TWI785497B - Direct drive brushless motor pipeline inspection camera system - Google Patents

Direct drive brushless motor pipeline inspection camera system Download PDF

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TWI785497B
TWI785497B TW110104507A TW110104507A TWI785497B TW I785497 B TWI785497 B TW I785497B TW 110104507 A TW110104507 A TW 110104507A TW 110104507 A TW110104507 A TW 110104507A TW I785497 B TWI785497 B TW I785497B
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brushless motor
module
motor
direct
camera system
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TW110104507A
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TW202232877A (en
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李德源
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全崴科技有限公司
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block

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  • Mechanical Engineering (AREA)
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Abstract

The present invention provides a direct-drive brushless motor pipeline detection camera system. The system includes: a power supply module provides working power for the direct drive brushless motor pipeline detection camera system; a lens module includes a camera for capturing images, and a protective cover protects the Camera; steering module, the steering module drives the lens module to rotate 360 degrees; control module, the control module controls the steering and positioning of the steering module; storage module, storing the camera of the lens module The transmitted image signal; the transmission module can output the data stored in the storage module or send it to the server.

Description

直驅無刷馬達管線檢測攝像系統 Direct Drive Brushless Motor Pipeline Inspection Camera System

本發明提供一種將無刷馬達結合攝像頭運用於管線檢測，具有360度可視角達到無聲效能、精準定位的管線檢測攝像系統。 The present invention provides a pipeline detection camera system that uses a brushless motor combined with a camera for pipeline detection and has a 360-degree viewing angle to achieve silent performance and precise positioning.

現在應用在無刷馬達之換相電路的無感測驅動技術包括有反電動勢過零點估測法以及端電壓比較估測法等。其中，反電動勢過零點估測法是藉由測量不導通相之相線圈的端電壓與虛擬中性電壓進行比較，以獲得反電動勢的過零點，預測正確換相點與馬達特性有關，因此，在驅動各類不同參數之馬達時，較不易控制而有所缺失。 The sensorless driving technology currently applied to the commutation circuit of the brushless motor includes the back electromotive force zero-crossing estimation method and the terminal voltage comparison estimation method. Among them, the counter electromotive force zero-crossing point estimation method is to measure the terminal voltage of the phase coil of the non-conducting phase and compare it with the virtual neutral voltage to obtain the back electromotive force zero-crossing point, and predict the correct commutation point is related to the characteristics of the motor. Therefore, When driving motors with various parameters, it is difficult to control and there are some defects.

另外，端電壓比較估測法是藉由測量三相線圈的端電壓及反電動勢變化進行比較，以取得三相線圈的換相訊號。應用端電壓比較估測法的驅動技術，無須馬達的相關特性參數，因此可廣泛應用於不同驅動參數的各類馬達，然而，前述端電壓比較估測法的換相點反電動勢大都需經過濾波，而容易造成換相時間延遲(落後)，而產生突波電流，進而影響電磁兼容性(FMC)與馬達輸出效率。因此，如何改善應用端電壓比較估測法之馬達控制技術時所產生的相位落後問題，是研究發展的方向之一。 In addition, the terminal voltage comparison estimation method is to obtain the commutation signal of the three-phase coil by measuring the terminal voltage of the three-phase coil and comparing the change of the back electromotive force. The drive technology using the terminal voltage comparison estimation method does not require the relevant characteristic parameters of the motor, so it can be widely applied to various types of motors with different driving parameters. However, most of the back electromotive force at the commutation point of the aforementioned terminal voltage comparison estimation method needs to be filtered , and it is easy to cause commutation time delay (lag), and generate surge current, which in turn affects electromagnetic compatibility (FMC) and motor output efficiency. Therefore, how to improve the phase lag problem generated when the motor control technology using the terminal voltage comparison estimation method is one of the research and development directions.

