information of sphere.Wherein, the rotation information of horizontal revolving stage or sphere is rotational angle, also may include slewing rate.Root Respective predeterminated position whether is turned to according to the rotational angle determined level turntable or sphere of horizontal revolving stage or sphere, if horizontal Turntable or sphere rotate in place, then stop operating;If horizontal revolving stage or sphere are not rotated to position, horizontal turn is continued to rotate Platform or sphere, to realize the precise positioning of horizontal revolving stage or sphere.
Corresponding to the localization method of the present embodiment holder, the present embodiment also provides the positioning system of holder, including:
Zero positioning module, the Zero positioning for horizontal revolving stage and sphere;Specifically, Zero positioning module can be with machine The main control unit of device connects, and by the main control unit of machine and the interaction of Zero positioning module, carries out to horizontal revolving stage and sphere Zero positioning.Main control unit control motor driven horizontal revolving stage, when motor driven horizontal revolving stage persistently turn to optocoupler baffle from When passing through in optocoupler, optocoupler is triggered, and optocoupler outputs signal to the main control unit of machine, and main control unit enters waiting shape at this time State, horizontal revolving stage persistently rotate, when turn to the first magnetic coding chip pass through the position that is generated with trigger signal from recently When magnetic is to the line of demarcation of pole, the first magnetic coding chip exports a collating pulse, at this point, Zero positioning module demarcates current location For the initial zero position of horizontal revolving stage.In addition, main control unit also controls the driving motor driving sphere of sphere, when motor driven sphere Persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the main control unit of machine, at this time Main control unit enters wait state, and sphere persistently rotates, and generates when turning to the second magnetic coding chip and passing through with trigger signal Position from nearest magnetic to the line of demarcation of pole when, the second magnetic coding chip exports a collating pulse, at this point, Zero positioning mould Block demarcates the initial zero position that current location is sphere.
Acquisition module, for acquiring the first step counting pulse information and the second magnetic coding chip of the first magnetic coding chip feedback Second step counting pulse information of feedback;Specifically, after the completion of carrying out Zero positioning to horizontal revolving stage and sphere, work as horizontal revolving stage When rotation, acquisition module starts and acquires the first step counting pulse information of the first magnetic coding chip feedback;When sphere rotation, adopt Collection module starts and acquires the second step counting pulse information of the second magnetic coding chip feedback.Can also be, when horizontal revolving stage and ball When body rotates simultaneously, acquisition module starts and acquires the first step counting pulse information and the second magnetic volume of the first magnetic coding chip feedback Second step counting pulse information of code chip feedback.
Conversion module, for the first step counting pulse information and the second step counting pulse information to be converted to horizontal revolving stage and sphere Rotation information.Wherein, the rotation information of horizontal revolving stage and sphere is rotational angle, also may include slewing rate.According to water Whether the rotational angle determined level turntable or sphere of flat turn platform or sphere turn to respective predeterminated position, if horizontal revolving stage Or sphere rotate in place, then stops operating;If horizontal revolving stage or sphere are not rotated to position, continue to rotate horizontal revolving stage or Sphere, to realize the precise positioning of horizontal revolving stage or sphere.
The localization method and system of the present embodiment holder, optocoupler only plays coarse positioning function, eventually with collating pulse As accurate positioning, so that the Zero positioning of horizontal revolving stage and sphere is more accurate, meanwhile, subsequent horizontal revolving stage and sphere It positions also more accurate.
Embodiment seven:
The localization method of the present embodiment holder and embodiment six the difference is that:To the Zero positioning of horizontal revolving stage and The sequencing of the Zero positioning of sphere can overturn.
Specifically, step S5 specifically comprises the following steps:
S51, starting sphere rotation;Specifically, after machine powers on, into self-test state, the motor driven ball of sphere is driven Body persistently rotates;
S52, when second be triggered part triggered by the second trigger member when, sphere persistently rotates;Specifically, when motor driven ball Body persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the main control unit of machine, this When main control unit enter wait state, sphere persistently rotates;
S53, when the second magnetic coding chip export collating pulse when, calibration current location be sphere initial zero position;Specifically Ground, motor driven sphere persistently turn to the second magnetic coding chip pass through the position that is generated with trigger signal from nearest magnetic pair When the line of demarcation of pole, the second magnetic coding chip exports a collating pulse, and calibration current location is the initial zero position of sphere.At this In kind Zero positioning mode, optocoupler only plays coarse positioning function, and eventually using collating pulse as being accurately positioned, optocoupler can also Using position-detection sensors such as Hall switch, mechanical limit switches.If directly being triggered with optocoupler as Zero positioning signal, by It is influenced in the sensitivity of optocoupler, it is inconsistent to will lead to the Zero positioning that machine is powered on every time when restarting, and influences machine and powers on every time Restart the positioning accuracy that rear presetting bit re-calls.
