KR20090091598A - Apparatus and method for controlling pan and tilt operation - Google Patents

Abstract

A pan and a tilt operation control device and a method thereof for preventing error generation to a pan/tilt operation are provided to prevent the error of pan/tilt operation by controlling error of pan/tilt operation to the pan/tilt location. A pan operation is controlled based on a current location(S10). It determines whether pan operation is normally performed(S11-S16). The pan operation is controlled based on the pan location(S17). When the pan operation is controlled, the number of steps of the necessary pan motor is calculated. The driving voltage is applied to the pan motor. The difference value between the calculated numbers is calculated. If difference deviates from the allowable error range, it is discriminated to the hollowed action error.

Description

Apparatus and method for controlling pan and tilt operation}

The present invention relates to a pan and tilt motion control apparatus and method, for example, in a pan / tilter capable of a pan motion of less than 360 degrees and a tilt motion of 180 degrees or less, Pan and tilt motion control apparatus and method for preventing an error in pan / tilt motion due to a step out in case of performing a pan motion to rotate the camera in a horizontal direction and a tilt motion to rotate in a vertical direction. It is about.

In general, a PTZ camera equipped with a Pan / Tilt / Zoom function is mounted on a Pan / Tilter installed in, for example, a ceiling of a specific place. As described above, the camera 100 can easily monitor the surveillance area by a pan operation rotated in the horizontal direction by the pan / tilt 200 and a tilt operation rotated in the vertical direction. Will be changed.

In addition, the camera 100 and the pan / tilter 200 may be installed in one dome case, and the subject image photographed by the camera 100 is as shown in FIG. 1. The digital video recorder 300 may be transmitted to a digital video recorder (DVR) 300, displayed on a monitor screen, or recorded on a hard disk (HDD) of the digital video recorder.

In addition, an administrator who monitors the corresponding area through the monitor screen may arbitrarily remotely adjust the pan or tilt angle of the pan / tilter 200 using, for example, a mouse or a joystick, and the camera may be rotated horizontally. A stepper motor capable of precise motor control is used for a fan motor for rotating in a vertical direction and a tilt motor for rotating in a vertical direction.

Meanwhile, the pan / tilter 200 may be a low-cost pan / tilt capable of a pan operation of less than 360 degrees and a tilt operation of 180 degrees. For example, as illustrated in FIG. 2. In case of using a pan / tilt with a maximum pan angle of 355 degrees, the camera has a unit of 1 step between 0 degrees which is the initial start position of the pan and 355 degrees which is the end position. Will rotate to.

For example, as shown in FIG. 2, in order to control a fan operation from a current position to a target position, when a driving voltage corresponding to the number of steps 200 is applied to the fan motor, The camera is rotated by the number of 200 steps by the rotation operation of the fan motor.

However, as shown in FIG. 2, a stopper for safely limiting the maximum pan angle to less than 360 degrees is installed in a low-cost pan / tilter capable of operating an angle smaller than 360 degrees as described above. For example, when a current driving voltage corresponding to the number of steps 200 is applied to the fan motor in a state in which the current position is misaligned to the right direction due to a step out, the camera collides with the stopper, The number of steps moved is only less than 200 steps, for example 170, and an error occurs in the fan operation.

Accordingly, the present invention has been created to solve the above problems, for example, in the pan / tilter capable of a pan operation of less than 360 degrees and a tilt operation of less than 180 degrees due to the stopper, perform a pan operation and a tilt operation In this case, if the pan / tilt operation is not normally performed by referring to the number of steps that the camera is actually rotated and moved, move the camera to the initial pan / tilt position, and then pan / tilt to the target pan / tilt position. SUMMARY OF THE INVENTION An object of the present invention is to provide a pan and tilt motion control device and a method for controlling the tilt motion again to prevent an error of the pan / tilt motion.

