CN114649909A - Driving device, camera device and electronic equipment - Google Patents

Driving device, camera device and electronic equipment Download PDF

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Publication number
CN114649909A
CN114649909A CN202011510335.XA CN202011510335A CN114649909A CN 114649909 A CN114649909 A CN 114649909A CN 202011510335 A CN202011510335 A CN 202011510335A CN 114649909 A CN114649909 A CN 114649909A
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China
Prior art keywords
driving device
driving
rotor
hall
signal
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CN202011510335.XA
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Chinese (zh)
Inventor
张杨
李铁链
周杨
王厚新
刘进
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN202011510335.XA priority Critical patent/CN114649909A/en
Publication of CN114649909A publication Critical patent/CN114649909A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/53—Constructional details of electronic viewfinders, e.g. rotatable or detachable
    • H04N23/531—Constructional details of electronic viewfinders, e.g. rotatable or detachable being rotatable or detachable
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The application relates to a driving device, a camera device and electronic equipment, wherein the driving device comprises a stator, a rotor, a circuit board and a chip system for collecting information of Hall elements of the circuit board, a magnetic part comprises a plurality of magnetic sections, the magnetic poles of the adjacent magnetic sections are opposite, each Hall element comprises a first Hall element and a second Hall element, in the projection range of the driving device along the height direction of the driving device, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic part is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic part is L2, a preset included angle is formed between LI and L2, and the degree of the included angle is 90/P + (360/P) × n. Through the design, the parts required by the driving device can be reduced, the cost is reduced, and the practical use requirement is met.

Description

Driving device, camera device and electronic equipment
Technical Field
The present application relates to the field of driving device technologies, and in particular, to a driving device, a camera device, and an electronic apparatus.
Background
Along with the development of the science and technology level, the application of the camera is also more and more extensive, the camera can rotate to monitor different regions, in the process of controlling the motion of the camera, the processor needs to acquire the current position of the camera, so as to control the motion of the camera, and the camera can move to a specified position. In this manner, since a plurality of different detection members are required, the structure of the camera is complicated, and therefore, it is necessary to provide a new driving device.
Disclosure of Invention
The application provides a driving device, a camera device and an electronic device, which are used for providing a new driving device.
The embodiment of the application provides a driving device, the driving device includes a stator installed on a housing, a rotor and a circuit board installed on a connecting part, and a chip system used for collecting information of hall elements of the circuit board, the magnetic part includes a plurality of magnetic segments, the magnetic poles of adjacent magnetic segments are opposite, the hall elements include a first hall element and a second hall element, in the projection range of the driving device along the height direction of the driving device, the direction from the projection range of the first hall element to the center of the projection range of the magnetic part is L1, the direction from the projection range of the second hall element to the center of the projection range of the magnetic part is L2, a preset included angle is formed between LI and L2, and the degree of the included angle is 90/P + (360/P) × n.
The chip system can calculate the rotation angle of the driving device by collecting the information of the first Hall element and the second Hall element and processing the collected information, so that the rotation angle of the object to be driven by the driving device can be obtained.
In one possible embodiment, the stator is an annular magnetic component, the rotor is a metal component, and the stator is sleeved outside the rotor.
Through the design, the rotor can be driven to rotate relative to the stator in an electromagnetic driving mode, the friction force between the rotor and the stator can be reduced, the resistance received when the rotor moves is reduced, and the driving force of the driving device is improved.
In one possible embodiment, the rotor has a toothing, by means of which the windings are arranged on the rotor.
The arrangement of the windings on the rotor can be facilitated by such a design.
In one possible embodiment, the tooth structure is a constant tooth width tooth structure.
The design can make the arrangement of the winding more uniform, thereby making the driving device output driving force more stably.
In one possible embodiment, the windings may be arranged in parallel or in series.
The specific arrangement mode of the windings can be selected according to actual requirements.
In a possible embodiment, the connecting part may be a hollow structure, and the cable passes through the through hole of the connecting part to be connected with the circuit board and can rotate with the circuit board.
The possibility of the cable winding during the movement of the drive device can be reduced by such a design.
In a possible embodiment, when the rotation speed of the driving device is less than 10% of the maximum rotation speed, the chip system calculates the rotation angle of the driving device in an arctangent mode, specifically: thetaarc＝arc(Va/Vb)。
In one possible embodiment, when the rotation speed of the driving device is greater than 50% of the maximum rotation speed, the chip system calculates the rotation angle of the driving device by using a quadrature phase-locked loop mode.
In a possible embodiment, when the rotation speed of the driving device is greater than or equal to 10% of the maximum rotation speed thereof and less than or equal to 50% of the maximum rotation speed thereof, the chip system calculates the rotation angle of the driving device by adopting an angular speed fusion method, specifically: θ ═ f (ω) θarc+(1-f(ω))θpll。
Through the design, the position detection precision of the chip system to the rotor rotation angle of the driving device can be improved, so that the chip system can more accurately know the current position of the rotor, and the current position of the object to be driven is obtained.
In one possible embodiment, the chip system further includes an offline calibration procedure, and the offline calibration procedure of the chip system includes: the driving device drives the part to be driven to rotate for a circle, and in the movement process of the driving part, the chip system enters a Hall signal correction mode and acquires a direct current offset value of a Hall signal. In the normal working process of the driving device, the chip system samples the Hall signal again in the pulse width modulation carrier period, and judges whether the new sampling signal exceeds the amplitude limit value, namely whether the sampled Hall signal is positioned in an interval formed by the maximum value and the minimum value of the Hall signal in an electric period. If the sampling signal exceeds the interval, the chip system corrects the amplitude of the sampling signal (when the sampling signal is greater than the maximum value, the maximum value of the interval is taken, and when the sampling signal is less than the minimum value, the minimum value of the interval is taken). And if the sampling signal does not exceed the amplitude limit value, the chip system directly enters a step of correcting the direct current offset value and the phase difference of the Hall signal. And after the chip system finishes the step of correcting the direct current offset value and the phase difference of the Hall signal, the chip system carries out position calculation on the rotor. After the chip system finishes the step of calculating the position of the rotor, when the working time of the driving device is not finished, and after the chip system receives a stop command (namely the camera assembly reaches the designated position), the chip system finishes the off-line correction program. When the working time of the driving device is not finished and the chip system does not receive the stop command, the control program of the chip system returns to the step of sampling the Hall signal in the pulse width modulation carrier period, the chip system continues to run the program, and at the moment, the camera assembly is in a motion state until the chip system receives the stop command (namely, the camera assembly reaches the designated position). When the working time of the driving device is over and the chip system does not receive the stop command, the camera assembly does not reach the designated position at the moment, the control program of the chip system returns to the starting stage, the driving device carries out open-loop operation again, and the chip system enters a Hall signal correction mode until the chip system receives the stop command (namely the camera assembly reaches the designated position). When the chip system runs the off-line correction program (i.e. the chip system receives a shutdown command), the chip system stores the off-line correction parameters.
