CN205785046U - It is accurately positioned camera head - Google Patents
It is accurately positioned camera head Download PDFInfo
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- CN205785046U CN205785046U CN201620555551.9U CN201620555551U CN205785046U CN 205785046 U CN205785046 U CN 205785046U CN 201620555551 U CN201620555551 U CN 201620555551U CN 205785046 U CN205785046 U CN 205785046U
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Abstract
The utility model discloses one and be accurately positioned camera head, including the first frame, second frame, video camera, control system, horizontal drive mechanism and vertical driving mechanism, also include: the horizontal detection wheel being connected with the first frame, it is located at the first horizontal magnet on horizontal detection wheel or horizontal conveyor wheel, the horizontal-reel driven by horizontal detection wheel, the second horizontal magnet being located on horizontal-reel, horizontal Magnetic Sensor, the vertical detection wheel being connected with video camera rotating shaft, it is located at the first vertical magnets on vertical detection wheel or vertical-transmission wheel, the vertical wheel driven by vertical detection wheel, be located at second vertical on the second vertical magnets and perpendicular magnetic sensor；Horizontal drive mechanism, horizontal Magnetic Sensor and control system form closed loop control, and vertical driving mechanism, perpendicular magnetic sensor form closed loop control with control system, improve the positioning precision of this camera head.
Description
Technical field
This utility model relates to position detecting system field, especially relates to one and is accurately positioned camera head.
Background technology
Along with the development of automatic control technology, different industries is more and more higher to the demand of high precision position detecting system, weight
The property wanted is the most urgent.Video security protection industry is in order to realize the accurate monitoring of large scene scope, it is also desirable to high-precision position is detected
Scheme.
Having the factor of significant impact to position detection accuracy is the existence of machining tolerance and fit-up gap.Produce in enormous quantities
Product, machining tolerance certainly exists；Meanwhile, in order to ensure mechanically operated fluency, fit-up gap is also must
Few.So finally inevitably there is driving error between movement output end and motion input.For needs motion with
The camera head in conversion shooting direction, the such as video monitoring apparatus of video security protection industry, such driving error can cause fixed
Position precision is substantially reduced.
Different position detection schemes has different countermeasures to machining tolerance and fit-up gap, generally has a following proposal:
A. position detection is carried out based on the position sensor being directly installed in rotation main body.This solution is owing to turning
The positional information of dynamic main body is directly transferred to position sensor, machining tolerance and fit-up gap and is substantially not present.Product producer
It is all generally the finished product directly using sensor producer, is directly assembled in product.Its subject matter is a lot of final products
Have driven center threading requirement (see Fig. 7,8).Different product producers to line number number, line footpath thickness want
Asking and differ, these producer's great majority can not require that sensor producer is according to self product sensor customized or can only phase customized
Sensor to lower accuracy, thus cause realizing preferable product optimization design.Simultaneously because sensor cannot be according to
Unified standard high volume produces, and also causes sensor price the highest.
B. position detection is carried out based on the position sensor being arranged on motor shaft.Position coder on motor shaft, this
The purpose come is to provide direct effective information for motor speed measuring, speed governing, generally uses the low cost device of low resolution.Owing to passing
The existence in dynamic gap, such as, gear reduction box, system slowdown gear etc., cause motor position can not accurately reflect rotation main
The positional information of body.Reduction gearing progression is the most, and drive gap is just more difficult to reduce.Therefore, this scheme is not an ideal
Scheme.
C. in order to solve the gear clearance in b, use the drive system being based entirely on accurately processing and assembling to reduce biography
Dynamic gap, but still use the position sensor on motor shaft to realize being accurately positioned.High accuracy processing typically results in product and makes
Valency is high, such as harmonic gear, and cost is at more than 10 times of common drive structure.Extensively should on industrial robot though allowing now
With, but civilian popularizing still has time.
Utility model content
The technical problems to be solved in the utility model is, for drawbacks described above of the prior art, it is provided that a kind of accurate
Positioning shooting device.
This utility model solves its technical problem and be the technical scheme is that structure one is accurately positioned camera head,
The second frame can being connected with turning with the first frame including the first frame and the video camera can being connected with turning with the second frame,
The second frame can being connected with turning with video camera can be connected the second frame and control system with the first frame with turning, and also includes
All it is located at the horizontal drive mechanism in the second frame and vertical driving mechanism.
Horizontal drive mechanism includes fixing the horizontal conveyor wheel being connected with the first frame rotating shaft and being connected with control system
And drive horizontal conveyor to take turns the horizontal motor rotated, to drive the second frame to rotate relative to the first rack level.
Vertical driving mechanism includes fixing the vertical-transmission wheel being connected with video camera rotating shaft and being connected also with control system
Drive the motor vertical that vertical-transmission wheel rotates, to drive video camera relative to the second frame vertical rotation.
