JP5143360B2 - Rotating camera device and motor drive control method - Google Patents

Description

  The present invention relates to a turning camera apparatus provided with a horizontal turning motor and a vertical turning motor, and a motor drive control method for driving and controlling the two motors.

  A revolving camera device for monitoring applied to a CCTV (closed-circuit television) system includes a horizontal revolving motor and a vertical revolving motor for driving and controlling the camera body up and down and left and right in units of a predetermined revolving angle, and these two motors. And a turning drive control mechanism for drive control.

  This type of turning drive control mechanism that controls driving of the horizontal turning motor and the vertical turning motor is designed with the output torque and power consumption of each of the motors assuming a maximum load considering the installation environment of the camera body. . In other words, even when the camera body is installed in a specific operating environment in which a large load is applied to the turning operation, such as during strong winds or freezing, the normal turning operation of each motor must be ensured. Don't be. For this reason, the turning drive control mechanism is designed so that the horizontal turning motor and the vertical turning motor can be driven at the maximum allowable output at any time.

  However, the specific operating environment described above is a rare case, and in a normal operating environment, it is sufficient to drive the horizontal swing motor and the vertical swing motor with an output torque that is about ½ of the maximum output described above.

  As described above, conventionally, in order to be able to cope with even a specific operating environment, both the horizontal turning motor and the vertical turning motor are driven and controlled using a power source with a large power capacity that can obtain the maximum output. Normally, the above motors are driven and controlled with an output torque of about 1/2 of the maximum output. Therefore, since the apparatus uses a power source with a large power capacity, there are problems such as an increase in the size of the apparatus, an increase in cost, and an increase in the cost of power charges.

On the other hand, as a technology to efficiently drive and control this kind of horizontal turning motor and vertical turning motor, for example, turning drive that improves the turning speed under normal warm condition with respect to the turning speed assuming the maximum load at low temperature There is a control technique (see, for example, Patent Document 1).
JP 2000-347259 A

  Conventionally, in a turning drive control mechanism equipped with a horizontal turning motor and a vertical turning motor, in order to ensure a normal turning operation even in a specific operating environment, a control device using a power source with a large power capacity is used. For this reason, there are problems such as an increase in the size of the apparatus, an increase in cost, and an increase in power charges.

  Further, in the invention of Patent Document 1, the temperature of the pan head operating unit is detected, correction data is obtained from the correction data table based on the temperature, and the turning speeds of the horizontal and vertical motors are controlled. The correction data had to be created in advance, which was troublesome.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a turning camera apparatus and a motor drive control method that enable highly reliable turning drive control with an economically advantageous configuration.

In order to achieve the above object, the turning camera device of the present invention detects a malfunction of the horizontal turning motor by detecting a phase of the horizontal turning motor that horizontally drives the camera body to turn and the horizontal turning motor. A first phase detection means for detecting the operation of the vertical swing motor by detecting a phase of the vertical swing motor and detecting a phase of the vertical swing motor. In the normal operating environment, the horizontal swing motor and the vertical swing motor are driven and controlled at half of the maximum output set in the apparatus, and the first phase detecting means or the second phase is controlled in a specific operating environment. Drive control means for driving and controlling the motor detecting the abnormality at the maximum output when the detection means detects an operation abnormality of the horizontal turning motor or the vertical turning motor. And features.

The turning camera device according to the present invention includes a horizontal turning motor that drives the camera body to turn in a horizontal direction, and a first phase detection that detects a phase of the horizontal turning motor and detects an operation abnormality of the horizontal turning motor. Means, a vertical turning motor that drives the camera body to turn in the vertical direction, a second phase detecting means that detects an abnormal operation of the vertical turning motor by detecting a phase of the vertical turning motor, and a normal operation In the environment, the horizontal turning motor and the vertical turning motor are driven and controlled at half of the maximum output set in the apparatus, and the first phase detecting means or the second phase detecting means is used for the horizontal turning in a specific operating environment. When an abnormal operation of the motor or the vertical swing motor is detected, the motor detecting the abnormality is driven and controlled with the maximum output, and the first phase detecting means and the second phase detecting means Drive control means for switching the horizontal turning motor and the vertical turning motor in time series and controlling the driving with the maximum output when an operation abnormality of the horizontal turning motor and the vertical turning motor is detected. .

The motor drive control method of the present invention is a motor drive control method for a swing camera device that controls driving of a horizontal swing motor and a vertical swing motor. In a normal operating environment, the motor drive control method includes the horizontal swing motor and the vertical swing motor. Either of the horizontal swing motor or the vertical swing motor is controlled by the step of driving control at 1/2 of the maximum output set in the above and the respective phase detectors connected to the horizontal swing motor and the vertical swing motor in a specific operating environment. And a step of driving and controlling the motor that does not operate normally at the maximum output when it is detected that one of the motors does not operate normally.