In this way, the accuracy of the position detection of the chip system for the rotor can be improved.
In one possible embodiment, the chip system further comprises an online calibration program. The online correction program includes: after the off-line correction is completed, the driving device drives the object to be driven to move to a preset position or move at a preset speed for a preset time. And in the process of driving the object to be driven to move by the driving device, the driving device enters a closed-loop driving mode and samples in a pulse width modulation carrier period. When the control time does not reach the correction period or the driving device does not rotate for a complete mechanical period, the online correction program controls the driving device to enter a closed-loop driving mode again; when the control time reaches the correction period and the driving device completes a complete mechanical period in rotation, the chip system performs direct current deviation value and phase deviation correction and updates the correction parameters, at this time, if a shutdown command is received, the on-line correction procedure is ended, and if the shutdown command is not received, the chip system controls the driving device to enter a closed-loop driving mode again.
The online correction program can update the parameters of the chip system in real time, and the influence of external factors on detection is reduced, so that the precision of the detection result is improved.
The second aspect of the application provides a driving device, driving device is including installing in the stator of casing, install in the rotor and the circuit board of adapting unit, and be used for gathering the chip system of the hall element' S of circuit board information, magnetic part includes the magnetic section of 19N poles and the magnetic section of 19S poles, the magnetic pole of adjacent magnetic section is opposite, hall element includes first hall element and second hall element, in the projection of the direction of height along driving device, the direction of first hall element to magnetic part center has predetermined contained angle with the direction of second hall element to magnetic part center, the degree of contained angle is 4.737, the winding sets up in the rotor through the teeth of a cogwheel structure of rotor. The chip system comprises an online correction program and an offline correction program.
A third aspect of the present application provides a camera device, which includes a camera assembly and a driving device for driving the camera assembly to rotate, wherein the driving device may be the driving device referred to in any one of the above.
Through the design, the movement precision of the camera assembly can be improved, the position of the camera assembly can be conveniently detected, meanwhile, the cost can be reduced, and the practical use requirement is met.
In a possible embodiment, the camera device comprises a plurality of driving devices, each driving device being adapted to drive the camera assembly in rotation in a different direction.
Through such design can make camera subassembly rotate to different positions, shoot different angles, accord with actual user demand more.
In one possible embodiment, the camera device comprises a first drive for driving the camera assembly around a vertical direction and a second drive for driving the camera assembly around a horizontal direction.
Through the design, the camera assembly can be rotated to different positions, and a wide shooting angle is achieved.
A fourth aspect of the present application provides an electronic device, wherein the electronic device may be a dome camera or a panoramic camera or the like.
The electronic equipment that this application provided has the rotational speed advantage fast, that the noise is less, accords with actual user demand more.
The application relates to a driving device, a camera device and electronic equipment, wherein the driving device comprises a stator, a rotor, a circuit board and a chip system for collecting information of Hall elements of the circuit board, a magnetic part comprises a plurality of magnetic sections, the magnetic poles of the adjacent magnetic sections are opposite, each Hall element comprises a first Hall element and a second Hall element, in the projection range of the driving device along the height direction of the driving device, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic part is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic part is L2, a preset included angle is formed between LI and L2, and the degree of the included angle is 90/P + (360/P) × n. Through the design, the parts required by the driving device can be reduced, the cost is reduced, and the practical use requirement is met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
Fig. 1 is a schematic structural diagram of a camera device according to an embodiment of the present application;
fig. 2 is an exploded view of a driving device provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a projection position of a stator and a hall element according to an embodiment of the present disclosure;
FIG. 4 is a function of the rotational speed ω provided by the embodiments of the present application;
FIG. 5 is a flow chart of an offline calibration provided by an embodiment of the present application;
FIG. 6 is a waveform diagram of a Hall element signal provided by an embodiment of the present application;
FIG. 7 is a rotor position solution flow chart provided by an embodiment of the present application;
fig. 8 is a calculation formula of orthogonal signals provided in the embodiment of the present application;
FIG. 9 is a flow chart of online correction provided by an embodiment of the present application;
fig. 10 is a schematic structural diagram of a driving device according to an embodiment of the present application;
fig. 11 is an angle simulation diagram of a driving device according to an embodiment of the present application;
FIG. 12 is a schematic view illustrating the rotation speed of a driving device according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a first driving device according to an embodiment of the present disclosure;
fig. 14 is a schematic internal structural diagram of a camera device according to an embodiment of the present application;
fig. 15 is a schematic structural diagram of a second driving device according to an embodiment of the present application.
Reference numerals:
1-a shell;
2-driving device, 21-stator, 211-magnetic segment, 22-rotor, 221-gear tooth structure, 23-circuit board, 24-Hall element, 25-rotating part, 26-connecting part;
3-a first driving device, 31-a first stator, 32-a first rotor, 33-a first circuit board, 34-a third hall element, 35-a fourth hall element;
4-a second driving device, 41-a second stator, 42-a second rotor, 43-a second circuit board, 44-a fifth Hall element, 45-a sixth Hall element;
5-cable.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Detailed Description
For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.
In one embodiment, the present application is described in further detail below with reference to specific embodiments and accompanying drawings.
Along with the development of science and technology level, the camera has become common supervisory equipment, along with the range of application of camera is wider and wider, because the angle that fixed camera covered is single, can not satisfy people's demand already, consequently, can move the camera in order to change irradiation angle, for example spherical camera that can rotate has replaced fixed camera gradually.
In the process of camera rotation, the current position of the camera needs to be acquired, under normal conditions, a plurality of position detection components such as an accelerometer, a gyroscope and an attitude angle sensor are arranged inside the camera, and in the working process of the camera, the position detection components such as the accelerometer, the gyroscope and the attitude angle sensor detect the position data of the camera to form a data feedback chain. The processor collects the detection data of each position detection component, and calculates the current position of the camera through an internal operation program.