It is accurately positioned camera head also to include being located in the second frame: fix the level inspection being connected with the first frame rotating shaft
Measuring wheel, prejudicially be located at horizontal conveyor wheel or horizontal detection wheel end face on the first horizontal magnet, by horizontal detection wheel drive
The horizontal-reel of synchronous axial system, the second horizontal magnet being located in horizontal-reel rotating shaft with one heart, it is located at the second horizontal magnet one
The horizontal Magnetic Sensor and the video camera rotating shaft that are connected and can detect the second horizontal magnet surrounding magnetic field change with control system of side
Fixing connect vertical detection wheel, be located at vertical detection wheel or vertical-transmission wheel prejudicially end face on the first vertical magnets,
By vertical detection wheel drive the vertical wheel of synchronous axial system, the second vertical magnets being located in vertical wheel rotating shaft with one heart and
It is located at the perpendicular magnetic being connected and can detecting the second vertical magnets surrounding magnetic field change with control system of the second vertical magnets side
Sensor.
The changes of magnetic field information around the second horizontal magnet that horizontal Magnetic Sensor will detect is converted to horizontal level inspection
Surveying electronic signal and feed back to control system, control system adjusts the rotation of horizontal motor according to horizontal level detection electronic signal
To form closed loop control；The changes of magnetic field information around the second vertical magnets that perpendicular magnetic sensor will detect is converted to vertically
Position detection electronic signal also feeds back to control system, and control system adjusts motor vertical according to upright position detection electronic signal
Rotation to form closed loop control.
Preferably, horizontal detection wheel and horizontal-reel be all belt wheel and both pass through toothed belt transmission.
Preferably, horizontal detection wheel and horizontal-reel are all stepless change wheel and constitute infinitely variable speed gearing.
Preferably, horizontal-reel and the gear ratio of horizontal detection wheel are less than 1.
Preferably, horizontal conveyor wheel is gear, and horizontal motor drives horizontal conveyor to take turns by gear drive.
Preferably, vertical detection wheel and vertical wheel be all belt wheel and both pass through toothed belt transmission.
Preferably, vertical detection wheel and vertical wheel are all stepless change wheel and constitute infinitely variable speed gearing.
Preferably, vertical wheel and the gear ratio of vertical detection wheel are less than 1.
Preferably, vertical-transmission wheel is gear, and motor vertical drives vertical-transmission to take turns by gear drive.
Preferably, vertical-transmission wheel for worm gear, what what vertical driving mechanism included being driven by motor vertical engaged with worm gear
Worm screw.
Implement the technical solution of the utility model, at least there is following beneficial effect: horizontal detection is taken turns and horizontal-reel
And Synchronous Transmission between vertical detection wheel and vertical wheel so that control system can pass through horizontal Magnetic Sensor respectively with vertical
Magnetic Sensor accurately obtain the second frame relative to the rotation information of the first frame and video camera turning relative to the second frame
Dynamic information, and then horizontal drive mechanism, horizontal Magnetic Sensor and control system form closed loop control, vertical driving mechanism, vertical
Magnetic Sensor forms closed loop control with control system, improves the precision of this camera head.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1-3,5 it is the structural representation (clipped the second frame) being accurately positioned camera head of the present utility model.
Fig. 4 is the structural representation (omitting video camera and part the second frame) being accurately positioned camera head in Fig. 1.
Fig. 6 is the schematic rear view (clipped the second frame) being accurately positioned camera head in Fig. 1.
Fig. 7 is the cross-sectional schematic of a kind of existing position sensor.
Fig. 8 is the structural representation of the position sensor in Fig. 7.
Wherein, 1. the first frame, 2. the second frame, 3. horizontal drive mechanism, 31. horizontal motor, 32. horizontal conveyor wheels,
33. drive gear, 51. horizontal detection to take turns, 511. horizontal synchronization bands, 52. horizontal-reel, 53. first horizontal magnet, and 54. second
Horizontal magnet, 55. horizontal Magnetic Sensor, 4. vertical driving mechanism, 41. motor verticals, 42. vertical-transmission wheels, 43. worm screws, 61.
Vertical detection is taken turns, and 611. vertical synchronization bands, 62. vertical wheel, 63. first vertical magnets, 64. second vertical magnets, 65. is vertical
Magnetic Sensor, 7. video camera.
Detailed description of the invention
In order to be more clearly understood from technical characteristic of the present utility model, purpose and effect, now comparison accompanying drawing is detailed
Detailed description of the invention of the present utility model is described.In the description being accurately positioned camera head of the present utility model, it is to be understood that
, "front", "rear", " on ", D score, " front ", the term such as " back side " be for only for ease of description technology of the present utility model
Scheme rather than the instruction device of indication or element must have a specific orientation, therefore it is not intended that to this utility model
Restriction.