Fan operation control method according to the present invention for achieving the above object, a step of controlling the fan operation based on the current fan position; Determining whether the fan operation is normally performed; And if the determination is not performed normally, characterized in that it comprises a three step of controlling the fan operation again based on the initial fan position,

In the first step, the number of steps of the fan motor required to perform the fan operation from the current fan position to the target fan position is calculated, and a corresponding driving voltage is applied to the fan motor. ,

In the second step, after calculating the difference value between the number of steps that the camera is actually rotated by the fan motor and the calculated step number, if the difference value is out of an allowable error range, it is referred to as a fan operation error. Characterized in that the discriminating,

In addition, in the third step, if it is not performed normally, the fan motor required to perform a pan operation from the initial pan position to the target pan position after forcibly moving the camera to the initial pan position. It calculates the number of steps, and applies a corresponding driving voltage to the fan motor,

In addition, the fan operation control apparatus according to the present invention, the pan / tilter having a maximum pan angle of less than 360 degrees, the fan motor for rotating the camera in step units; Driving means for applying a driving voltage to the fan motor; Detection means for detecting the number of steps that the camera actually moves by the fan motor; And controlling a fan operation based on the current fan position, and if the fan operation is not normally performed, a control means for controlling the fan operation based on the initial fan position again.

Further, the detecting means is a photocoupler for detecting the number of steps that the camera actually moves, and the control means is a step of the fan motor required to perform a pan operation from the current pan position to the target pan position. It calculates the number, and transmits the corresponding command to the drive means,

The control means may calculate a difference value between the number of steps detected by the detection means and the calculated step number, and determine that the operation value is a fan operation error if the difference value is out of an allowable error range. ,

In addition, the control means, if the fan operation is not performed normally, forcibly moving the camera to the initial pan position, and then the fan motor required to perform the pan operation from the initial pan position to the target pan position It calculates the number of steps of, and transmits a corresponding command to the drive means,

In addition, the tilt motion control method according to the present invention, a step of controlling the tilt motion on the basis of the current tilt position; Determining whether the tilt operation is normally performed; And if it is not normally performed, the step of controlling the tilting operation based on the initial tilting position again.

In the first step, the number of steps of the tilt motor required to perform the tilt operation from the current tilt position to the target tilt position is calculated, and a corresponding driving voltage is applied to the tilt motor. ,

The second step may be a tilt operation error if the difference value is out of an allowable error range after calculating the difference value between the number of steps that the camera is actually rotated by the tilt motor and the calculated step number. Characterized in that the discriminating,

In addition, in the third step, if it is not performed normally, the tilt motor required to perform a tilt operation from the initial tilt position to the target tilt position after forcibly moving the camera to the initial tilt position. It calculates the number of steps, and applies a corresponding driving voltage to the tilt motor,

In addition, the tilt motion control apparatus according to the present invention, the pan / tilt of the maximum tilt angle of 180 degrees or less, the tilt motor for rotating the camera in step units; Driving means for applying a driving voltage to the tilt motor; Detection means for detecting the number of steps that the camera actually moves by the tilt motor; Controlling the tilt operation based on the current tilt position, if the tilt operation is not normally performed, characterized in that it comprises a control means for controlling the tilt operation based on the initial tilt position again,

The detecting means may be a photocoupler for detecting the number of steps that the camera actually moves.

The control means may calculate the number of steps of the tilt motor required to perform the tilt operation from the current tilt position to the target tilt position, and transmit a corresponding command to the driving means. ,

The control means may calculate a difference value between the number of steps detected by the detection means and the calculated step number, and determine that the difference is a tilt operation error if the difference value is out of an allowable error range. ,

In addition, the control means, if the tilt operation is not performed normally, the tilt motor required to perform a tilt operation from the initial tilt position to the target tilt position after forcibly moving the camera to the initial tilt position The number of steps is calculated, and a corresponding command is transmitted to the driving means.

The pan and tilt motion control device and method according to the present invention is targeted at a current pan / tilt position, for example, in a pan / tilt capable of pan motion of less than 360 degrees and tilt motion of less than 180 degrees due to a stopper. Calculate the number of steps of the pan / tilt motor required to perform the pan / tilt operation to the pan / tilt position, and apply the corresponding driving voltage to the pan / tilt motor, but the number of steps that the camera is actually rotated. And calculating the difference value between the calculated number of steps, and if the difference value is out of the tolerance range, determine that it is a pan / tilt operation error due to out of step and forcibly move the camera to the initial pan / tilt position. After that, the number of steps of the pan / tilt motor required to perform the pan / tilt operation from the initial pan / tilt position to the target pan / tilt position is calculated, and the pan / tilt operation is controlled again. Shock Because of this, even if outage occurs, the pan / tilt operation from the initial pan / tilt position to the target pan / tilt position can be performed again, thus preventing the error in the pan / tilt operation continuously. It becomes possible.