習知技術之缺點在於，目前市面上無低轉速微小型無刷馬達，且無刷馬達轉動原理不支持低轉速，若要將無刷馬達使用在低轉速範圍則需客制化才能做到，再者無刷馬達在低轉速範圍工作時，容易使馬達過熱而使系統故障。 The disadvantage of conventional technology is that there are no low-speed miniature brushless motors on the market at present, and the rotation principle of brushless motors does not support low speeds. If you want to use brushless motors in the low speed range, you need to customize them. Furthermore, when the brushless motor operates in a low speed range, it is easy to cause the motor to overheat and cause the system to malfunction.

有鑑於此，本發明提供一種直驅無刷馬達管線檢測攝像系統，該系統包含：電源模組提供該直驅無刷馬達管線檢測攝像系統工作電源；鏡頭模組包含攝像頭用以擷取影像，保護罩保護該攝像頭；轉向模組，該轉向模組帶動該鏡頭模組可進行360度旋轉；控制模組，該控制模組控制該轉向模組轉向與定位；儲存模組，儲存該鏡頭模組之該攝像頭所傳送之影像訊號；傳輸模組，可將該儲存模組儲存的資料進行輸出或傳送到伺服器。 In view of this, the present invention provides a direct drive brushless motor pipeline inspection camera system, the system includes: a power supply module provides the working power of the direct drive brushless motor pipeline inspection camera system; the lens module includes a camera for capturing images, The protective cover protects the camera; the steering module, which drives the lens module to rotate 360 degrees; the control module, which controls the steering and positioning of the steering module; the storage module, which stores the lens module The image signal transmitted by the camera; the transmission module can output or transmit the data stored in the storage module to the server.

較佳地，該轉向模組帶動該鏡頭模組可進行360度旋轉，其中包含一個基座，其連接無刷馬達之轉動部，另無刷馬達之馬達固定部連接一片L型支架之底邊，另該L型支架之側邊連接另一個無刷馬達之轉動部，另馬達固定部連接鏡頭模組。 Preferably, the steering module drives the lens module to rotate 360 degrees, which includes a base, which is connected to the rotating part of the brushless motor, and the motor fixing part of the brushless motor is connected to the bottom edge of an L-shaped bracket , and the side of the L-shaped bracket is connected to the rotating part of another brushless motor, and the fixed part of the motor is connected to the lens module.

較佳地，本發明達藉由控制水平轉動的無刷馬達與控制垂直轉動的無刷馬達彼此配合讓鏡頭組之視角可達到360度，進一步藉由該控制電路讓馬達精準定位。 Preferably, in the present invention, the angle of view of the lens group can reach 360 degrees by controlling the horizontal rotation of the brushless motor and the vertical rotation of the brushless motor, and the motor can be precisely positioned by the control circuit.

較佳地，本發明空心軸快速無刷馬達轉速降至少於每分鐘轉速30RPM。 Preferably, the speed of the hollow shaft fast brushless motor of the present invention is reduced to less than 30 RPM per minute.

較佳地，本發明空心軸可使馬達達到360度持續橫搖。 Preferably, the hollow shaft of the present invention can enable the motor to achieve 360-degree continuous roll.

較佳地，本發明進一步使用直驅無框架馬達達到無齒輪及皮帶設計。 Preferably, the present invention further uses a direct drive frameless motor to achieve a gearless and beltless design.

較佳地，本發明進一步使用馬達霍爾感測器達到精準定位效能。 Preferably, the present invention further uses a motor Hall sensor to achieve precise positioning performance.