As shown in figures 1 to 6, one preferred implementation of this utility model is accurately positioned camera head, including video camera
7 the first frames 1 can being connected with turning with video camera 7 can be connected the second frame 2 and control system with the first frame 1 with turning,
Also include all being located at the horizontal drive mechanism 3 in the second frame 2 and vertical driving mechanism 4.This is accurately positioned camera head and passes through
Video camera 7 obtains image information, and relies on horizontal drive mechanism 3 and vertical driving mechanism 4 to make video camera 7 turn to all directions
Dynamic, thus obtain the image information of all directions.
Horizontal drive mechanism 3 includes fixing the horizontal conveyor wheel 32 being connected and and control system with the first frame 1 rotating shaft
Connect and drive the horizontal motor 31 of horizontal conveyor wheel 32 rotation, to drive the second frame 2 to turn relative to the first frame 1 level
Dynamic, and the rotation output of control system controllable levels motor 31.
Vertical driving mechanism 4 includes fixing the vertical-transmission wheel 42 being connected with video camera 7 rotating shaft and connecting with control system
Connect and drive vertical-transmission wheel 42 rotation motor verticals 41, with drive video camera 7 relative to the second frame 2 vertical rotation, and
And control system can control the rotation output of motor vertical 41.
It is accurately positioned camera head also to include being located in the second frame 2: fix, with the first frame 1 rotating shaft, the level being connected
Detection wheel 51, prejudicially be located at horizontal conveyor wheel 32 or horizontal detection wheel 51 end face on the first horizontal magnet 53, by level
Detection wheel 51 drive the horizontal-reel 52 of synchronous axial system, the second horizontal magnet 54 being located in horizontal-reel 52 rotating shaft with one heart,
It is located at that the horizontal Magnetic Sensor 55 being connected with control system of the second horizontal magnet 54 side is fixing with video camera 7 rotating shaft to be connected
Vertical detection wheel 61, prejudicially be located at vertical detection wheel 61 or vertical-transmission wheel 42 end face on the first vertical magnets 63,
By the vertical wheel 62 of vertical detection wheel 61 drive synchronous axial system, it is located at the second perpendicular magnetic in vertical wheel 62 rotating shaft with one heart
Body 64 and be located at the perpendicular magnetic sensor 65 being connected with control system of the second vertical magnets 64 side.Then, drive in level
In motivation structure 3 operation, the first horizontal magnet 53 is around the pivot of horizontal detection wheel 51, the second horizontal magnet 54 and water
52 coaxial synchronized rotations are taken turns in flat turn, and the first vertical magnets 63 is around the pivot of vertical detection wheel 61, the second vertical magnets 64
Synchronized rotation coaxial with vertical wheel 62；Horizontal detection wheel 51 takes turns 61 and vertical wheel 62 with horizontal-reel 52 and vertical detection
Between Synchronous Transmission so that control system can accurately obtain second by horizontal Magnetic Sensor 55 and perpendicular magnetic sensor 65 respectively
Frame 2 relative to the rotation information of the second frame 2 relative to the rotation information of the first frame 1 and video camera 7, improves this and takes the photograph
Precision as device.Wherein, the mode of horizontal detection wheel 51 drive horizontal-reel 52 synchronous axial system is unique, such as, constitute same
Step tape handler or infinitely variable speed gearing.
Horizontal drive mechanism 3, horizontal Magnetic Sensor 55 and control system form closed loop control, vertical driving mechanism 4, vertical
Magnetic Sensor 65 forms closed loop control with control system.Specifically, the second horizontal magnetic that horizontal Magnetic Sensor 55 will detect
Changes of magnetic field information around body 54 is converted to horizontal level detection electronic signal feed back to control system, control system according to
Horizontal level detection electronic signal adjusts the rotation of horizontal motor 31 to form closed loop control；Perpendicular magnetic sensor 65 will detect
The second vertical magnets 64 around changes of magnetic field information be converted to upright position detection electronic signal feed back to control system,
Control system adjusts the rotation of motor vertical 41 to form closed loop control according to upright position detection electronic signal.