After S54, the initial zero position calibration to sphere, starting horizontal revolving stage rotation;Specifically, initial zero to sphere After the calibration of position, main control unit control motor driven horizontal revolving stage is persistently rotated;
S55, when first be triggered part triggered by the first trigger member when, horizontal revolving stage persistently rotates;Specifically, when motor drives Dynamic horizontal revolving stage persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the master of machine Unit is controlled, main control unit enters wait state at this time, and horizontal revolving stage persistently rotates;
S56, when the first magnetic coding chip export collating pulse when, calibration current location be horizontal revolving stage initial zero position; Specifically, motor driven horizontal revolving stage persistently turns to the first magnetic coding chip and passes through the position that generates with trigger signal from most When close magnetic is to the line of demarcation of pole, the first magnetic coding chip exports a collating pulse, and calibration current location is horizontal revolving stage Initial zero position, self-test state terminate.
The localization method of the present embodiment holder realizes that the sequence of the Zero positioning of horizontal revolving stage and sphere is exchanged.At other In embodiment, the Zero positioning sequence of horizontal revolving stage and sphere can not also be limited, for example, the rotational motion of horizontal revolving stage and sphere Independent control carries out Zero positioning respectively.
Other steps can be with reference implementation example seven.The positioning system of the localization method of corresponding the present embodiment holder can refer to Embodiment seven.
Embodiment eight:
Based on the positioning mechanism of holder described in embodiment three, the present embodiment provides the localization method of holder, including it is as follows Step:
S1, Zero positioning;Specifically, the zero-bit of horizontal revolving stage is demarcated;
Wherein, step S1 specifically comprises the following steps:
S11, starting horizontal revolving stage rotation;Specifically, after machine powers on, into self-test state, motor driven horizontal revolving stage Lasting rotation;
S12, when first be triggered part triggered by the first trigger member when, horizontal revolving stage persistently rotates;Specifically, when motor drives Dynamic horizontal revolving stage persistently turn to optocoupler baffle from optocoupler pass through when, optocoupler is triggered, and optocoupler outputs signal to the master of machine Unit is controlled, main control unit enters wait state at this time, and horizontal revolving stage persistently rotates;
S13, when the first magnetic coding chip export collating pulse when, calibration current location be horizontal revolving stage initial zero position. Specifically, motor driven horizontal revolving stage persistently turns to the first magnetic coding chip and passes through the position that generates with trigger signal from most When close magnetic is to the line of demarcation of pole, the first magnetic coding chip exports a collating pulse, and calibration current location is initial zero position, oneself Inspection state terminates.
In this Zero positioning mode, optocoupler only plays coarse positioning function, eventually using collating pulse as accurately The position-detection sensors such as Hall switch, mechanical limit switch can also be used in positioning, optocoupler.If directly being triggered with optocoupler as zero Position demarcation signal, since the sensitivity of optocoupler influences, it is inconsistent to will lead to the Zero positioning that machine is powered on every time when restarting, and influences Machine powers on every time restarts the positioning accuracy that rear presetting bit re-calls.
The first step counting pulse information of S2, acquisition the first magnetic coding chip feedback, obtain according to the first step counting pulse information The rotation information of horizontal revolving stage.Specifically, after Zero positioning, main control unit passes through the meter of the feedback of the first magnetic coding chip Pace pulse information obtains the rotational angle of horizontal revolving stage, judges whether to rotate in place, and is continued to rotate or is stopped operating with determination, To realize the precise positioning of horizontal revolving stage.
Corresponding to the localization method of the present embodiment holder, the present embodiment also provides the positioning system of holder, including:
Zero positioning module, the Zero positioning for horizontal revolving stage;Specifically, Zero positioning module can be with the master of machine Unit connection is controlled, by the main control unit of machine and the interaction of Zero positioning module, zero-bit mark is carried out to horizontal revolving stage and sphere It is fixed.Main control unit controls motor driven horizontal revolving stage, when motor driven horizontal revolving stage persistently turns to optocoupler baffle from optocoupler Across when, optocoupler is triggered, and optocoupler outputs signal to the main control unit of machine, and main control unit enters wait state at this time, horizontal Turntable persistently rotates, when turn to the first magnetic coding chip pass through the position that is generated with trigger signal from nearest magnetic to pole When line of demarcation, the first magnetic coding chip exports a collating pulse, at this point, Zero positioning module calibration current location is horizontal turns The initial zero position of platform.