The motor drive control method of the present invention is a motor drive control method for a swing camera device that controls driving of a horizontal swing motor and a vertical swing motor. In a normal operating environment, the motor drive control method includes the horizontal swing motor and the vertical swing motor. Both of the horizontal swing motor and the vertical swing motor by the step of controlling the drive at 1/2 of the maximum output set in the above and the respective phase detectors connected to the horizontal swing motor and the vertical swing motor in a specific operating environment. And a step of switching the motors in time series and controlling the drive at the maximum output when it is detected that the motors do not operate normally.

The motor drive control method of the present invention is a motor drive control method for controlling the drive of n (n is an integer of 2 or more) motors. In the normal operating environment, the n motors are set in the apparatus. One or more of the motors are operated normally by the step of controlling the drive with an output of 1 / n of the maximum output and n phase detectors connected to the n motors in a specific operating environment. If not, the step of driving and controlling the motors that did not operate normally one by one at the maximum output is provided.

  According to the present invention, although it is an economically advantageous configuration that does not require a power source with a large power capacity, the motor can be driven and controlled with the maximum output set in the turning camera device even in a specific operating environment. It is possible to provide a turning camera apparatus and a motor drive control method that enable highly-suitable turning drive control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a configuration of a turning camera device according to an embodiment of the present invention. The turning camera device according to the embodiment of the present invention includes a horizontal turning motor 11H, a vertical turning motor 11V, a motor control unit 12, a phase detection unit 13H, an output control unit 14H of the horizontal turning motor 11H, and a vertical turning motor 11V. Phase detector 13V and output controller 14V.

  The horizontal turning motor 11H and the vertical turning motor 11V are existing ones attached to a camera body (not shown), each of which is constituted by a pulse motor (stepping motor), and is controlled horizontally and vertically by a predetermined turning angle as controlled by the motor control unit 12. Drive to turn in the direction. The horizontal turning motor 11H and the vertical turning motor 11V are preset in the horizontal turning motor 11H and the vertical turning motor 11V when a motor abnormality is detected in a specific operating environment based on the control of the motor control unit 12. The drive control is performed at the maximum output (100% output), and when no abnormality is detected in the normal operating environment, the drive control is performed at 1/2 the maximum output (50% output). The maximum output set in advance in the horizontal turning motor 11H and the vertical turning motor 11V here is the maximum output set in the turning camera device of the present invention, and does not mean the maximum output of the motor itself. Further, the maximum output set in the turning camera device may be a value determined by the power supply capacity of the motor control unit 12. As a result, the power supply capacity can be effectively utilized.

  The motor control unit 12 is configured with a capacity capable of controlling one motor with the maximum output, and has a program processing function. That is, when the motor control unit 12 receives an abnormal signal from the phase detection unit 13H or 13V, the motor control unit 12 drives and controls the horizontal turning motor 11H or the vertical turning motor 11V with the maximum output via the output control unit 14H or 14V. . The motor control unit 12 drives and controls the horizontal turning motor 11H and the vertical turning motor 11V in accordance with instructions from a console, a main control unit, etc. in a monitoring center (not shown) to perform posture control and monitoring control of the camera body. Do.

  In this embodiment, the program processing function of the motor control unit 12 executes motor drive control processing as shown in FIGS. 2 and 3 for the horizontal turning motor 11H and the vertical turning motor 11V.

  The feature of this motor drive control process is that when the horizontal swing motor 11H and the vertical swing motor 11V are simultaneously driven and controlled (that is, during normal operation operation), the motor control unit 12 uses the horizontal control motors 14H and 14V through the horizontal control. The drive of the swing motor 11H and the vertical swing motor 11V is controlled at 1/2 output (50% output) of the maximum output described above. When the abnormal signal indicating abnormal rotation (step-out) of the horizontal swing motor 11H and / or the vertical swing motor 11V is received from the phase detectors 13H and 13V due to factors that occur in a specific operating environment, the motor control unit 12 The horizontal turning motor 11H and / or the vertical turning motor 11V in which rotation abnormality has occurred are individually driven with the maximum output (100% output) via the output control units 14H and 14V. By this motor drive control, the power supply capacity of the motor control unit 12 can be covered by a capacity that can be driven by the maximum output of one motor. This motor drive control process will be described later with reference to FIGS.