Take turns due to horizontal motor 31 and horizontal conveyor and there is driving error between 32, thus final second frame 2 relative to
Driving error is there is in the rotation of the first frame 1 with the rotation output of horizontal motor 31.Owing to the first frame 1 and horizontal detection take turns 51
Directly fixing connect, so control system controls horizontal motor 31 and rotates cause the second frame 2 relative to the first frame 1 any
Trickle rotation necessarily causes the synchronous axial system of horizontal detection wheel 51, is i.e. not pass between horizontal detection wheel 51 and the first frame 1
Dynamic error；Owing to horizontal-reel 52 is by horizontal detection wheel 51 drive synchronous axial system, so the rotation of horizontal detection wheel 51 is synchronized
It is transmitted to horizontal-reel 52, is i.e. there is no driving error between horizontal detection wheel 51 and horizontal-reel 52.First horizontal magnet 53
The rotation relative to the first frame 1 of reflection the second frame 2, specifically, the first horizontal magnet is coordinated with the second horizontal magnet 54
53 play positioning action, motion initial point as horizontal drive mechanism, at the first horizontal magnet 53 along with horizontal detection wheel 51 fortune
During dynamic and the second horizontal magnet 54 rotates along with horizontal-reel 52, the second magnet surrounding magnetic field is continually changing, level
Magnetic Sensor 55 detects the second horizontal magnet 54 surrounding magnetic field change information, and changes of magnetic field information is converted to position detection
Electronic signal also feeds back to control system, and control system obtains the second frame 2 relative to the according to this position detection electronic signal
The latest position information of one frame 1, and the target location of this latest position information with control system is compared, obtain the second machine
The frame 2 turned position relative to the first frame 1 and the error of control system target location, thus next of calculated level motor 31
Individual rotation output, the rotation output adjusting horizontal motor 31 is located proximate to until completely the same to system rotating object；Then
Horizontal motor 31, horizontal Magnetic Sensor 55 form closed loop control with control system, eliminate the transmission between horizontal output structure
The error impact on control system implementation effect, improves the horizontal positioning accuracy of this camera head, makes video camera 7 be obtained in that
Pinpoint image information.
In like manner, take turns due to motor vertical 41 and vertical-transmission and there is driving error between 42, so final video camera 7 is relative
Driving error is there is with the rotation output of motor vertical 41 in the rotation of the second frame 2.Owing to video camera 7 and vertical detection take turns 61
Directly fixing connect, thus control system control motor vertical 41 rotate cause video camera 7 relative to the second frame 2 any carefully
Micro-rotation necessarily causes the synchronous axial system of vertical detection wheel 61, is i.e. not have transmission between vertical detection wheel 61 and the second frame 2
Error；Owing to vertical wheel 62 is by vertical detection wheel 61 drive synchronous axial system, so the rotation of vertical detection wheel 61 is synchronized to pass
Lead vertical wheel 62, be i.e. there is no driving error between vertical detection wheel 61 and vertical wheel 62.First vertical magnets 63 He
Second vertical magnets 64 coordinates the rotation relative to the second frame 2 of the reflection video camera 7, specifically, the first vertical magnets 63
To positioning action, as the motion initial point of vertical transmission mechanism, the first vertical magnets 63 along with vertical detection wheel 61 motion with
And second vertical magnets 64 along with vertical wheel 62 rotate during, the second vertical magnets 64 surrounding magnetic field is continually changing, hang down
Straight Magnetic Sensor 65 detects the second vertical magnets 64 surrounding magnetic field change information, and changes of magnetic field information is converted to position inspection
Surveying electronic signal and also feed back to control system, control system obtains video camera 7 relative to the according to this position detection electronic signal
The latest position information of two frames 2, and this latest position information is compared with target location, obtain video camera 7 relative to
The turned position of two frames 2 and the error of control system target location, thus calculate the next of motor vertical 41 and rotate output
Amount, the rotation output adjusting motor vertical 41 is located proximate to until completely the same to system rotating object；Then motor vertical 41,
Perpendicular magnetic sensor 65 forms closed loop control with control system, eliminates the driving error between vertical output structure to controlling system
The impact of system implementation effect, improves the perpendicular positioning precision of this camera head, makes video camera 7 be obtained in that pinpoint shadow
As information.
In the present embodiment, as Figure 1-5, horizontal detection wheel 51 and horizontal-reel 52 be all belt wheel and both pass through
Toothed belt transmission.Owing to there is the working clearance between gear drive middle gear, although and Friction Type Belt Drive does not exist work
Make gap, but have that belt is relative with belt wheel to slide, so gear drive and Friction Type Belt Drive all can not elimination of level detections
Driving error between wheel 51 and horizontal-reel 52.And the present embodiment utilizes and does not has phase between toothed belt transmission belt wheel and transmission band
To the characteristic slided, can drive gap between elimination of level detection wheel 51 and horizontal-reel 52.Specifically, horizontal detection wheel 51
Arrange with horizontal conveyor wheel 32 overlapping side by side and fix with the rotating shaft of the first frame 1 and be connected, horizontal detection wheel 51 and horizontal-reel
52 pass through horizontal synchronization band 511 transmission, so horizontal detection wheel 51, horizontal-reel 52, horizontal conveyor wheel 32 and the first frame 1 are same
Step rotates, thus the first horizontal magnet 53 and the cooperation of the second horizontal magnet 54 can accurately reflect the second frame 2 relative to the first machine
The rotation of frame 1；As to how detect the rotation relative to the first frame 1 of second frame 2 by horizontal Magnetic Sensor 55, the most
Illustrated.