100:直驅無刷馬達管線檢測攝像系統 100: Direct drive brushless motor pipeline detection camera system

10:電源模組 10: Power module

20:鏡頭模組 20: Lens module

21:攝像頭 21: Camera

22:保護罩 22: Protective cover

30:轉向模組 30: Steering module

311:第一基座 311: The first base

312:第二基座 312: second base

313:第三基座 313: The third base

32:第一無刷馬達 32: The first brushless motor

321:第一馬達固定部 321: The first motor fixing part

322:第一馬達轉動部 322: first motor rotating part

33:L型支架 33: L-shaped bracket

331:L型底邊 331: L-shaped bottom edge

332:L型側邊 332: L-shaped side

34:第二無刷馬達 34: Second brushless motor

341:第二馬達固定部 341: The second motor fixing part

342:第二馬達轉動部 342: Second motor rotating part

40:控制模組 40: Control module

50:無線模組 50: Wireless module

333:第一穿孔 333: First piercing

334:第二穿孔 334:Second perforation

【圖1】係為本發明直驅無刷馬達管線檢測攝像系統示意圖；【圖2】係為本發明轉向模組之結構示意圖；【圖3】係為本發明轉向模組之一實施例；【圖4】係為本發明低轉速無刷馬達控制線路圖。 [Figure 1] is a schematic diagram of the direct-drive brushless motor pipeline detection camera system of the present invention; [Figure 2] is a schematic structural diagram of the steering module of the present invention; [Figure 3] is an embodiment of the steering module of the present invention; [Fig. 4] is a control circuit diagram of the low-speed brushless motor of the present invention.

以下實施例說明為使本發明的目的，內容和優點更加清楚，下面實施例對本發明的具體實施方式作進一步詳細描述。以下實施例僅用於更清楚地說明本發明的技術方案，而不能以此來限製本發明的保護範圍。 The following examples illustrate in order to make the object, contents and advantages of the present invention clearer, and the following examples describe the specific implementation of the present invention in further detail. The following examples are only used to illustrate the technical solutions of the present invention more clearly, but not to limit the protection scope of the present invention.

本發明提供一直驅無刷馬達管線檢測攝像系統100，如【圖1】、【圖2】所示，該系統包含：一電源模組10，該電源模組10包含一蓄電功能提供該直驅無刷馬達管線檢測攝像系統100工作電源；一鏡頭模組20，該鏡頭模組20包含一攝像頭21用以擷取影像，一保護 罩22保護該攝像頭21，一儲存模組，該儲存模組儲存該鏡頭模組20之該攝像頭21所傳送之影像訊號，一傳輸模組，該第一傳輸模組可將該儲存模組儲存的資料進行輸出或傳送到一伺服器；一轉向模組30，該轉向模組30帶動該鏡頭模組20可進行360度旋轉，其中包含一第一基座311，其連接一第一無刷馬達32之一第一馬達轉動部322，另該第一無刷馬達32之一第一馬達固定部321連接一第二基座312，藉由該第二基座312連接一L型支架33之一L型底邊331，該L型支架33之一L型側邊332連接一第三基座313，藉由該第三基座313連接一第二無刷馬達34之一第二馬達固定部341，另該第二無刷馬達34之一第二馬達轉動部342連接該鏡頭模組20；一控制模組40，該控制模組40控制該轉向模組30轉向與定位，其中包含一轉向控制電路，控制無刷馬達轉速降至30RPM以下的低轉速運作；一定位控制電路，利用霍爾感測器達到精準定位之效果；一無線模組50，連接該控制模組40，可讓使用者利用無線方式傳輸控制訊號給該控制模組40；以及值得注意的是，該第二無刷馬達34之控制線經由該第二無刷馬達34之一空心軸，再穿過該L型支架33上之一第一穿孔333連接該控制模組40，達到讓該鏡頭模組20依垂直方向持續360度慢速度轉動。 The present invention provides a direct-drive brushless motor pipeline detection camera system 100, as shown in [Fig. 1] and [Fig. 2]. Brushless motor pipeline detection camera system 100 working power; a lens module 20, the lens module 20 includes a camera 21 for capturing images, a protection Cover 22 protects the camera 21, a storage module, the storage module stores the image signal transmitted by the camera 21 of the lens module 20, a transmission module, the first transmission module can store the storage module The data is output or sent to a server; a steering module 30, the steering module 30 drives the lens module 20 to rotate 360 degrees, which includes a first base 311, which is connected to a first brushless A first motor rotating part 322 of the motor 32, and a first motor fixing part 321 of the first brushless motor 32 are connected to a second base 312, and the second base 312 is connected to an L-shaped bracket 33. An L-shaped bottom 331, an L-shaped side 332 of the L-shaped bracket 33 is connected to a third base 313, and a second motor fixing part of a second brushless motor 34 is connected to the third base 313 341, the second motor rotating part 342 of the second brushless motor 34 is connected to the lens module 20; a control module 40, the control module 40 controls the steering and positioning of the steering module 30, which includes a steering A control circuit, which controls the brushless motor to operate at a low speed below 30RPM; a positioning control circuit, which uses a Hall sensor to achieve precise positioning; a wireless module 50, which is connected to the control module 40, allowing the user to Or transmit control signals to the control module 40 in a wireless manner; and it is worth noting that the control line of the second brushless motor 34 passes through a hollow shaft of the second brushless motor 34, and then passes through the L-shaped bracket One of the first through holes 333 on 33 is connected with the control module 40 to allow the lens module 20 to rotate vertically at a continuous 360 degrees at a slow speed.