However, when the position of the camera is calculated in such a manner, the data of each position detection unit needs to be integrated for calculation, and when any one or more of the position detection units fails, the data feedback chain cannot work normally, so that the processor cannot calculate the current position of the camera. In addition, such a mode needs to install a plurality of position detection components at the camera, occupies the inner space of camera, leads to the volume increase of camera, and simultaneously, position detection device such as gyroscope is with higher costs, very big increase the whole cost of camera.
In view of this, an embodiment of the present application provides a camera device, which is used to provide a new scheme for detecting a position of a camera, so that not only can the position detection precision of the camera device be improved, but also the motion precision of the camera can be improved, the structure of the camera is simplified, and the cost is reduced.
As shown in fig. 1, the present embodiment provides a camera device, which includes a housing 1, a camera assembly for collecting video information, and a driving device 2 for driving the camera assembly to rotate relative to the housing 1. The camera device can comprise a plurality of driving devices 2, and each driving device 2 respectively drives the camera assembly to move along different directions so as to drive the camera assembly to rotate to different positions, so that the camera assembly collects video information from different positions.
As shown in fig. 2, in one possible embodiment, the drive device 2 comprises a stator 21, a rotor 22 and a circuit board 23. Either one of the stator 21 and the rotor 22 is a magnetic component, and the other one is an energizing conductor, in a specific embodiment, the stator 21 is a magnetic component, the rotor 22 can be a metal component, and the rotor 22 is provided with a winding, when current passes through the winding, the winding is acted by ampere force under the action of a magnetic field of the magnetic component, and the rotor 22 can rotate relative to the stator 21 under the drive of the ampere force, so that the rotor can drive the object to be driven to rotate. Specifically, the circuit board 23 is rotatable with the rotor 22 relative to the stator 21. The circuit board 23 may be provided with at least two hall elements 24, and since one hall element 24 is required as a reference in calculating the position of the camera assembly by the processor, at least two hall elements 24 are required to be able to calculate the current position of the camera. The hall element 24 can be used to collect the position information of the circuit board 23 and send the data to a processor, which may be installed in the driving device 2 or in an apparatus having the driving device 2. The processor processes the information collected by the hall element 24 to obtain the rotation angle of the circuit board 23, so that the rotation angle of the rotor 22 can be known, the rotation angle of the object to be driven can be calculated according to the rotation angle of the rotor 22, and the current position of the object to be driven can be known.
As shown in fig. 2, in a possible embodiment, when the driving device 2 is applied to a camera device, the driving device 2 may further generally include a connecting part 26 and a rotating part 25 for easy installation, and the rotating part 25 may be a rotating part such as a bearing. Specifically, the driving device 2 may be fixedly connected to the housing 1 through the connecting component 26, and the rotating component 25 may enable at least a portion (the rotor 22, the circuit board 23, and the like) of the driving device 2 to rotate relative to the housing 1, so as to further facilitate the driving device 2 to drive the camera assembly to rotate relative to the housing 1, so as to enable the camera assembly to reach a preset position.
In one possible embodiment, as shown in fig. 3, the stator 21 is a magnetic ring, and the magnetic ring is sleeved outside the rotor 22. The magnetic ring includes a plurality of magnetic sections 211, the plurality of magnetic sections 211 are connected to each other to form the magnetic ring, and the magnetic pole of each magnetic section 211 is the magnetic pole of one side of each magnetic section 211 facing the rotor 22. As shown in fig. 3, in a possible embodiment, the direction shown by the arrow is the magnetic induction line direction of the corresponding magnetic section 211, the side of the magnetic section 211 facing the rotor 22 (i.e. the inner side of the magnetic ring) is the S pole, and the side away from the rotor 22 (i.e. the outer side of the magnetic ring) is the N pole, so the magnetic pole of the magnetic section 211 in the magnetic ring can be defined as the S pole. As shown in fig. 3, the magnetic poles of the adjacent magnetic segments 211 are opposite, and in general, the number of the magnetic segments 211 of the S pole is equal to the number of the magnetic segments 211 of the N pole, so that the magnetic poles of the adjacent magnetic segments 211 in the magnetic ring can be opposite. The hall elements 24 include a first hall element and a second hall element, in the projection along the height direction of the camera device, the direction from the projection range of the first hall element to the center of the projection range of the magnetic ring is L1, the direction from the projection range of the second hall element to the center of the projection range of the magnetic ring is L2, the included angle between L1 and L2 is α, where α is 90/P + (360/P) × N, where P is the number of the magnetic segments 211 of the S pole or the number of the magnetic segments 211 of the N pole. n may be 0 or a positive integer, which represents a multiplication number.
The closer the output angle of the driving device 2 and the actual rotation angle of the driving device 2 are to each other, the higher the accuracy of the driving device 2, and when the angle between L1 and L2 satisfies α being 90/P + (360/P) × n, the closer the output angle of the driving device 2 and the actual rotation angle of the driving device 2 are to each other.
In one possible embodiment, as shown in fig. 3, the magnetic ring includes 19 pairs of magnetic segments 211, that is, the magnetic ring has 19N-pole magnetic segments 211 and 19S-pole magnetic segments 211, the position of one of the hall elements 24 is preset, P is 19, N is 0, and then the included angle α is 90/19+ (360/19) ≈ 0 4.737 °, and during machining, a worker may determine the position of the other hall element 24 according to the size of the included angle α. The processor can select and detect the information of the two hall elements 24 (in this embodiment, the two hall elements 24 with the included angle of 4.737 °) meeting the conditions, and the processor is programmed to calculate the current position of the camera head assembly.
When the two hall elements 24 are disposed on the circuit board 23 in the above manner, the processor can calculate the position of the rotor according to the information of the hall elements 24, so that the processor can calculate the current position of the object to be driven.
The embodiment of the application further provides a chip system, the chip system can be arranged on the processor of the driving device 2, and the chip system is used for collecting the data of the hall element 24 and processing the data of the hall element 24 through a program which is input into the chip system in advance, so that the processor can obtain the position of an object to be driven.