In certain embodiments, horizontal detection wheel 51 and horizontal-reel 52 are all stepless change wheel and constitute infinitely variable speeds biography
Motivation structure, to realize horizontal detection wheel 51 and the synchronous axial system of horizontal-reel 52.Infinitely variable speeds refers to can obtain speed change model continuously
Enclose the speed change system of interior any gear ratio；Stepless speed changing mechanism uses transmission band or chain and variable master and slave of working diameter
Driving wheel matches incompatible transmission power, it is possible to achieve the continuous change of gear ratio, thus obtains power train and engine operating condition
Good coupling.Specifically, for the camera head that is accurately positioned of the present utility model, stepless change wheel is the gear that can change diameter
Or belt wheel, then bring transmission by chain or transmission between horizontal detection wheel 51 and horizontal-reel 52 the two stepless change wheel,
And speed ratio can be changed by changing the diameter of two stepless change wheels.
As Figure 1-5, it is preferable that horizontal-reel 52 is less than 1 with the gear ratio of horizontal detection wheel 51, is i.e. horizontal detection
The diameter of wheel 51 is more than the diameter of horizontal-reel 52, and horizontal-reel 52 is bigger than the angular velocity of horizontal detection wheel 51, so that second
Changes of magnetic field around horizontal magnet 54 becomes apparent from, the detection of the most horizontal Magnetic Sensor 55.
Such as Fig. 2, shown in 5, it is preferable that horizontal conveyor wheel 32 is gear, and horizontal motor 31 is driven by gear drive
Horizontal conveyor wheel 32.Wherein, gear drive can be single-stage or stage-geared, in this no limit.In this enforcement
In example, horizontal drive mechanism 3 includes the driving gear 33 being connected with the rotating shaft of horizontal motor 31 and engaging with horizontal conveyor wheel 32,
To drive horizontal conveyor wheel 32 rotation by horizontal motor 31.
In the present embodiment, as shown in Fig. 2,5,6, vertical detection wheel 61 and vertical wheel 62 be all belt wheel and both are logical
Cross toothed belt transmission, utilize between toothed belt transmission belt wheel and transmission band not relative to the characteristic slided, vertical detection can be eliminated
Drive gap between wheel 61 and vertical wheel 62.Specifically, vertical-transmission wheel 42 is arranged side by side with vertical detection wheel 61, shooting
Machine 7 is positioned between the two and its rotating shaft is connected with both are fixing, and vertical detection wheel 61 and vertical wheel 62 pass through vertical synchronization
Carry 611 transmissions, thus vertical-transmission takes turns 42, vertical detection wheel 61 and video camera 7 synchronous axial system, the then rotation quilt of video camera 7
Synchronous Transmission, on vertical wheel 62, is i.e. vertical wheel 62 and video camera 7 synchronous axial system, thus the first vertical magnets 63 and the
Two vertical magnets 64 coordinate can accurately reflect the video camera 7 rotation relative to the second frame 2；As to how sensed by perpendicular magnetic
Device 65 detects the video camera 7 rotation relative to the second frame 2, has been described above.
In certain embodiments, vertical detection wheel 61 and vertical wheel 62 are all stepless change wheel and constitute infinitely variable speeds biography
Motivation structure, to realize vertical detection wheel 61 and the synchronous axial system of vertical wheel 62.Specifically, for of the present utility model accurately
Positioning shooting device, stepless change wheel is gear or the belt wheel that can change diameter, then vertical detection wheel 61 and vertical wheel 62 this
Bring transmission by chain or transmission between two stepless change wheels, and can change by changing the diameter of two stepless change wheels
Gear ratio.
As shown in Figure 6, it is preferable that vertical wheel 62 is less than 1 with the gear ratio of vertical detection wheel 61, it is i.e. vertical detection wheel
The diameter of 61 is more than the diameter of vertical wheel 62, and vertical wheel 62 is bigger than the angular velocity of vertical detection wheel 61, so that second hangs down
Changes of magnetic field around straight magnet 64 becomes apparent from, the beneficially detection of perpendicular magnetic sensor 65.
Preferably, vertical-transmission wheel is gear, and motor vertical 41 drives vertical-transmission wheel 42 by gear drive.Tool
For body, horizontal motor 31 drives described horizontal conveyor wheel 32 to rotate relative to described second frame 2 by gear drive,
To drive described horizontal detection wheel 51 and the first frame 1 to rotate relative to described second frame 2 simultaneously, then the second frame 2 phase
Described first frame 1 is rotated.Wherein, gear drive can be single-stage or stage-geared, in this no limit.