  When the phase detection unit 13H detects the phase of the horizontal turning motor 11H (for example, from the output of the resolver) and detects a rotation abnormality of the horizontal turning motor 11H, the phase detection unit 13H notifies the motor control unit 12 of the abnormality signal. Further, when the phase detection unit 13V detects the phase of the vertical turning motor 11V and detects a rotation abnormality of the vertical turning motor 11V, the phase detection unit 13V notifies the motor control unit 12 of the abnormality signal.

  The output control unit 14H controls the output of the drive current that drives the horizontal turning motor 11H according to the control of the motor control unit 12. The output control unit 14 </ b> V controls the output of the drive current that drives the vertical turning motor 11 </ b> V according to the control of the motor control unit 12.

  Next, a motor drive control process of the motor control unit 12 of the turning camera apparatus configured with the above-described components will be described with reference to flowcharts shown in FIGS.

  When the motor control unit 12 receives an instruction to simultaneously drive and control the horizontal turning motor 11H and the vertical turning motor 11V from, for example, a console or a main control unit in the monitoring center (Yes in step S11 in FIG. 2), the output control unit A control instruction for driving and controlling the horizontal turning motor 11H and the vertical turning motor 11V at 1/2 output (50% output) of the maximum output set in the turning camera device is given to 14H and 14V (step S12 in FIG. 2). ).

  According to this setting, the output control unit 14H drives the horizontal turning motor 11H with an output current that is 1/2 of the maximum output current, and the output control unit 14V drives the vertical turning motor 11V with an output current that is 1/2 of the maximum output current. (Step S13 in FIG. 2). When the horizontal swing motor 11H and the vertical swing motor 11V operate normally by this motor drive, signals indicating normal termination are notified from the phase detection units 13H and 13V to the motor control unit 12.

  When the motor control unit 12 receives a signal indicating normal termination from the phase detection units 13H and 13V, it recognizes that there is no abnormality in the horizontal turning motor 11H and the vertical turning motor 11V, and each of them normally turns and reaches the target point. (Yes in step S14 in FIG. 2), the operation according to the above instruction is terminated.

  When the motor control unit 12 receives an instruction to drive and control the horizontal turning motor 11H or the vertical turning motor 11V alone (No in Step S11 in FIG. 2), the motor (11H or 11V) to be driven according to the above instruction. A control instruction is given to the output control unit (14H or 14V) for drive control at the maximum output (100% output) set in the turning camera device (step S21 in FIG. 2). According to this setting, the output controller (14H or 14V) drives the motor (11H or 11V) with the maximum output current (step S22 in FIG. 2). When the motor control unit 12 receives a signal indicating normal termination from the phase detection unit (13H or 13V) corresponding to the driven motor, the driven motor (11H or 11V) has no abnormality, and each of the motor control units 12 normally turns. Then, it is recognized that the target point has been reached (Yes in step S23 in FIG. 2), and the operation is terminated. On the other hand, when an abnormal signal is received from the phase detection unit (13H or 13V) corresponding to the driven motor (No in step S23 in FIG. 2), the motor control unit 12 recognizes that the driven motor has failed and operates error information. The person is notified (step S24 in FIG. 2). In addition, when driving both the motors 11H and 11V in step S22, for example, after driving the horizontal turning motor 11H, the vertical turning motor 11V may be driven to check the turning operation.

On the other hand, for example, when the camera body is in a frozen state, even if the horizontal turning motor 11H and / or the vertical turning motor 11V is driven with a power half the maximum output current, the turning operation is not performed correctly. The abnormality of the horizontal turning motor 11H and / or the vertical turning motor 11V is detected by the phase detectors 13H and 13V. In such a case, when an abnormal signal indicating a rotation abnormality (step out) is received from the phase detectors 13H and 13V in step S14 (No in step S14 in FIG. 2), the motor controller 12 causes the horizontal turning motor 11H and / or It is determined that the camera body has not reached (turned) the target point due to the abnormality of the vertical turning motor 11V, and the process proceeds to the process of FIG.

  First, when the motor control unit 12 determines that both the horizontal turning motor 11H and the vertical turning motor 11V are abnormal from the abnormality signals from the phase detection units 13H and 13V (Yes in step S31 in FIG. 3), the output control unit 14H is instructed to set the drive of the horizontal turning motor 11H to the maximum output (100% output) set in the turning camera device (step S32 in FIG. 3). According to this setting, the output control unit 14H drives the horizontal turning motor 11H with the maximum output current (step S33 in FIG. 3). When the motor control unit 12 receives a signal indicating normal termination from the phase detection unit 13H of the horizontal turning motor 11H, the motor control unit 12 recognizes that the horizontal turning motor 11H has no abnormality and has normally turned and reached the horizontal point. (Yes in step S34 in FIG. 3) Next, the output control unit 14V is similarly instructed to set the drive of the vertical turning motor 11V to the maximum output (100% output) (step S35 in FIG. 3). According to this setting, the output control unit 14V drives the vertical turning motor 11V with the maximum output current (step S36 in FIG. 3).