本發明一實施例如【圖3】所示，該直驅無刷馬達管線檢測攝像系統，該轉向模組30帶動該鏡頭模組20水平方向持續360度慢速度轉動，其中包含該第一馬達轉動部322連接該鏡頭模組20，該第一馬達固定部321連接該L型支架33之該L型側邊332，該L型支架33之該L型底邊331連接 該第二無刷馬達34之該第二馬達固定部341，另該第二馬達轉動部342連接該第一基座311。 An embodiment of the present invention is shown in [Fig. 3], in the direct-drive brushless motor pipeline detection camera system, the steering module 30 drives the lens module 20 to rotate continuously at a slow speed of 360 degrees in the horizontal direction, including the rotation of the first motor Part 322 is connected to the lens module 20, the first motor fixing part 321 is connected to the L-shaped side 332 of the L-shaped bracket 33, and the L-shaped bottom 331 of the L-shaped bracket 33 is connected to The second motor fixing part 341 of the second brushless motor 34 and the second motor rotating part 342 are connected to the first base 311 .

本發明一實施例，可改變該L型支架33、該鏡頭模組20、該第一馬達固定部321、該第一馬達轉動部322、該第二馬達固定部341及該第二馬達轉動部342之不同組合達到不同態樣之持續360度慢速度轉動方式，讓該鏡頭組視角可達全視角。 In one embodiment of the present invention, the L-shaped bracket 33, the lens module 20, the first motor fixing part 321, the first motor rotating part 322, the second motor fixing part 341 and the second motor rotating part can be changed. The different combinations of 342 achieve different forms of continuous 360-degree slow-speed rotation, so that the viewing angle of the lens group can reach a full viewing angle.

本發明一實施例，如【圖2】所示，該第一無刷馬達32及該第二無刷馬達34採用空心軸Hallow Shift(or Bore)無轉動軸的中空設計，讓連接該第一馬達固定部321及該第二馬達固定部341的控制線可以穿過空心軸空間連接到該控制模組40，進一步讓馬達轉動部可以在無干涉的狀態下持續360度持續橫搖，並達到無齒輪及皮帶設計。 In one embodiment of the present invention, as shown in [Figure 2], the first brushless motor 32 and the second brushless motor 34 adopt a hollow shaft Hallow Shift (or Bore) hollow design without a rotating shaft, allowing the first brushless motor to be connected The control wires of the motor fixing part 321 and the second motor fixing part 341 can be connected to the control module 40 through the space of the hollow shaft, so that the motor rotating part can continue to roll continuously at 360 degrees without interference, and achieve Gearless and beltless design.