Hereinafter, exemplary embodiments of a pan and tilt motion control apparatus and method according to the present invention will be described in detail with reference to the accompanying drawings.

First, the pan and tilt motion control apparatus and method according to the present invention, as described above with reference to Figure 2, the stopper (Stopper) is installed to safely limit the maximum pan angle (Max Pan angle) to less than 360 degrees It can be applied mainly to the pan / tilter which is present.

Meanwhile, FIG. 2 illustrates a configuration of a pan / tilt to which the present invention is applied. The pan / tilt 200 includes a fan motor 20, a tilt motor 21, a pan / tilt driver 22, The fan detection sensor 23, the tilt detection sensor 24, the microcomputer 25, the memory 26, and the interface unit 27 are configured to be included.

As the fan motor 20 and the tilt motor 21, a step motor capable of precise motor control in step units is used, and the fan detection sensor 23 and the tilt detection sensor 24 include a fan. When performing the operation or the tilt operation, a photo coupler or the like is used as a sensor for detecting the number of steps in which the camera is actually rotated.

In addition, in the microcomputer 25, for example, a command for operating and controlling the pan / tilt driving unit 22 when the camera is rotated at an arbitrary pan angle and a tilt angle previously set to a preset. (Command) is generated and output, and the command includes a number of steps for controlling the pan operation or the tilt operation to the target position on the basis of the current position.

In addition, the pan / tilt driver 22 generates a driving voltage corresponding to the number of steps included in the command and applies the driving voltage to the fan motor 20 and the tilt motor 21, respectively. At this time, the pan detection sensor 23 detects the number of steps for which the camera is actually rotated by the pan operation, and the tilt detection sensor 24 detects the number of steps for which the camera is actually rotated by the tilting operation. Done.

On the other hand, in the microcomputer 25, for example, the number of pan / tilt control steps transmitted to the pan / tilt driving unit 22, and the pan detection sensor 23 and the tilt detection sensor 24 are detected. By comparing the number of steps, it is determined whether the state is out of step, for example, if it is determined that the state of step out, the control of the pan / tilt operation on the basis of 0 degree which is the initial start position of the pan / tilt again. A series of pan / tilt reset operations will be performed.

4 is a flowchart illustrating a method for controlling a fan operation according to the present invention, wherein a maximum pan angle smaller than 360 degrees, for example, as shown in FIG. In order to safely limit the road, the microcomputer 25 of the pan / tilter 200 provided with a stopper controls the fan operation based on the current position (S10).

For example, when the target fan angle set to preset in advance is 350 degrees, and the current pan angle accumulated by the microcomputer 25 is 310 degrees, the microcomputer 25 rotates the camera 310 degrees. The number of rotation steps of the fan motor required to rotate the rotation by 350 degrees is calculated.

In addition, a command for controlling the operation of the pan / tilt driver 22 is generated and transmitted. For example, assuming that 5 steps are required to move the camera by 1 degree, it may be performed at 310 degrees to 350 degrees to 40 degrees. In order to rotate by degree, 200 steps are required.

Therefore, the microcomputer 25 generates a command corresponding to the 200 steps and transmits the command to the pan / tilt driver 22, and the fan / tilt driver 22 transmits a corresponding driving voltage to the fan motor. 20, the fan operation is performed.

On the other hand, the fan detection sensor 23 detects the number of steps in which the camera is actually rotated by the pan operation as described above. In the microcomputer 25, the pan / tilt driver 22 controls the operation. In order to check the fan control step number (S11), the fan number is detected by the fan detection sensor 23 (S12).

Then, the difference value between the step numbers is calculated (S13). For example, as shown in FIG. 5, in the state in which the current position is deviated to the right direction due to the step out, the fan motor When the driving voltage corresponding to the step number 200 is applied to the camera, the camera collides with the stopper. Therefore, the number of steps actually moved is only less than 200 steps, for example, 170, so that the fan operation is performed. An error will occur.

Therefore, in the microcomputer 25, in order to prevent this, when a difference value between the steps exceeds a preset tolerance range (for example, 5 steps) (S14), outsurge occurs due to external impact. It is determined that the state (S15).