Acquisition module, for acquiring the first step counting pulse information of the first magnetic coding chip feedback;Specifically, when level turns When platform rotates, acquisition module starts and acquires the first step counting pulse information of the first magnetic coding chip feedback;
Conversion module, for the first step counting pulse information to be converted to the rotation information of horizontal revolving stage.Wherein, horizontal revolving stage Rotation information be rotational angle, also may include slewing rate.It is according to the rotational angle determined level turntable of horizontal revolving stage It is no to turn to predeterminated position, if horizontal revolving stage rotate in place, stop operating;If horizontal revolving stage is not rotated to position, Horizontal revolving stage is continued to rotate, to realize the precise positioning of horizontal revolving stage.
The localization method and system of the present embodiment holder, optocoupler only plays coarse positioning function, eventually with collating pulse As accurate positioning, so that the Zero positioning of horizontal revolving stage is more accurate, meanwhile, the positioning of subsequent horizontal revolving stage is also more smart Really.
As a preferred embodiment, step S52 and/or S55 can be omitted in embodiment six, i.e., in the positioning mechanism of holder First position detection sensor can be omitted and/or second position sensor can be omitted, i.e. horizontal revolving stage and/or sphere When Zero positioning directly passes through corresponding magnetic coding chip output collating pulse, calibration current location is horizontal revolving stage and/or ball The initial zero position of body;But simple positioning can be only realized to the position of holder, cannot achieve power on restart rear horizontal revolving stage and/ Or sphere presetting bit re-calls.
In addition, the present invention also provides a kind of video cameras, including:The positioning mechanism of holder described in any embodiment as above, And/or the as above localization method of holder described in any embodiment, and/or the as above positioning system of holder described in any embodiment System.Similarly, the technology that also there is video camera of the invention the positioning mechanism, localization method and positioning system of above-mentioned holder to have Effect.
It should be noted that above-described embodiment can be freely combined as needed.The above is only to of the invention excellent Embodiment and principle is selected to be described in detail, for those of ordinary skill in the art, the thought provided according to the present invention, It will change in specific embodiment, and these changes should also be regarded as the scope of the invention.

Claims (17)

1. a kind of positioning mechanism of holder, the holder includes main part and is rotatably assorted in the first rotation section of main part, It is characterized in that, the positioning mechanism includes the first magnet ring and the first magnetic coding chip, first magnet ring and the first magnetic are encoded Chip is opposite be installed on main part with the first rotation section or first magnet ring are opposite with the first magnetic coding chip is installed on first Rotation section and main part;First magnet ring and the first magnetic coding chip eccentric setting;When the first rotation section is in rotary state, First magnet ring and the first magnetic coding chip relatively rotate, and the first magnetic coding chip incudes the rotation of the first magnet ring to obtain Take the rotation information of the first rotation section.
2. a kind of positioning mechanism of holder according to claim 1, which is characterized in that the positioning mechanism further includes first Position-detection sensor, the first position detection sensor include that the first trigger member and first are triggered part, first touching Outbox is triggered with first, and part is opposite to be installed on main part and the first rotation section or first trigger member and is triggered part with first It is opposite to be installed on the first rotation section and main part.
3. a kind of positioning mechanism of holder according to claim 2, which is characterized in that described first is triggered part as light Coupling, Hall switch or mechanical limit switch;Accordingly, first trigger member is optocoupler baffle, magnetic baffle or limit baffle.
4. a kind of positioning mechanism of holder according to claim 1, which is characterized in that first magnet ring is installed on main body The end in portion;Correspondingly, the first magnetic coding chip is installed on an actuator so that the first magnetic coding chip and the first magnet ring Marginal gap cooperation, the actuator is installed on the first rotation section.
5. a kind of positioning mechanism of holder according to claim 4, which is characterized in that the middle part of the end of the main part With outlet hole.
6. a kind of positioning mechanism of holder according to claim 1, which is characterized in that first rotation section is equipped with electricity Machine, motor have the first synchronizing wheel;The main part has the second synchronizing wheel;First synchronizing wheel is engaged with the second synchronizing wheel Or pass through a toothed belt transmission.
7. a kind of positioning mechanism of holder according to claim 1-6, which is characterized in that the holder further includes It is rotatably assorted in the second rotation section of the first rotation section, second rotation section is rotationally connected with the first rotation by a shaft Portion;The positioning mechanism further includes the second magnet ring and the second magnetic coding chip, second magnet ring and the second magnetic coding chip phase To be installed on the first rotation section with shaft or second magnet ring are opposite with the second magnetic coding chip is installed on shaft and first turn Dynamic portion;Second magnet ring and the second magnetic coding chip eccentric setting;When the second rotation section is in rotary state, second magnetic Ring and the second magnetic coding chip relatively rotate, and the second magnetic coding chip incudes the rotation of the second magnet ring to obtain the second rotation The rotation information in portion.