Such as Fig. 3, shown in 6, it is further preferred that vertical-transmission wheel 42 be worm gear, vertical driving mechanism 4 includes by vertical the most electric
The worm screw 43 engaged with vertical-transmission wheel 42 that machine 41 drives, motor vertical 41 drives worm screw to rotate and then drives worm gear wheel again
And then drive video camera 7 to rotate.Worm and worm wheel can also be replaced by gear pair, belt wheel transmission etc..But selection worm and worm wheel,
Following purpose: a. can be reached under equal conditions, bigger load can be born；B. muting function is relatively good；C. there is self-locking
Function.D. worm gear, worm screw 43 and vertical driving motor 42 are an individual module, can be separately as the mould of a standalone feature
Group, it is ensured that the assembly precision of worm and gear, is also convenient for from the first frame dismounting and change simultaneously.
Illustrate as a example by horizontal drive.As Figure 1-5, horizontal motor 31 (being i.e. the input quantity of system) to pass through
Drive mechanism, exports (being i.e. the output of system) on relevant device power.Common drive mechanism has gear, worm gear
And Friction Type Belt Drive.Gear or worm gear are due to manufacturing process and lubrication needs, certain between gear, between worm and gear
May require that and there is the working clearance；Although and Friction Type Belt Drive does not exist the working clearance, having that belt is relative with belt wheel to slide.
Working clearance, relatively slide at two-way 360 ° of continuous operations repeatedly, will result in driving error, and this driving error is
Drive system itself cannot be leaned on to eliminate.I.e. system input quantity has begun to rotate, and system output, due to the existence in gap, prolongs
A period of time could rotate late.If system input quantity is less than gap, may cause system output is zero, the most small location
Rotate reality not to be performed.The video monitoring system that this error requires for there being high-accuracy location positioning is never can to connect
It is subject to.Currently, the telephoto lens focal length of video monitoring system configuration is more and more longer, and the system position error of 0.1 degree can be 3000
The outer target location error producing 5 meters of rice, it is possible to cause object observing outside camera lens visual range, lose video prison completely
The effect of control.
For the vertical driving section of the camera head in the present embodiment, as Figure 1-5, motor vertical 41 control is provided
Amount processed (being i.e. system input quantity), passes through worm and worm wheel, it is provided that controlled variable (being i.e. system output) to loading section is (i.e.
It is video camera 7).It is connected owing to vertical detection wheel 61 and vertical-transmission wheel 42 are all fixing with video camera 7 rotating shaft, vertical detection wheel 61
Tong Bu with vertical-transmission wheel 42 (i.e. worm gears) by vertical drive shaft.Vertical detection 61 positional informationes of wheel are synchronized by Timing Belt
It is delivered on vertical wheel 62, and the second vertical magnets 64 is fixed on vertical wheel 62 and above and coaxially turns with vertical wheel 62
Dynamic.Captured by perpendicular magnetic sensor 65 by the heat treatment information of the second vertical magnets 64.Again by perpendicular magnetic sensor 65
It is pulse signal by circuit conversion, carries out contrast with input signal and compensate.Thus reach the effect of servo-control system
(being used for accurately following or reappearing the feedback control system of certain process), is i.e. to realize the closed loop to video camera 7 vertical movement
Control.
In a word, as shown in figures 1 to 6, the operation principle being accurately positioned camera head of the present embodiment:
1) the first frame 1 and horizontal detection wheel 51 are fixed together, and control system controls horizontal motor 31 rotation and leads
Cause the second frame 2 and necessarily cause the synchronous axial system of horizontal detection wheel 51 relative to any trickle rotation of the first frame 1；Video camera
7 and horizontal detection wheel 51 be fixed together, control system controls motor vertical 41 and rotates and cause video camera 7 relative to second
Any trickle rotation of frame 2 necessarily causes the synchronous axial system of horizontal-reel 52；
2) horizontal detection wheel 51 is connected by Timing Belt with horizontal-reel 52, and by the effect of Timing Belt, horizontal detection is taken turns
The rotation of 51 is transmitted to horizontal-reel 52；Vertical detection wheel 61 is connected by Timing Belt with vertical wheel 62, passes through Timing Belt
Effect, vertical detection wheel 61 rotation be transmitted to vertical wheel 62.
3) the second horizontal magnet 54 is located at one end of rotating shaft of horizontal-reel 52 with one heart, and the rotation of horizontal-reel 52 is direct
Cause the second horizontal magnet 54 to rotate, and cause surrounding magnetic field to change；Second vertical magnets 64 is located at vertical wheel 62 with one heart
One end of rotating shaft, the rotation of vertical wheel 62 directly results in the second vertical magnets 64 and rotates, and causes surrounding magnetic field to change；
4) horizontal Magnetic Sensor 55 and perpendicular magnetic sensor 65 are respectively by the second horizontal magnet 54 and the second vertical magnets 64
Changes of magnetic field information be converted to position detection electronic signal, and export to control system；
5) control system is according to up-to-date position detection information, calculates the next one and controls output.