本發明一實施例，如【圖2】所示，該第一無刷馬達32之控制線經由該第一無刷馬達32之該空心軸，穿過該L型底邊331上之一第三穿孔及該L型側邊332上之第二穿孔334連接該控制模組40。 In one embodiment of the present invention, as shown in [Fig. 2], the control wire of the first brushless motor 32 passes through the hollow shaft of the first brushless motor 32 and passes through a third third on the L-shaped bottom edge 331. The through hole and the second through hole 334 on the L-shaped side 332 are connected to the control module 40 .

本發明一實施例，該第一無刷馬達32之控制線經由該第一無刷馬達32之該空心軸，穿過該第一基座311上之穿孔連接該控制模組40。 In one embodiment of the present invention, the control wire of the first brushless motor 32 passes through the hollow shaft of the first brushless motor 32 and passes through the hole on the first base 311 to connect to the control module 40 .

本發明一實施例，如【圖2】所示，藉由該第二無刷馬達34，該鏡頭組20視角可達到垂直360度持續轉動，藉由該第一無刷馬達32，該鏡頭組20視角可達到水平360度；進一步，藉由該控制模組40之該定位控制電路達到精準定位之效果。 In one embodiment of the present invention, as shown in [Fig. 2], with the second brushless motor 34, the viewing angle of the lens group 20 can reach a vertical 360-degree continuous rotation, and with the first brushless motor 32, the lens group can 20 viewing angles can reach 360 degrees horizontally; furthermore, the positioning control circuit of the control module 40 can achieve the effect of precise positioning.

本發明一實施例，該鏡頭模組20之該傳輸模組進一步可以是一無限傳輸裝置，傳送該鏡頭模組20之即時影像訊號。 In an embodiment of the present invention, the transmission module of the lens module 20 can further be an wireless transmission device for transmitting real-time image signals of the lens module 20 .

本發明一實施例，如【圖4】所示，該控制模組40之該轉向控制電路，控制無刷馬達轉速降至30RPM以下的低轉速運作；使用SPWM方式控制U,V,W三相線圈的電流，靠著三相相位的同步變化，達到馬達緩慢移動的目的；進一步找到適當的電壓值，取得足夠扭力同時控制馬達發熱程度，馬達靜止及轉動時需求不同，靜止需要穩定不抖動，轉動時需要夠大的扭力，該控制模組40採用不同的PWM頻率對應兩種狀況，以取得最佳控制效果。 In one embodiment of the present invention, as shown in [Figure 4], the steering control circuit of the control module 40 controls the brushless motor to operate at a low speed below 30RPM; uses SPWM mode to control U, V, W three-phase The current of the coil, relying on the synchronous change of the three-phase phase, achieves the purpose of the slow movement of the motor; further finds the appropriate voltage value, obtains enough torque and controls the heat generation of the motor at the same time. A large enough torque is required for rotation, and the control module 40 uses different PWM frequencies to correspond to two situations, so as to obtain the best control effect.

本發明一實施例，如【圖3】所示，該控制模組40之該定位控制電路，利用霍爾感測器達到精準定位之效果。 In one embodiment of the present invention, as shown in [ FIG. 3 ], the positioning control circuit of the control module 40 uses Hall sensors to achieve precise positioning.

本發明一實施例，該直驅無刷馬達管線檢測攝像系統100採用無刷馬達並解決無刷馬達在低轉速過熱問題，所以可達微小型尺寸。 In one embodiment of the present invention, the direct drive brushless motor pipeline detection camera system 100 adopts a brushless motor and solves the problem of overheating of the brushless motor at low speed, so it can be miniaturized.

較佳的，該直驅無刷馬達管線檢測攝像系統100採用無刷馬達並解決無刷馬達在低轉速過熱問題，其中攝像機加上直驅無刷馬達長寬直徑尺寸可達30~50mm。 Preferably, the direct-drive brushless motor pipeline detection camera system 100 adopts a brushless motor and solves the problem of overheating of the brushless motor at low speeds, wherein the length, width and diameter of the camera plus the direct-drive brushless motor can reach 30-50 mm.