8. a kind of positioning mechanism of holder according to claim 7, which is characterized in that the positioning mechanism further includes second Position-detection sensor, the second position detection sensor include that the second trigger member and second are triggered part, second touching Outbox is triggered with second, and part is opposite to be installed on shaft and the first rotation section or second trigger member and is triggered part phase with second To being installed on the first rotation section and shaft.
9. a kind of localization method of holder, special applied to the positioning mechanism of the holder as described in claim 1 or 4 or 5 or 6 Sign is, includes the following steps:
S1, the first rotation section Zero positioning;
The first step counting pulse information of S2, acquisition the first magnetic coding chip feedback, obtain first according to the first step counting pulse information The rotation information of rotation section.
10. a kind of localization method of holder according to claim 9, which is characterized in that the step S1 includes following step Suddenly:
S11, the rotation of the first rotation section of starting;
S12, when the first magnetic coding chip export collating pulse when, calibration current location be the first rotation section initial zero position.
11. a kind of localization method of holder according to claim 10, which is characterized in that when the positioning mechanism includes the One position-detection sensor, the first position detection sensor include that the first trigger member and first are triggered part, and described first Trigger member is triggered with first, and part is opposite to be installed on main part and is triggered with the first rotation section or first trigger member with first Part is opposite to be installed on the first rotation section and main part;Correspondingly, include between the step S11 and S12:First is obtained to be triggered Then the position of first rotation section when part is triggered by the first trigger member waits the first magnetic coding chip to export collating pulse.
12. according to a kind of described in any item localization methods of holder of claim 9-11, which is characterized in that when the holder packet It includes and is rotatably assorted in the second rotation section of the first rotation section, second rotation section is rotationally connected with the first rotation by a shaft Portion;The positioning mechanism includes the second magnet ring and the second magnetic coding chip, and second magnet ring is opposite with the second magnetic coding chip It is installed on the first rotation section and is rotated with shaft or second magnet ring with the second magnetic coding chip relative to shaft and first is installed on Portion;Second magnet ring and the second magnetic coding chip eccentric setting;When the second rotation section is in rotary state, second magnet ring It is relatively rotated with the second magnetic coding chip, the second magnetic coding chip incudes the rotation of the second magnet ring to obtain the second rotation section Rotation information;Correspondingly, the step S1 further includes:The Zero positioning of second rotation section;The step S2 further includes:Acquisition Second step counting pulse information of the second magnetic coding chip feedback, the rotation of the second rotation section is obtained according to the second step counting pulse information Information.
13. a kind of localization method of holder according to claim 12, which is characterized in that the zero-bit of second rotation section Calibration, includes the following steps:
S110, the rotation of the second rotation section of starting;
S120, when the second magnetic coding chip export collating pulse when, calibration current location be the second rotation section initial zero position.
14. a kind of localization method of holder according to claim 13, which is characterized in that when the positioning mechanism includes the Two position-detection sensors, the second position detection sensor include that the second trigger member and second are triggered part, and described second Trigger member is triggered with second, and part is opposite to be installed on shaft and the first rotation section or second trigger member and is triggered part with second It is opposite to be installed on the first rotation section and shaft;Correspondingly, include between the step S110 and S120:Second is obtained to be triggered part The position of second rotation section when being triggered by the second trigger member, then waits the second magnetic coding chip to export collating pulse.
15. a kind of positioning system of holder, which is characterized in that including:
Zero positioning module, the Zero positioning for the first rotation section;
Acquisition module, for acquiring the first step counting pulse information of the first magnetic coding chip feedback;
Conversion module, for the first step counting pulse information to be converted to the rotation information of the first rotation section.
16. a kind of positioning system of holder according to claim 15, which is characterized in that
The Zero positioning module is also used to the Zero positioning of the second rotation section;
The acquisition module is also used to acquire the second step counting pulse information of the second magnetic coding chip feedback;
The conversion module is also used to be converted to the second step counting pulse information the rotation information of the second rotation section.
17. a kind of video camera, which is characterized in that including:
Such as the positioning mechanism of the described in any item holders of claim 1-8;
And/or the localization method such as the described in any item holders of claim 9-14;
And/or the positioning system of the holder as described in claim 15 or 16.
CN201810563356.4A 2018-06-04 2018-06-04 A kind of positioning mechanism of holder, localization method, positioning system and video camera Pending CN108873946A (en)

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