When the rotation speed of the driving device 2 is lower than 10% of the maximum rotation speed thereof, the chip system obtains the rotation angle of the circuit board 23 by using the arctangent calculation. When the rotation speed of the driving device 2 is higher than 50% of the maximum rotation speed, the chip system adopts the orthogonal phase-locked loop to calculate and obtain the rotation angle of the circuit board 23.
The fusion formula of angular velocities is: θ ═ f (ω) θarc+(1-f(ω))θpll。
Where f (ω) is a function of the speed of rotation ω, with the specific function being shown in FIG. 4, θarcFor the angle, θ, obtained by the processor by means of an arctangent calculationpllThe angle calculated by the processor through the orthogonal phase-locked loop is theta, and theta is the angle fused by adopting the formula.
When the rotating speed of the driving device 2 is between 10% and 50% of the maximum rotating speed of the driving device, the processor performs fusion calculation on the angle obtained by the arc tangent calculation and the angle obtained by the orthogonal phase-locked loop calculation through the angle fusion formula to obtain the rotating angle of the circuit board 23 at the current rotating speed, so that the angle of the rotor 22 is obtained according to the rotating angle of the circuit board 23, and the processor can obtain the current position of the camera assembly.
When the rotation speed of the driving device 2 is 10% to 50% of the maximum rotation speed, the processor can calculate the angle of the circuit board 23 through the formula, and further can know the rotation angle of the object to be driven and obtain the current position of the object to be driven.
The processor can perform off-line correction and on-line correction on the hall signal, as shown in fig. 5, the specific steps of the off-line correction of the processor are as follows:
user control system power-on to make 2 work of drive arrangement, give the instruction through the treater, make 2 drive camera subassemblies of drive arrangement rotate a week, 2 open-loop operation of drive arrangement, the treater gets into hall signal correction mode, and the user can predetermine drive arrangement 2 operating time.
The hall signal is sampled by the processor, and the waveform diagram of the hall signal is shown in fig. 6, where the ordinate is a voltage value and the abscissa is a sampling point, for example, 1 can be understood as a first sampling point, and 19 can be understood as a 19 th sampling point, a user can preset a plurality of sampling points in a period of a sine wave signal, the processor can measure the voltage value of each sampling point, that is, during the rotation of the driving device 2, the processor measures the voltage value of the hall element 24 at different positions, that is, the processor can obtain the waveform diagram of the hall signal, CH1 represents a channel one of the oscilloscope, that is, the waveform diagram shown in fig. 6 is the waveform diagram of one of the hall elements 24 of the driving device 2 (the waveform diagrams of the other hall elements 24 are shown by other channels, which are not shown in the figure). The processor respectively obtains the maximum value and the minimum value of the Hall signal of the Hall element A and the maximum value and the minimum value of the Hall signal of the Hall element B by comparing the Hall signal of each electric period.
During the process of one rotation of the camera assembly, the data calculated by the processor comprises the direct current offset value OffsetA and OffsetB of the Hall signal, the amplitude conversion coefficient K of the Hall signal and the phase difference phi in each electrical cycle. After obtaining above data, drive arrangement 2 can drive camera subassembly and move to predetermined position, or drive arrangement 2 can drive camera subassembly and rotate predetermined time with predetermined speed to make camera subassembly reach the assigned position, the camera device gets into normal operating condition promptly, and the user can pass through drive arrangement 2 drive camera subassembly and reach the assigned position as required.
In the normal working process of the camera device, in a Pulse Width Modulation (PWM) carrier period, the processor samples the hall signal again, and determines whether a new sampling signal exceeds a limit amplitude value, that is, whether the sampled hall signal is located in an interval formed by a maximum value and a minimum value of the hall signal in one electrical period. If the sampling signal exceeds the interval, the processor performs amplitude correction on the sampling signal (when the sampling signal is greater than the maximum value, the maximum value of the interval is taken, and when the sampling signal is less than the minimum value, the minimum value of the interval is taken), and after correction, the processor corrects the direct current offset value and the phase difference. If the sampled signal does not exceed the threshold, the processor proceeds directly to the step of correcting the DC offset value and phase difference of the Hall signal.
After the processor completes the steps of correcting the DC offset value and phase difference of the Hall signal, the processor performs position calculation on the rotor 22. After the processor completes the step of calculating the position of the rotor 22, when the operating time of the drive device 2 is not over, after the processor receives the stop command (i.e., the camera assembly reaches the designated position), the processor ends the off-line correction routine. When the working time of the driving device 2 is not finished and the processor does not receive the stop command, the processor controls the program to return to the step of sampling the hall signal in the PWM carrier period, and the processor continues to run the program, at this time, the camera assembly is in a motion state until the processor receives the stop command (that is, the camera assembly reaches a designated position). When the working time of the driving device 2 is over and the processor does not receive the stop command, the camera assembly does not reach the designated position at the moment, the processor control program returns to the starting stage, the driving device 2 carries out open-loop operation again, and the processor enters a Hall signal correction mode until the processor receives the stop command (namely the camera assembly reaches the designated position). When the processor runs the off-line calibration program (i.e. the processor receives a shutdown command), the processor stores the off-line calibration parameters.
In the normal operation process of the driving device 2, after the processor finishes the sampling of the hall signals and the correction of the direct current offset value and the phase difference of the hall signals, the processor performs position calculation on the rotor 22, so that the processor obtains the current position of the rotor 22, and the processor can obtain the rotation angle of the driving device 2.
When the camera device normally works, the processor performs a rotor 22 position calculation step, the rotor position calculation flow is shown in fig. 7, and is shown in the left part of Hall signal correction in fig. 7, and the online correction parameter search step performed by the processor includes a process of calculating a direct current offset value, a Hall signal amplitude value, an amplitude conversion coefficient K and a phase difference phi by the processor. Taking the hall element a as an example, the online correction parameter calculation formula is as follows:
during the movement of the camera assembly, the processor obtains the maximum value HallRawAMax and the minimum value HallRawAMin of the Hall signal of the Hall element A through the waveform diagram of the Hall signal.
The calculation of the direct current offset value Offseta of the Hall element A comprises the following steps:
OffsetA＝(HallRawAMax+HallRawAMin)/2。
the calculation steps of the Hall signal amplitude HallAAmp of the Hall element A are as follows:
HallAAmp＝HallRawAMax–HallRawAMin。
similarly, the processor can calculate the direct current offset value OffsetB and the Hall signal amplitude HallBAmp of the Hall element B.