If above-mentioned horizontal and vertical driving control system is opened loop control, i.e. output and input quantity are according to set association
With relation action, output cannot feed back to the input quantity reference as next action, then when interiorly or exteriorly factor is led
When causing the inefficacy of set conspiracy relation, will result in input quantity and output is done what he thinks is right, it is impossible to proceed desired effective control
System.Therefore closed loop control is the optimal choice of driving control system, i.e. each new output must an above output
The execution result of amount is as input.
Compared with scheme a mentioned in background technology, b, c, the technical scheme of the present embodiment has in scheme a directly to be examined
Advantage with low cost in the advantage of survey rotation body position information and scheme b, avoids drive gap band in scheme b simultaneously
The detection error come.Specifically the present embodiment be accurately positioned having the advantage that of camera head
1) first, between the first frame 1 and horizontal detection wheel 51 and between the second horizontal magnet 54 and horizontal-reel 52
Being the most fixing, video camera 7 and vertical detection are taken turns between 61 and are direct between the second vertical magnets 64 and vertical wheel 62
Fix, the most just there is no drive gap；Secondly, horizontal detection is taken turns between 51 and horizontal-reel 52 and vertical detection wheel 61
And pass through toothed belt transmission between vertical wheel 62, not relative to the characteristic slided, elimination transmission drive gap between the two；
Again, ensure strict gear ratio with making full use of Timing Belt characteristic, thus realize the sync bit confidence without any drive gap
Breath transmits；
2) mode using mechanical location to be converted to magnetic field of magnets change improves the environmental suitability of sensor, it is to avoid ash
The interference to sensor of the industrial environment such as dirt, the greasy dirt common mal-condition；First horizontal magnet the 53, second horizontal magnet simultaneously
54, the first vertical magnets 63 and/or the second vertical magnets 64 are preferably Magnet, and Magnet itself is cheap；
3) the positional information resolution of system depends on the position resolution of Magnetic Sensor itself, by toothed belt transmission
Horizontal detection wheel 51 and the gear ratio of horizontal-reel 52 and by the vertical detection of toothed belt transmission wheel 61 and vertical wheel 62
Gear ratio.By increasing multistage synchronous belt pulley transmission, or the position resolution of detection Magnetic Sensor itself can be improved, just
Higher position resolution can be obtained.So, either under the requirement that slowly runs, or under high precision positioning requirements,
This position sensing system can be effectively ensured magnetic measurement sensor must produce abundant signal, it is ensured that the standard of duplicate detection position
Really property.
In sum, of the present utility model be accurately positioned the horizontal drive mechanism 3 of camera head, horizontal Magnetic Sensor 55 with
Control system forms closed loop control, and vertical driving mechanism 4, perpendicular magnetic sensor 65 form closed loop control with control system, improve
This camera head horizontally rotate precision, make the video camera 7 be obtained in that the image information of higher precision；Further, level
Synchronous Transmission between detection wheel 51 and horizontal-reel 52 and vertical detection wheel 61 and vertical wheel 62 so that control system can be divided
Accurately do not obtain the second frame 2 by horizontal Magnetic Sensor 55 and perpendicular magnetic sensor 65 to believe relative to the rotation of the first frame 1
Breath and video camera 7, relative to the rotation information of the second frame 2, improve the precision of this camera head；Yet further, level
Pass through toothed belt transmission between detection wheel 51 and horizontal-reel 52 and between vertical detection wheel 61 and vertical wheel 62, utilize not
There is the characteristic of slip relatively, eliminate transmission drive gap between the two；Secondly, strict with making full use of the guarantee of Timing Belt characteristic
Gear ratio, thus realize the sync bit information transmission without any drive gap, improve the positioning precision of this camera head.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various change, combines and change.All in spirit of the present utility model and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included in right of the present utility model it
In.