  When the motor control unit 12 receives a signal indicating normal termination from the phase detection unit 13V of the vertical swing motor 11V, the motor control unit 12 recognizes that the vertical swing motor 11V has no abnormality and has normally rotated and reached the vertical point. The operation is terminated (Yes in step S37 in FIG. 3). On the other hand, when an abnormal signal is received from the phase detectors 13H and / or 13V in steps S34 and S37, the motor controller 12 recognizes that the horizontal turning motor 11H and / or the vertical turning motor 11V has failed, and provides error information. The operator is notified (step S38 in FIG. 3).

  Further, the motor control unit 12 determines that one of the horizontal turning motor 11H and the vertical turning motor 11V is abnormal based on the abnormality signal from the phase detection units 13H and 13V (No in step S31 in FIG. 3), and the phase. If it is an abnormal signal from the detection unit 13V (Yes in step S41 in FIG. 3), an instruction to set the drive of the vertical turning motor 11V to the maximum output (100% output) set in the turning camera device to the output control unit 14V. (Step S42 in FIG. 3). According to this setting, the output control unit 14V drives the vertical turning motor 11V with the maximum output current (step S43 in FIG. 3). When the motor control unit 12 receives a signal indicating normal end from the phase detection unit 13V of the vertical turning motor 11V, the vertical turning motor 11V has no abnormality and normally turns to reach the vertical point, step S13. It is recognized that the target point has been reached together with the driving of (No in step S44 in FIG. 3), and the operation is terminated. On the other hand, when an abnormal signal is received from the phase detector 13V, the motor controller 12 recognizes that the vertical turning motor 11V has failed, and notifies the operator of error information (step S45 in FIG. 3).

  If the abnormality signal is output from the phase detection unit 13H in step S41 (No in step S41 in FIG. 3), the motor control unit 12 sets the drive of the horizontal turning motor 11H to the turning camera device with respect to the output control unit 14H. An instruction to set the maximum output (100% output) is given (step S51 in FIG. 3). According to this setting, the output control unit 14H drives the horizontal turning motor 11H with the maximum output current (step S52 in FIG. 3). When the motor control unit 12 receives a signal indicating normal termination from the phase detection unit 13H of the horizontal turning motor 11H, the horizontal turning motor 11H has no abnormality and normally turns to reach the horizontal point, step S13. It is recognized that the target point has been reached with the driving of (Yes in step S53 in FIG. 3), and the operation is terminated. On the other hand, when an abnormal signal is received from the phase detection unit 13H, the motor control unit 12 recognizes that the horizontal turning motor 11H has failed and notifies the operator of error information (step S54 in FIG. 3).

  The operator who received the error notification in steps S24, S38, S45, and S54 instructs on-site inspection and maintenance. Further, it may be designed such that steps S32 to S37, steps S42 to S44, or steps S51 to S53 are retried. Even after retrying, if an abnormal signal is output from the phase detectors 13H and / or 13V, an on-site inspection and maintenance is similarly instructed.

The present invention is not limited to two motors, and can be applied to two or more motor drive controls. That is, when driving control of n motors (n is an integer of 2 or more),
Driving control of n motors is performed with an output of 1 / n of the maximum output set in the turning camera device. When one or more motors do not operate normally, it is possible to drive the motors that did not operate normally one by one with maximum output. For example, when one of the n motors does not operate normally, the motor that does not operate normally is driven and controlled with the maximum output. When at least two motors do not operate normally, the motors are switched in time series and driven at the maximum output.

  In the above embodiment, the horizontal turning motor 11H and the vertical turning motor 11V have been described as existing ones. However, the horizontal turning motor 11H and the vertical turning motor 11V can be made smaller in capacity to further reduce power consumption. Good.

  As described above, according to the embodiment of the present invention, the motor control unit 12 outputs the half output (50) of the maximum output in which the horizontal turning motor 11H and the vertical turning motor 11V are simultaneously set in the turning camera device in the normal use state. % Output). However, when the phase detectors 13H and 13V receive an abnormal signal indicating a rotation abnormality (step out) from the horizontal turning motor 11H and the vertical turning motor 11V due to factors that occur in a specific operating environment, the motor control unit 12 Then, the horizontal turning motor 11H and the vertical turning motor 11V are switched in time series so that the operations do not overlap, and the drive control is performed at the maximum output (100% output). When an abnormal signal indicating abnormal rotation (out of step) of the motor is received from either one of the phase detection units 13H or 13V, the motor control unit 12 sets the motor (11H or 11V) having the abnormal rotation to the maximum value. Drive control is performed with output (100% output).