The calculation formula of the amplitude conversion coefficient HallK is as follows: HallK is HallAAmp/HallBAmp.
The calculation formula of the phase difference is as follows: phi is T/T 02 pi, wherein, T0T is the time during which the hall signal of the hall element a leads the hall signal of the hall element B, which is the period of the hall signal.
HalRawA and HalRawB are sampling values of Hall signals, and calculation formulas of the orthogonal signals HallA and HallB are shown in FIG. 8.
As shown in fig. 7 (right part of Hall signal correction), when the processor calculates the angle value of the quadrature phase-locked loop, the user can preset the initial angle value θpllThe processor compares the hall B with the cos θpllProduct of subtracting hallA and sin thetapllThe angular speed error signal delta omega is obtained by substituting the angular speed error signal delta omega into the adjuster PI by the processor, and the specific calculation process is as follows: Δ ω ═ Kp ∈ (t) + Ki ═ ∈ (t) dt, where Kp is the proportionality coefficient and Ki is the productAnd (4) dividing coefficient. The processor further uses the delta omega and the initial value omega of the Hall signal angular speed0Adding to obtain real-time Hall signal angular velocity value omega ', and integrating omega' by processor to obtain new thetapllI.e. the value of the quadrature phase-locked loop angle, theta is used in the calculation process when the processor performs the next calculationpllTheta calculated for the last timepll。
The calculation process of the processor arctangent angle value is arc (V)a/Vb) Wherein V isaIs the voltage value, V, of the Hall element AbIs the voltage value of the hall element B.
Through the above calculation, the processor can obtain thetapllAnd thetaarcAnd the two are substituted into the angular velocity fusion formula, so that the processor can obtain the fused angle theta, namely the rotating angle of the driving device 2 under the condition that the rotating speed of the driving device 2 is 10% -50% of the maximum rotating speed, and the processor can further obtain the rotating angle of the driving device 2 for driving the camera assembly, so that the processor can obtain the current position of the camera assembly.
As shown in fig. 9, the on-line calibration of the processor comprises the following specific steps: the user control system is powered on, the processor runs the off-line correction step, after the off-line correction step is completed by the processor, the driving device 2 enters the closed-loop driving mode, at this time, the camera device is in a normal working state, namely, the driving device 2 can drive the camera assembly to reach an appointed position, or the driving device 2 drives the camera assembly to move at a preset speed for a preset time.
During the process that the driving device 2 drives the camera assembly to move, the processor samples the Hall signals in the PWM carrier wave period.
The calibration period T may be preset by a user, for example, T may be one hour, two hours, etc., and the user may select a specific value of T according to actual conditions. When the control time reaches the correction period T and the drive means 2 completes a complete mechanical cycle (typically 360 deg. of rotation), the processor corrects the dc offset value and the phase difference of the hall signal. If the control time does not reach the calibration period and/or the drive 2 is not rotated for a complete mechanical period, the processor control program returns to the start phase and the drive 2 re-enters the closed-loop drive mode. If the control time reaches the calibration period and the drive means 2 is rotated for a complete mechanical period, the processor control program proceeds to the next step.
The processor performs DC offset value and phase difference correction, and updates the correction parameters. After the processor has updated the correction parameters, if the processor has not received a stop command, the processor control program returns to the start phase and the drive 2 re-enters the closed loop drive mode. If the processor receives a stop command, the processor ends the program and the drive means 2 stops driving the camera assembly.
By the method, the processor can update the correction parameters of the driving device 2, the driving device 2 provided by the embodiment of the application can perform offline correction and online correction on the driving device 2 through the processor, and the processor can improve the correction precision of the driving device 2 through online correction, so that the position precision of the driving device 2 is improved. Meanwhile, the online correction of the processor can also compensate the correction parameters of the driving device 2 in real time, and the influence of external factors on the motion precision of the driving device 2 is reduced. For example, when the external temperature changes, the temperature is likely to affect the motion accuracy of the driving device 2, and at this time, the driving device 2 may be corrected at any time by the online correction program of the processor, so as to reduce the effect of the temperature on the motion accuracy of the driving device 2 and improve the motion accuracy of the driving device 2.
In one possible embodiment, as shown in fig. 10, the stator 21 is a magnetic ring, the rotor 22 is a metal part, and the rotor 22 is provided with a gear tooth structure 221, by providing the gear tooth structure 221 on the rotor 22, the winding of the device on the rotor 22 can be facilitated.
In one possible embodiment, the gear tooth structure 221 of the rotor 22 is a constant gear width gear tooth structure 221.
Such a design enables a more uniform distribution of the windings and improves the stability of the windings to the drive of the rotor 22 when subjected to an ampere force.
The windings may be wound around the rotor 22 in parallel or in series, and the winding may be selected according to actual conditions.
As shown in fig. 10, in one possible embodiment, the camera device may have a connection part 26, specifically, the connection part 26 may be a connection shaft, the connection shaft may be disposed along a height direction of the camera assembly, the rotation part 25 is sleeved outside the connection shaft, the rotor 22 and the circuit board 23 are respectively connected to the connection shaft through the rotation part 25, the rotation part 25 may be a bearing, and the rotor 22 and the circuit board 23 may rotate around the connection shaft.
Through the design, the rotor 22 and the circuit board 23 can rotate relative to the shell 1 conveniently, the rotor 22 and the circuit board 23 are mounted on the connecting shaft through bearings, abrasion of the rotor 22 and the circuit board 23 in the rotating process can be reduced, and the service life of the rotor 22 and the service life of the circuit board 23 are prolonged.
The driving device 2 provided by the embodiment of the application is driven in an electromagnetic mode, so that mutual contact between the stator 21 and the rotor 22 can be reduced, friction between the stator 21 and the rotor 22 in the movement process of the driving device 2 is reduced, abrasion of the stator 21 and the rotor 22 in the working process is reduced, and the service life of the motor is prolonged.
Compared with a traditional belt wheel transmission motor, the rotor 22 of the driving device 2 provided by the embodiment of the present application receives less resistance during movement, and therefore, the driving device 2 provided by the embodiment of the present application can provide a larger driving force and a higher rotation speed during operation, and through practical experiments, the rotation speed of the driving device 2 provided by the embodiment of the present application can reach 800 ° per second.