And, if it is determined that the state of the step out, the microcomputer 25, as shown in Figure 5, the operation control the pan / tilt drive unit 22, the pan position of the camera to the initial starting position 0 degree position After moving (S16), the fan control is performed again based on the initial starting position of 0 degrees.

That is, the microcomputer 25 calculates 1750 (= 350 degrees x 5 steps) steps required to rotate the camera by 350 degrees from the initial starting position of 0 degrees to 350 degrees of the target position, and then the pan / By controlling the tilt driving unit 22, it is possible to prevent the fan operation error from occurring continuously due to outgassing.

6 is a flowchart illustrating a tilt motion control method according to the present invention. For example, as shown in FIG. 7, the maximum tilt angle is safely limited to 180 degrees (+90 degrees and -90 degrees). In order to do so, in the microcomputer 25 of the pan / tilter 200 provided with stoppers at both upper ends, the tilting operation is controlled based on the current position (S20).

For example, when the target tilt angle preset to a preset is +85 degrees, and the current pan angle accumulated by the microcomputer 25 is +50 degrees, the microcomputer 25 + The number of rotation steps of the tilt motor required to rotate from 50 degrees to +85 degrees is calculated.

In addition, a command for controlling the operation of the pan / tilt driver 22 is generated and transmitted. For example, assuming that 5 steps are required to rotate the camera by 1 degree, it is +85 to +85 degrees. 175 steps are required to rotate the road 35 degrees.

Accordingly, the microcomputer 25 generates a command corresponding to the step 175 and transmits the command to the pan / tilt driver 22, and the pan / tilt driver 22 transmits a corresponding driving voltage to the tilt motor. 21, the tilt operation is performed.

On the other hand, the tilt detection sensor 24 detects the number of steps that the camera is actually rotated by the tilting operation as described above. In the microcomputer 25, the pan / tilt driving unit 22 controls the operation. For this purpose, the tilt control step number is checked (S21), and the step number detected by the tilt detection sensor 24 is checked (S22).

Then, the difference value between each step number is calculated (S23). For example, as shown in FIG. 7, in the state where the current position is located at +60 degrees instead of +50 degrees due to the step out. When the driving voltage corresponding to the number of steps 175 is applied to the tilt motor, the camera collides with the stopper, so the number of steps actually moved is less than 175, for example, only 150. In this case, an error occurs in the tilt operation.

Accordingly, in the microcomputer 25, in order to prevent this, when the difference value between the steps exceeds a preset tolerance range (for example, 5 steps) (S24), outsurge occurs due to external impact. It is determined that the state (S25).

And, if it is determined that the state of the step out, the microcomputer 25, as shown in Figure 7, the operation control the pan / tilt drive unit 22, the tilt position of the camera to the initial starting position 0 degree position After moving (S26), the tilt control is performed again based on the initial starting position of 0 degrees.

That is, the microcomputer 25 calculates the step 425 (= 85 degrees x 5 steps) necessary to rotate the camera by +85 degrees from the initial starting position of 0 degrees to the target position of +85 degrees, and then By controlling the pan / tilt drive unit 22, it is possible to prevent the tilt operation error from occurring continuously due to outgassing.

For reference, the present invention may separately perform the fan operation control and the tilt operation control, or may be performed together at the same time, and if the fan operation error and the tilt operation error occur at the same time, the weight is added to the fan operation error. It is possible to determine whether the out of step and control the pan / tilt operation.

The fan detection sensor and the tilt detection sensor may be other detection sensors other than a photocoupler, and the like, and the fan motor 20 and the tilt motor may be used instead of the fan detection sensor and the tilt detection sensor. In step 21), the counter electromotive force, which is induced in the reverse direction, may be detected to determine whether or not the step out has occurred.

As mentioned above, preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art can improve other various embodiments within the spirit and technical scope of the present invention disclosed in the appended claims below. Changes, substitutions or additions will be possible.

1 illustrates an embodiment in which a general pan / tilter is installed on a ceiling,

2 illustrates an embodiment in which an error occurs in a general fan operation.

Figure 3 shows a configuration for a pan / tilter to which the present invention is applied,

4 is a flowchart illustrating an operation of a fan operation control method according to the present invention;

5 illustrates an embodiment of a fan operation control process according to the present invention,

6 is a flowchart illustrating an operation of a tilt motion control method according to the present invention;

7 illustrates an embodiment of a tilt operation control process according to the present invention.