綜上所述，本發明無刷馬達結合攝像頭運用於管線檢測，具有360度可視角達到無聲效能、精準定位的管線檢測攝像系統。空心軸Hallow Shift(or Bore)無轉動軸的中空設計讓控制線可從中間穿過，由水平(Pan)和垂直(Tilt)馬達直接驅動，藉由該第一無刷馬達及該第二無刷馬達讓該鏡頭組可視角達到360度無死角，該控制電路讓該第一無刷馬達及該第二無刷馬達達到低轉速、不過熱、精準定位。 To sum up, the brushless motor of the present invention combined with the camera is used for pipeline inspection, and has a 360-degree viewing angle to achieve silent performance and precise positioning of the pipeline inspection camera system. Hollow shaft Hallow Shift (or Bore) The hollow design of the non-rotating shaft allows the control line to pass through the middle, directly driven by the horizontal (Pan) and vertical (Tilt) motors, through the first brushless motor and the second brushless motor The brush motor allows the lens group to achieve a 360-degree viewing angle without dead angle, and the control circuit enables the first brushless motor and the second brushless motor to achieve low speed, no overheating, and precise positioning.

本發明所揭露的所有特徵應可以任何結合方式實現。本發明所揭露的每一特徵應可以相同、均等或相似目的的取代物所取代。因此， 除非有明確的指定，否則所揭露的每一個特徵僅僅只是均等物或相似特徵的一個種類的一實施例。 All the features disclosed in the present invention should be implemented in any combination. Each feature disclosed in the present invention can be replaced by alternatives serving the same, equivalent or similar purpose. therefore, Unless expressly stated otherwise, each feature disclosed is only one embodiment of one species of equivalent or similar features.

100:直驅無刷馬達管線檢測攝像系統 100: Direct drive brushless motor pipeline detection camera system

10:電源模組 10: Power module

20:鏡頭模組 20: Lens module

30:轉向模組 30: Steering module

40:控制模組 40: Control module

50:無線模組 50: Wireless module

Claims (10)