As shown in fig. 11, the attached drawing is a simulation schematic diagram of the driving device 2 provided in the embodiment of the present application, an abscissa of the drawing is time, and an ordinate of the drawing is a rotation angle, a positioning error of the driving device 2 provided in the embodiment of the present application is less than 0.1 °, and an angle steady-state fluctuation is less than 0.3 °, so that the positioning accuracy of the driving device 2 provided in the embodiment of the present application is higher, and the driving device better meets actual use requirements.
As shown in fig. 12, the figure is a schematic diagram of a driving device 2 provided in the embodiment of the present application, where the abscissa of the diagram is time and the ordinate of the diagram is a rotation speed, and the corresponding speed of the driving device 2 provided in the embodiment of the present application is faster than the corresponding speed of a driven pulley-driven motor, which is more suitable for practical use requirements.
The embodiment of the application provides a camera device, and in a possible implementation manner, the driving device 2 of the camera device may include a first driving device 3 and a second driving device 4, where the first driving device 3 is configured to drive the camera assembly to rotate around a height direction of the camera assembly, the second driving device 4 is configured to drive the camera assembly to rotate around a width direction of the camera assembly, and during a use process, the first driving device 3 and the second driving device 4 may cooperate to enable the camera assembly to rotate, so that the camera assembly can collect video information from different angles. The rotation direction of the driving device 2 for driving the camera assembly can be set according to practical situations, and the practical rotation direction of the camera assembly includes but is not limited to the above-mentioned direction.
It should be noted that the application field of the driving device 2 provided in the embodiment of the present application includes, but is not limited to, this camera device, and other devices that need to detect the position during the movement process can use the driving device 2 provided in the embodiment of the present application.
As shown in fig. 13, in one possible embodiment, the first driving device 3 may include a first rotor 32, a first stator 31, and a first circuit board 33, wherein the first circuit board 33 is provided with a third hall element 34 and a fourth hall element 35. The first stator 31 is fixedly connected to the housing 1, the first rotor 32 is mounted to the housing 1 via the rotating member 25 and can rotate relative to the first stator 31, and the first circuit board 33 can rotate with the first rotor 32. Specifically, one of the first stator 31 and the first rotor 32 is a magnetic member, and the other may be made of metal. In a possible embodiment, the first stator 31 is a magnetic component, the first rotor 32 is a metal component, the metal component is wound with a winding, and when a current passes through the winding, an ampere force is generated under the combined action of a magnetic field generated by the magnetic component and a current inside the winding, and the ampere force can drive the metal component (i.e., the first rotor 32) to rotate relative to the magnetic component (i.e., the first stator 31), so as to drive the camera head assembly to rotate. When the current position of the camera assembly needs to be detected, the data of the third Hall element 34 and the fourth Hall element 35 can be acquired, the data are sent to the processor, a corresponding program is recorded in the processor, and the current position of the camera assembly is calculated through the data of the third Hall element 34 and the fourth Hall element 35.
Because the first circuit board 33 rotates along with the first rotor 32, the third hall element 34 and the fourth hall element 35 can detect the rotation angle of the first circuit board 33 through the third hall element 34 and the fourth hall element 35, so that the rotation angle of the first rotor 32 can be known, the rotation angle of the camera assembly can be obtained according to the rotation angle of the first rotor 32, and then the current position of the camera assembly can be calculated by the processor. Compared with the scheme that the positions of the camera assembly are detected by adopting a plurality of detection components such as an accelerometer, a gyroscope, an attitude angle sensor and the like, the third Hall element 34 and the fourth Hall element 35 which are adopted in the embodiment of the application have the advantages of low cost and fewer components, and the size of 3 of the first driving device is reduced by the design, so that the internal space of the camera device can be saved, and the design is favorable for a designer to optimize the structure of the camera device so as to reduce the whole size of the camera device.
Specifically, the number of magnetic sections 211 of the magnetic ring is greater than the number of teeth of the first rotor 32.
When the number of the magnetic sections 211 of the magnetic ring is less than the number of the gear teeth, the first rotor 32 can only rotate in one direction, so that the first driving device 3 can only drive the camera head assembly to rotate in one direction, which is inconvenient for practical use.
As shown in fig. 14, in one possible embodiment, the connecting component 26 may be a connecting shaft, and in particular, the connecting shaft has a through hole, that is, the connecting shaft may be a hollow structure, and a cable (shown by a dotted line) of the camera device may pass through the hollow connecting shaft and enter the inside of the camera device. Specifically, the part of the cable is fixedly connected with the circuit board 23 relatively, when the driving device 2 drives the camera assembly to rotate, each cable rotates along with the circuit board 23, so that the possibility that the cables are wound around each other due to the fact that part of the cables rotate in the rotating process of the camera assembly and part of the cables do not rotate can be reduced, meanwhile, the relative movement between the circuit board 23 and the cables can be reduced, the abrasion of the cables is reduced, and the possibility that the cables are broken is reduced.
As shown in fig. 15, in one possible embodiment, the second driving device 4 includes a second stator 41, a second rotor 42, and a second circuit board 43, the second stator 41 is mounted to the housing 1 (the housing 1 shown in the figure is a part of the housing of the whole device), the second circuit board 43 and the second rotor 42 may be mounted to the housing 1 through the rotating member 25, and the second circuit board 43 can rotate with the second rotor 42 relative to the second stator 41. The second circuit board 43 is provided with a fifth hall element 44 and a sixth hall element 45, the fifth hall element 44 and the sixth hall element 45 are used for collecting position information of the second circuit board 43, the processor collects data of the fifth hall element 44 and the sixth hall element 45, and can calculate a rotation angle of the second circuit board 43 through a pre-recorded algorithm, so that the processor can obtain a rotation angle of the second rotor 42 according to the rotation angle of the second circuit board 43, and obtain a rotation angle of the second driving device 4 for driving the camera assembly according to the rotation angle of the second rotor 42, thereby obtaining the position information of the camera assembly.