Claims (10)
1. it is accurately positioned a camera head, second can be connected with turning including the first frame (1) with described first frame (1)
Frame (2) and the video camera (7) can being connected with turning with described second frame (2) can be connected with described video camera (7) with turning
Second frame (2) can be connected the second frame (2) and control system with described first frame (1) with turning, it is characterised in that also
Including the horizontal drive mechanism (3) being all located in described second frame (2) and vertical driving mechanism (4)；
Described horizontal drive mechanism (3) include fixing with the rotating shaft of described first frame (1) horizontal conveyor wheel (32) being connected and
It is connected and drives the horizontal motor (31) that described horizontal conveyor wheel (32) rotates with described control system, to drive described second machine
Frame (2) horizontally rotates relative to described first frame (1)；
Described vertical driving mechanism (4) include fixing with described video camera (7) rotating shaft vertical-transmission wheel (42) being connected and with
Described control system connects and drives the motor vertical (41) that described vertical-transmission wheel (42) rotates, to drive described video camera
(7) relative to described second frame (2) vertical rotation；
The described camera head that is accurately positioned also includes being located in described second frame (2): solid with the rotating shaft of described first frame (1)
Determine horizontal detection wheel (51) of connection, be located at prejudicially on the end face of described horizontal conveyor wheel (32) or horizontal detection wheel (51)
First horizontal magnet (53), described horizontal detection wheel (51) drive the horizontal-reel (52) of synchronous axial system, be located at institute with one heart
State the second horizontal magnet (54) in horizontal-reel (52) rotating shaft, be located at described second horizontal magnet (54) side and described control
System connects and can detect the horizontal Magnetic Sensor (55) of described second horizontal magnet (54) surrounding magnetic field change and described shooting
Machine (7) rotating shaft fix connection vertical detection wheel (61), prejudicially be located at described vertical detection wheel (61) or described vertical-transmission
Wheel (42) end face on the first vertical magnets (63), by described vertical detection wheel (61) drive synchronous axial system vertical wheel
(62) the second vertical magnets (64) of, being located at one heart in described vertical wheel (62) rotating shaft and be located at described second perpendicular magnetic
Body (64) side be connected with described control system and can detect described second vertical magnets (64) surrounding magnetic field change hang down
Straight Magnetic Sensor (65)；
Changes of magnetic field information conversion around described second horizontal magnet (54) that described horizontal Magnetic Sensor (55) will detect
Detecting electronic signal for horizontal level and feed back to described control system, described control system is according to described horizontal level detection electricity
Subsignal adjusts the rotation of described horizontal motor (31) to form closed loop control；Described perpendicular magnetic sensor (65) is by detect
Changes of magnetic field information around described second vertical magnets is converted to upright position detection electronic signal and feeds back to described control
System, described control system adjusts the rotation of described motor vertical (41) to be formed according to described upright position detection electronic signal
Closed loop control.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described horizontal detection wheel (51) and described
Horizontal-reel (52) be all belt wheel and both pass through toothed belt transmission.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described horizontal detection wheel (51) and described
Horizontal-reel (52) is all stepless change wheel and constitutes infinitely variable speed gearing.
4. according to being accurately positioned camera head described in Claims 2 or 3, it is characterised in that described horizontal-reel (52) and institute
State the gear ratio of horizontal detection wheel (51) less than 1.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described horizontal conveyor wheel (32) is tooth
Wheel, described horizontal motor (31) drives described horizontal conveyor to take turns (32) by gear drive.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described vertical detection wheel (61) and described
Vertical wheel (62) be all belt wheel and both pass through toothed belt transmission.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described vertical detection wheel (61) and described
Vertical wheel (62) is all stepless change wheel and constitutes infinitely variable speed gearing.
8. according to being accurately positioned camera head described in claim 6 or 7, it is characterised in that described vertical wheel (62) with hang down
Directly detect the gear ratio of wheel (61) less than 1.
The most according to claim 1 it is accurately positioned camera head, it is characterised in that described vertical-transmission wheel (42) is tooth
Wheel, described motor vertical (41) drives described vertical-transmission to take turns (42) by gear drive.
The most according to claim 9 it is accurately positioned camera head, it is characterised in that described vertical-transmission wheel (42) is snail
Wheel, described vertical driving mechanism (4) includes the worm screw (43) engaged with described worm gear driven by described motor vertical (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620555551.9U CN205785046U (en) | 2016-06-07 | 2016-06-07 | It is accurately positioned camera head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620555551.9U CN205785046U (en) | 2016-06-07 | 2016-06-07 | It is accurately positioned camera head |
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| Publication Number | Publication Date |
|---|---|
| CN205785046U true CN205785046U (en) | 2016-12-07 |
Family
ID=58135201
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620555551.9U Withdrawn - After Issue CN205785046U (en) | 2016-06-07 | 2016-06-07 | It is accurately positioned camera head |
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| Country | Link |
|---|---|
| CN (1) | CN205785046U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066149A (en) * | 2016-06-07 | 2016-11-02 | 深圳市星苑科技有限公司 | It is accurately positioned camera head |
-
2016
- 2016-06-07 CN CN201620555551.9U patent/CN205785046U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066149A (en) * | 2016-06-07 | 2016-11-02 | 深圳市星苑科技有限公司 | It is accurately positioned camera head |
| CN106066149B (en) * | 2016-06-07 | 2018-08-03 | 深圳市星苑科技有限公司 | It is accurately positioned photographic device |
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Granted publication date: 20161207 Effective date of abandoning: 20180803 |