一種直驅無刷馬達管線檢測攝像系統，該系統包含：一電源模組，該電源模組提供該直驅無刷馬達管線檢測攝像系統工作電源；一鏡頭模組，該鏡頭模組包含一攝像頭用以擷取影像；一轉向模組，該轉向模組帶動該鏡頭模組可進行360度旋轉，其中包含一第一基座，其連接一第一無刷馬達之一第一馬達轉動部，另該第一無刷馬達之一第一馬達固定部連接一L型支架之一L型底邊，該L型支架之一L型側邊連接一第二無刷馬達之一第二馬達固定部，另該第二無刷馬達之一第二馬達轉動部連接該鏡頭模組；一控制模組，該控制模組控制該轉向模組轉向與定位；以及該第二無刷馬達之控制線經由該第二無刷馬達之一空心軸，再穿過該L型支架上之一第一穿孔連接該控制模組，達到讓該鏡頭模組持續360度慢速度轉動。 A direct drive brushless motor pipeline detection camera system, the system includes: a power supply module, the power supply module provides the direct drive brushless motor pipeline detection camera system working power; a lens module, the lens module includes a camera Used to capture images; a steering module, the steering module drives the lens module to rotate 360 degrees, which includes a first base, which is connected to a first motor rotating part of a first brushless motor, In addition, the first motor fixing part of the first brushless motor is connected to the L-shaped bottom of an L-shaped bracket, and the L-shaped side of the L-shaped bracket is connected to the second motor fixing part of a second brushless motor. , and the second motor rotating part of the second brushless motor is connected to the lens module; a control module, the control module controls the steering and positioning of the steering module; and the control line of the second brushless motor passes through A hollow shaft of the second brushless motor passes through a first through hole on the L-shaped bracket to connect to the control module, so that the lens module can continue to rotate 360 degrees at a slow speed. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該控制模組進一步包含一轉向控制電路，控制無刷馬達轉速降至30RPM以下的低轉速運作；及一定位控制電路，讓該攝像頭達到精準定位之效果。 For the direct-drive brushless motor pipeline detection camera system described in item 1 of the scope of the patent application, the control module further includes a steering control circuit to control the low-speed operation of the brushless motor speed below 30RPM; and a positioning control circuit , so that the camera can achieve the effect of precise positioning. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該第一無刷馬達及該第二無刷馬達採用空心軸Hallow Shift(or Bore)無轉動軸的中空設計。 As for the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of the patent application, the first brushless motor and the second brushless motor adopt a hollow shaft Hallow Shift (or Bore) shaft-free design. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該鏡頭模組藉由該第一及該第二無刷馬達視角可達全視角。 According to the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of the patent application, the lens module can achieve a full viewing angle through the first and second brushless motor viewing angles. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該系統攝像機連同直驅無刷馬達長寬直徑尺寸可達30~50mm。 For the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of patent application, the length, width and diameter of the system camera and the direct-drive brushless motor can reach 30~50mm. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該鏡頭模組進一步包含一儲存模組儲存該攝像頭之影像訊號；及一傳輸模組，將該儲存模組儲存的資料進行輸出或傳送到一伺服器。 For the direct-drive brushless motor pipeline detection camera system described in item 1 of the scope of the patent application, the lens module further includes a storage module to store the image signal of the camera; and a transmission module to store the image signal of the storage module The data is exported or sent to a server. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該轉向模組進一步包含一第一基座，其連接該第一無刷馬達之該第一馬達轉動部，另該第一無刷馬達之該第一馬達固定部連接一第二基座，藉由該第二基座連接該L型支架之該L型底邊，該L型支架之該L型側邊連接一第三基座，藉由該第三基座連接該第二無刷馬達之該第二馬達固定部，另該第二無刷馬達之該第二馬達轉動部連接該鏡頭模組。 According to the direct-drive brushless motor pipeline detection camera system described in item 1 of the scope of the patent application, the steering module further includes a first base, which is connected to the first motor rotating part of the first brushless motor, and the other The first motor fixing portion of the first brushless motor is connected to a second base, the L-shaped bottom of the L-shaped bracket is connected to the second base, and the L-shaped side of the L-shaped bracket is connected to a The third base is connected to the second motor fixing part of the second brushless motor through the third base, and the second motor rotating part of the second brushless motor is connected to the lens module. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該轉向模組進一步包含該第一馬達轉動部連接該鏡頭模組，該第一馬達固定部連接該L型支架之該L型側邊，該L型支架之該L型底邊連接該第二無刷馬達之該第二馬達固定部，另該第二馬達轉動部連接該第一基座。 As the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of the patent application, the steering module further includes the first motor rotating part connected to the lens module, and the first motor fixing part connected to the L-shaped bracket. The L-shaped side, the L-shaped bottom of the L-shaped bracket are connected to the second motor fixing part of the second brushless motor, and the second motor rotating part is connected to the first base. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該L型支架、該鏡頭模組、該第一馬達固定部、該第一馬達轉動部、該第二馬達固定部及該第二馬達轉動部之組合達到持續360度慢速度轉動，讓該鏡頭模組視角可達全視角。 The direct-drive brushless motor pipeline detection camera system described in item 1 of the patent scope of the application, the L-shaped bracket, the lens module, the first motor fixing part, the first motor rotating part, and the second motor fixing part And the combination of the second motor rotating part achieves continuous 360-degree slow-speed rotation, so that the viewing angle of the lens module can reach a full viewing angle. 如申請專利範圍第1項所述之直驅無刷馬達管線檢測攝像系統，該系統為無齒輪及皮帶設計。 As the direct-drive brushless motor pipeline inspection camera system described in item 1 of the scope of the patent application, the system is designed without gears and belts.
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