The camera device may be provided with a plurality of driving devices 2, for example, the camera device may be provided with a first driving device 3 and a second driving device 4, and the first driving device 3 and the second driving device 4 may be respectively used for driving the camera assembly to rotate in different directions. In a possible implementation manner, the first driving device 3 may be configured to drive the camera assembly to rotate around the vertical direction, and the second driving device 4 may be configured to drive the camera assembly to rotate around the horizontal direction, which may be in cooperation with each other, so that the camera assembly can shoot from different angles, which is more suitable for actual use requirements. The camera device that this application embodiment provided gathers through the positional information that adopts hall element 24 to camera subassembly, can reduce position detection device's such as accelerometer, gyroscope use, has not only saved camera device's inner space, has still practiced thrift overall cost, accords with actual user demand more.
The embodiment of the present application further provides an electronic device, where the electronic device may include the camera apparatus in any of the above embodiments, the electronic device may be a monitoring device or a camera device for shooting an object to be shot, the electronic device may be a spherical camera, for example, a 7-inch spherical monitoring camera, or the electronic device may be a household panoramic monitoring device placed on a desktop, beside a television, or the like. It should be noted that the electronic devices provided in the embodiments of the present application include, but are not limited to, the above-mentioned embodiments, and other monitoring devices or image capturing devices with two degrees of freedom may all adopt the solutions provided in the embodiments of the present application.
It is noted that a portion of this patent application contains material which is subject to copyright protection. The copyright owner reserves the copyright rights whatsoever, except for making copies of the patent files or recorded patent document contents of the patent office.

Claims (40)

1. A drive device, characterized in that the drive device comprises:
a stator;
a rotor rotatable relative to the stator;
a circuit board provided with a first hall element and a second hall element;
the chip system is used for acquiring information of the first Hall element and the second Hall element;
the stator is sleeved with the rotor, one of the stator and the rotor is a magnetic part, the other of the stator and the rotor is a conductor part, the magnetic part comprises a plurality of magnetic sections, and the magnetic poles of the adjacent magnetic sections are opposite;
in the projection range of the driving device along the height direction of the driving device, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic part is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic part is L2, and a preset included angle is formed between LI and L2;
the degree of the included angle is 90/P + (360/P) × N, wherein P is the number of the magnetic segments of the S pole or the number of the magnetic segments of the N pole, N is 0 or a positive integer, and × represents a multiplication number.
2. The drive device according to claim 1, wherein the stator is the magnetic member, and the rotor is a metal member;
the stator is annular, and the stator cover is located the outside of rotor.
3. The drive of claim 2, wherein the rotor has a gear tooth structure for providing a winding.
4. The drive of claim 3, wherein the gear tooth structure is a constant tooth width gear tooth structure.
5. The drive of claim 3, wherein the windings are arranged in series or in parallel.
6. The drive device according to any one of claims 1 to 5, characterized in that the drive device further comprises a connecting member and a rotating member, the rotor and the circuit board being connected with the connecting member through the rotating member.
7. The driving device according to any one of claims 1 to 5, wherein the connecting component has a through hole, and a cable of the driving device is disposed along the through hole and is fixedly connected with the circuit board.
8. The drive of any one of claims 1 to 5, wherein the system-on-a-chip calculates the angle of rotation of the rotor in arctangent when the speed of the drive is less than 10% of its maximum rotational speed.
9. The driving apparatus according to claim 8, wherein the formula of the arctan mode is: thetaarc＝arc(Va/Vb) Wherein, the thetaarcFor the angle of rotation of the drive means, VaIs the voltage value, V, of the first Hall elementbIs the voltage value of the second Hall element.
10. The driving apparatus as claimed in any one of claims 1 to 5, wherein the chip system calculates the rotation angle of the driving apparatus by using a quadrature phase-locked loop when the speed of the driving apparatus is greater than 50% of the maximum rotation speed of the driving apparatus.
11. The driving apparatus as claimed in claim 10, wherein the quadrature phase locked loop mode comprises calculating a hall signal angle error signal.
12. The driving apparatus as claimed in claim 11, wherein the hall signal angle error signal is calculated by: presetting an initial angle value, and subtracting the product of the quadrature signal of the second Hall element and the cosine value of the initial angle value from the product of the quadrature signal of the first Hall element and the sine value of the initial angle value.
13. The driving apparatus as claimed in claim 11, wherein the quadrature phase locked loop mode further comprises calculating a hall signal angular velocity error signal.
14. The driving apparatus as claimed in claim 13, wherein the hall signal angular velocity error signal is calculated by: and substituting the Hall signal angle error signal into a regulator to obtain the Hall signal angular speed error signal, wherein the calculation formula is as follows: Δ ω ═ Kp ∈ (t) + Ki ∈ (t) dt, where Δ ω is the hall signal angular velocity error signal, ∈ (t) is the hall signal angular error signal, Kp is a proportionality coefficient, and Ki is an integral coefficient.
15. The driving apparatus as claimed in claim 13, wherein the quadrature phase locked loop mode further comprises calculating a real-time hall signal angular velocity value.
16. The driving apparatus as claimed in claim 15, wherein the real-time hall signal angular velocity value is calculated by: and adding the Hall signal angular speed error signal and the Hall signal angular speed initial value to obtain the real-time Hall signal angular speed value.
17. The driving apparatus as claimed in claim 15, wherein the quadrature phase-locked loop further comprises integrating the real-time hall signal angular velocity value to obtain the rotation angle of the driving apparatus.
18. The driving device according to any one of claims 1 to 5, wherein when the rotation speed of the driving device is greater than or equal to 10% of the maximum rotation speed and less than or equal to 50% of the maximum rotation speed, the chip system calculates the rotation angle of the driving device by adopting an angular speed fusion mode.
19. The drive of claim 18, wherein the angular velocity fusion is calculated by the formula: θ ═ f (ω) θarc+(1-f(ω))θpllWhere f (ω) is a function of the speed of rotation ω θarcAngle, θ, obtained for arctangent calculationpllAnd calculating the angle of the orthogonal phase-locked loop, wherein theta is the rotation angle of the driving device.
20. The driving apparatus according to any one of claims 1 to 5, wherein the chip system further comprises an offline calibration program.
21. The drive of claim 20, wherein the offline calibration procedure comprises: the driving device drives an object to be driven to rotate for a circle, the chip system controls the driving device to enter an open-loop operation mode, the chip system enters a Hall signal correction mode, and the chip system acquires a direct current deviation value and a phase difference of a Hall signal.
22. The driving apparatus as claimed in claim 21, wherein after the soc obtains the dc offset value and the phase difference of the hall signal, the driving apparatus enters a normal operation mode, and the soc samples the hall signal during a pwm carrier period.