  By this motor drive control, the capacity of the motor control unit 12 can be covered by the maximum drive power of one motor, and the drive power capacity of the horizontal turning motor 11H and the vertical turning motor 11V is compared with the conventional driving method. As a result, the drive power sources for the horizontal turning motor 11H and the vertical turning motor 11V can be reduced in size and can be configured at low cost. Furthermore, since the horizontal swing motor 11H and vertical swing motor 11V are driven and controlled at half the output (50% output) of the maximum output under normal conditions, power consumption can be significantly reduced and operation with excellent economic efficiency is possible. Become.

The block diagram which shows the structure of the turning camera apparatus which concerns on embodiment of this invention. The flowchart which shows the procedure of the motor drive control process which concerns on the said embodiment. The flowchart which shows the procedure of the motor drive control process which concerns on the said embodiment.

Explanation of symbols

  11H: Horizontal turning motor, 11V: Vertical turning motor, 12 ... Motor control unit, 13H, 13V ... Phase detection unit, 14H, 14V ... Output control unit.

Claims (5)

A horizontal turning motor that drives the camera body to turn in a horizontal direction;
First phase detection means for detecting an operation abnormality of the horizontal turning motor by detecting a phase of the horizontal turning motor;
A vertical turning motor that drives the camera body to turn in a vertical direction;
Second phase detection means for detecting an abnormal operation of the vertical swing motor by detecting a phase of the vertical swing motor;
In a normal operating environment, the horizontal turning motor and the vertical turning motor are driven and controlled at half of the maximum output set in the apparatus, and the first phase detecting means or the second phase detecting means is operated in a specific operating environment. Drive control means for driving and controlling the motor that has detected the abnormality at the maximum output when detecting an operation abnormality of the horizontal turning motor or the vertical turning motor;
A turning camera device characterized by comprising: A horizontal turning motor that drives the camera body to turn in a horizontal direction;
First phase detection means for detecting an operation abnormality of the horizontal turning motor by detecting a phase of the horizontal turning motor;
A vertical turning motor that drives the camera body to turn in a vertical direction;
Second phase detection means for detecting an abnormal operation of the vertical swing motor by detecting a phase of the vertical swing motor;
In a normal operating environment, the horizontal turning motor and the vertical turning motor are driven and controlled at half of the maximum output set in the apparatus, and the first phase detecting means or the second phase detecting means is operated in a specific operating environment. When an operation abnormality of the horizontal turning motor or the vertical turning motor is detected, the motor detecting the abnormality is driven and controlled with the maximum output, and the first phase detecting means and the second phase detecting means are used for the horizontal turning motor. And a drive control means for switching the horizontal swing motor and the vertical swing motor in time series and controlling the drive at the maximum output when detecting an abnormal operation of the vertical swing motor;
A turning camera device characterized by comprising: In a motor drive control method of a swing camera device for driving and controlling a horizontal swing motor and a vertical swing motor,
In a normal operating environment, the horizontal turning motor and the vertical turning motor are driven and controlled at half of the maximum output set in the apparatus;
When it is detected by the respective phase detectors connected to the horizontal swing motor and the vertical swing motor in a specific operating environment that one of the horizontal swing motor and the vertical swing motor does not operate normally, Driving the motor that does not operate normally at the maximum output; and
A motor drive control method comprising: In a motor drive control method of a swing camera device for driving and controlling a horizontal swing motor and a vertical swing motor,
In a normal operating environment, the horizontal turning motor and the vertical turning motor are driven and controlled at half of the maximum output set in the apparatus;
When each phase detection unit connected to the horizontal swing motor and the vertical swing motor in a specific operating environment detects that both the horizontal swing motor and the vertical swing motor do not operate normally, the motors Switching in time series to control the drive at the maximum output;
A motor drive control method comprising: In a motor drive control method for driving and controlling n (n is an integer of 2 or more) motors,
In a normal operating environment, driving control of the n motors with an output of 1 / n of the maximum output set in the apparatus;
When one or more of the motors do not operate normally by n phase detectors connected to the n motors in a specific operating environment , the motors that do not operate normally one by one Driving and controlling at the maximum output;
A motor drive control method comprising:

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