※ Explanation of code for main part of drawing

100: camera 200: pan / tilter

300: digital video recorder 20: fan motor

21: tilt motor 22: pan / tilt drive

23: pan detection sensor 24: tilt detection sensor

25: microcomputer 26: memory

27: interface unit

Claims (18)

Controlling a fan operation based on a current fan position; Determining whether the fan operation is normally performed; And And if it is not performed normally, re-controlling the fan operation based on the initial fan position. The method of claim 1, In the first step, the number of steps of the fan motor required to perform the fan operation from the current fan position to the target fan position is calculated, and a corresponding driving voltage is applied to the fan motor. How to control fan operation. The method of claim 2, In the second step, after calculating the difference value between the number of steps that the camera is actually rotated by the fan motor and the calculated step number, if the difference value is out of an allowable error range, it is determined as a fan operation error. Fan operation control method, characterized in that. The method of claim 1, In the third step, if it is not performed normally, the step of the fan motor required to perform a pan operation from the initial pan position to the target pan position after forcibly moving the camera to the initial pan position. Calculating a number and applying a corresponding driving voltage to the fan motor. For pans / tilters with a maximum pan angle of less than 360 degrees, A fan motor for rotating the camera in steps; Driving means for applying a driving voltage to the fan motor; Detection means for detecting the number of steps that the camera actually moves by the fan motor; Control fan operation on the basis of the current fan position, if the fan operation is not performed normally, fan operation control device characterized in that it comprises a control means for controlling the fan operation based on the initial fan position again . The method of claim 5, And said detecting means is a photocoupler for detecting the number of steps that the camera actually moves. The method of claim 5, The control means calculates the number of steps of the fan motor required to perform the fan operation from the current fan position to the target fan position, and sends a corresponding command to the driving means. Motion controller. The method of claim 5, The control means calculates a difference value between the number of steps detected by the detection means and the calculated step number, and then, if the difference value is out of an allowable error range, determines that the operation error is a fan. Fan motion control. The method of claim 5, The control means, if the fan operation is not performed normally, forcibly moves the camera to the initial fan position, and then the fan motor steps necessary to perform the pan operation from the initial fan position to the target pan position. And calculating a number and transmitting a corresponding command to the driving means. Controlling a tilt operation based on a current tilt position; Determining whether the tilt operation is normally performed; And And if it is not normally performed, the step of controlling the tilting operation based on the initial tilting position again. The method of claim 10, In the first step, the number of steps of the tilt motor required to perform the tilt operation from the current tilt position to the target tilt position is calculated, and a corresponding driving voltage is applied to the tilt motor. Tilt motion control method. The method of claim 11, In the second step, after calculating the difference value between the number of steps that the camera is actually rotated by the tilt motor and the calculated step number, if the difference value is out of an allowable error range, it is determined to be a tilt operation error. Tilt motion control method, characterized in that. The method of claim 10, In the third step, if it is not performed normally, the step of the tilt motor required to perform a tilt operation from the initial tilt position to the target tilt position after forcibly moving the camera to the initial tilt position. And calculating a number and applying a corresponding driving voltage to the tilt motor. For pans / tilts with a maximum tilt angle of 180 degrees or less, A tilt motor for rotating the camera in steps; Driving means for applying a driving voltage to the tilt motor; Detection means for detecting the number of steps that the camera actually moves by the tilt motor; Controlling the tilt operation on the basis of the current tilt position, if the tilt operation is not performed normally, the tilt operation control device comprising a control means for controlling the tilt operation on the basis of the initial tilt position again . The method of claim 14, And said detecting means is a photocoupler for detecting the number of steps that the camera actually moves. The method of claim 14, The control means calculates the number of steps of the tilt motor required to perform the tilt operation from the current tilt position to the target tilt position, and transmits a corresponding command to the driving means. Motion controller. The method of claim 14, The control means calculates a difference value between the number of steps detected by the detection means and the calculated number of steps, and if the difference value is out of an allowable error range, determines that the operation is a tilt operation error. Tilt motion control. The method of claim 14, The control means, if the tilt operation is not performed normally, the step of the tilt motor required to perform a tilt operation from the initial tilt position to the target tilt position after forcibly moving the camera to the initial tilt position And a command corresponding to the number is transmitted to the driving means.

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