23. The driving apparatus as claimed in claim 22, wherein after the system-on-chip samples the hall signal in the pwm carrier cycle, the system-on-chip determines whether the sampled signal exceeds a threshold, and if the sampled signal exceeds the threshold, the system-on-chip corrects the dc offset value and the phase difference after the system-on-chip corrects the sampled signal;
and if the sampling signal does not exceed the limit value, the chip system corrects the direct current offset value and the phase difference.
24. The driving apparatus as claimed in claim 23, wherein the step of the system-on-chip modifying the sampling signal comprises:
when the sampling signal is larger than the maximum value of the amplitude limiting value, correcting the sampling signal to be the maximum value of the amplitude limiting value;
and when the sampling signal is smaller than the minimum value of the amplitude limiting value, modifying the sampling signal into the minimum value of the amplitude limiting value.
25. The drive of claim 23, wherein the system-on-chip performs rotor position calculation after the system-on-chip corrects the dc offset value and the phase difference.
26. The driving apparatus according to claim 25, wherein after the soc performs the rotor position calculation, the soc determines whether or not the operating time of the driving apparatus is finished;
when the working time of the driving device is not finished, the chip system controls the driving device to enter open loop operation, and the chip system returns to the step of entering a Hall signal correction mode;
when the working time of the driving device is over, the chip system detects that a stop command is received, if the chip system receives the stop command, the off-line correction program is over, and if the chip system does not receive the stop command, the chip system controls the off-line correction program to return to the step of sampling the Hall signal in the pulse width modulation carrier period.
27. The driving device according to any one of claims 1 to 5, wherein the chip system includes an online calibration program.
28. The drive of claim 27, wherein the online calibration procedure comprises obtaining hall signal offline calibration parameters.
29. The driving apparatus as claimed in claim 28, wherein the chipset system controls the driving apparatus to enter the closed-loop driving mode after the online calibration procedure comprises obtaining hall signal offline calibration parameters.
30. The driver apparatus of claim 29, wherein the system-on-chip samples the hall signal during a pwm carrier period after the system-on-chip controls the driver apparatus to enter the closed loop driving mode.
31. The driving apparatus as claimed in claim 30, wherein after the system-on-chip samples the hall signal during the pwm carrier cycle, the system-on-chip determines whether the control time reaches the calibration cycle and the driving apparatus rotates for a complete mechanical cycle;
when the control time does not reach the correction period and/or the driving device does not rotate for a complete mechanical period, the chip system controls the online correction program to return to the step that the driving device enters a closed-loop driving mode;
when the control time reaches the correction period and the driving device rotates for a complete mechanical period, the chip system corrects the direct current offset value and the phase difference.
32. The driving apparatus as claimed in claim 31, wherein the soc updates the calibration parameters after the soc calibrates the dc offset value and the phase difference.
33. The driving apparatus as claimed in claim 32, after the soc updates the calibration parameters, the soc detects whether a shutdown command is received, if the soc receives the shutdown command, the soc ends the online calibration procedure, and if the soc receives the shutdown command, the soc controls the online calibration procedure to return to the soc to control the driving apparatus to enter the closed-loop driving mode.
34. A drive device, characterized in that the drive device comprises:
a housing;
a stator, said stator being fixedly mounted to said housing;
a rotor rotatable relative to the stator;
a circuit board provided with a first hall element and a second hall element;
the chip system is used for acquiring information of the first Hall element and the second Hall element;
a connection member connected to the housing for mounting the rotor and the circuit board, and connected to the housing;
the stator is a magnetic component, the rotor is a metal component, the stator is an annular structure formed by 19S-pole magnetic sections, 19N-pole magnetic sections and magnetic sections, the magnetic poles of the adjacent magnetic sections are opposite, and the stator is sleeved outside the rotor;
in the projection range of the driving device in the height direction thereof, the direction from the projection range of the first hall element to the center of the projection range of the magnetic part is L1, the direction from the projection range of the second hall element to the center of the projection range of the magnetic part is L2, and the included angle between LI and L2 is 4.737 °;
the rotor is provided with a gear tooth structure for arranging a winding;
the rotor and the circuit board are mounted on the connecting part through a rotating part, the connecting part is of a hollow structure, and a cable of the driving device penetrates through the connecting part and is fixedly connected with the circuit board;
the chip system comprises an off-line correction program and an on-line correction program.
35. The camera device is characterized by comprising a camera component and a driving device, wherein the driving device is used for driving the camera component to rotate relative to a shell of the camera device;
wherein the drive device is as claimed in any one of claims 1 to 34.
36. The camera device of claim 35, wherein said camera head assembly comprises a plurality of said drive means, each said drive means for driving said camera head assembly to rotate in a different direction relative to a housing of said camera device.
37. The camera device according to claim 36, wherein the driving means includes a first driving means and a second driving means;
the first driving device is used for driving the camera assembly to rotate around the vertical direction;
the second driving device is used for driving the camera assembly to rotate around the horizontal direction.
38. An electronic device, wherein the electronic device is used for shooting or monitoring an object to be shot;
wherein the electronic device comprises a camera apparatus as claimed in any one of claims 35 to 37.
39. The electronic device of claim 38, wherein the electronic device is a dome camera.
40. The electronic device of claim 38, wherein the electronic device is a panoramic monitoring device.
CN202011510335.XA 2020-12-18 2020-12-18 Driving device, camera device and electronic equipment Pending CN114649909A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114966377A (en) * 2022-06-24 2022-08-30 影石创新科技股份有限公司 Circuit board detection device, method, computer equipment and storage medium
CN115021625A (en) * 2022-06-15 2022-09-06 杭州士腾科技有限公司 Position analysis circuit and method of permanent magnet synchronous motor, and control circuit and system thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115021625A (en) * 2022-06-15 2022-09-06 杭州士腾科技有限公司 Position analysis circuit and method of permanent magnet synchronous motor, and control circuit and system thereof
CN115021625B (en) * 2022-06-15 2022-11-08 杭州士腾科技有限公司 Position analysis circuit and method of permanent magnet synchronous motor and control circuit and system thereof
CN114966377A (en) * 2022-06-24 2022-08-30 影石创新科技股份有限公司 Circuit board detection device, method, computer equipment and storage medium

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