CN101230887B - Method for compensation of vibration of horizontal stage electric machine - Google Patents
Method for compensation of vibration of horizontal stage electric machine Download PDFInfo
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- CN101230887B CN101230887B CN2007100367561A CN200710036756A CN101230887B CN 101230887 B CN101230887 B CN 101230887B CN 2007100367561 A CN2007100367561 A CN 2007100367561A CN 200710036756 A CN200710036756 A CN 200710036756A CN 101230887 B CN101230887 B CN 101230887B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 230000035939 shock Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 abstract description 11
- 230000002265 prevention Effects 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
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Abstract
The invention relates to a vibration compensation method of a tripod head electric motor, which comprises the first step of utilizing a sensor in the tripod head to detect the present vibration values and the second step of causing the driving interference of the tripod head electric motor to be increased if the vibration values detected exceed the vibration permit values set by a machine. Under the circumstances that a camera for monitoring vibrates on a boarded pan/tilter, the invention utilizes an acceleration sensor, etc. to detect the corresponding vibration values, simultaneously, causes the torque of the tripod head electric motor to increase or the position of the cloud platform electric motor to initialize. For errors of the control and the operation of the tripod head, because prevention can be carried out before the errors happen, even if the vibration happens, the right tripod head control can be carried out.
Description
Technical field
The present invention is a kind of method for compensation of vibration about horizontal stage electric machine.Refer in particular to camera for monitoring on the The Cloud Terrace (Pan/Tilter) that carries; Even shake; Also can prevent to the pan (PAN) of substantially horizontal rotation and to vertical direction rotation pan (TILT) error that control operation produced, and the method for compensation of vibration of a kind of The Cloud Terrace horizontal stage electric machine that proposes.
To the pan (PAN) of substantially horizontal rotation and to vertical direction rotation pan (tilt)
Background technique
In general; When possessing the PTZ camera for monitoring of horizontal pans/vertical pan/convergent-divergent (PAN/TILT/Zoom) technical ability; For example: on the ceiling board of particular place etc., the The Cloud Terrace The Cloud Terrace (Pan&Tilter) of setting is gone up the place of carrying, shown in accompanying drawing 1; Above-mentioned camera for monitoring 100 is to be operated and operated to the pan (Tilting) of vertical direction rotation by the pan (Panning) that above-mentioned The Cloud Terrace 200 rotates to substantially horizontal, and the supervision image can be changed to other direction.
Simultaneously; Above-mentioned camera for monitoring is that convergent-divergent mirror (Zoom Lens) Xiang Yuanjiao (Tele) and wide-angle (Wide) direction are done variable conciliation; Can enlarge and take irradiated body or dwindle shooting; The video image of above-mentioned shooting is shown in accompanying drawing 1, by 300 outputs of the digital video recorder on location at a distance.
And; Above-mentioned digital video recorder 300 is video images of being taken by above-mentioned camera for monitoring, through monitor unit (Monitor) 4 00 pictures output expression, simultaneously; Being included in the records such as hard disk (HDD) that constitute in the device stores; For example: through above-mentioned monitor picture, the manager who keeps watch on relevant region utilizes operating handle etc., arbitrarily the level of the above-mentioned The Cloud Terrace 200 of adjustment or vertically pan angle (Pan or Tilt Angle) at a distance.
But, as above-mentioned, on the The Cloud Terrace that use is set on the ceiling board 200; Vibrations taking place, make pan (PAN) control operation of camera for monitoring to the substantially horizontal rotation, also has camera for monitoring; Make its pan (TILT) control operation to the vertical direction rotation, because occurrence of errors, so; The problem that the irradiated body of taking monitored object causes monitor performance to descend of pursuing and attacking owing to can not be correct also takes place often.
Summary of the invention
Therefore, the present invention proposes in order to address the above problem.On the The Cloud Terrace (Pan/Tilier) that camera for monitoring is carrying, take place to utilize acceleration sensor etc. under the situation of vibrations; Detect shock momentum; Simultaneously, make the driving of horizontal stage electric machine disturb increase, perhaps make the position initialization of horizontal stage electric machine; For occurrence of errors and the method for compensation of vibration of horizontal stage electric machine is provided, the purpose that the present invention that Here it is will reach not in cradle head control operation.
To achieve these goals, horizontal stage electric machine method for compensation of vibration according to the present invention is to comprise: the 1st step, be utilized in the sensor that possesses in the The Cloud Terrace, and detect present shock value; And the 2nd step, if the vibration values of above-mentioned detection surpasses the vibrations License Value that machine is set, horizontal stage electric machine is increased drive.Simultaneously, above-mentioned the 1st step is the output signal that utilizes by the acceleration sensor that in The Cloud Terrace, possesses of digital signal conversion, detects present shock value; Above-mentioned the 2nd step is; If the shock value of above-mentioned detection surpasses the vibrations License Value that machine is set, the rotation value of horizontal stage electric machine is slowed down, simultaneously; The driving current of horizontal stage electric machine is increased; If the shock value of above-mentioned detection surpasses the vibrations threshold value that machine is set, make the step of the position initialization of horizontal stage electric machine, have the characteristic that comprises above content and form.
Effect of the present invention:
Method for compensation of vibration according to the horizontal stage electric machine of the present invention that as above-mentioned, constitutes is that camera for monitoring is gone up under the situation that vibrations take place at the The Cloud Terrace (Pan/Tilter) that carries, and utilizes acceleration sensor etc., and its corresponding shock momentum is detected; Simultaneously; The driving torque (Torque) of horizontal stage electric machine is increased, perhaps make position (Position) initialization of horizontal stage electric machine, the error (Error) that operation is produced to cradle head control; Because can advance preventing; So, even shake when taking place a kind of very useful invention of the control that The Cloud Terrace also can be correct.
For further specifying above-mentioned purpose of the present invention, structural feature and effect, below will combine accompanying drawing that the present invention is carried out detailed description.
Description of drawings
Accompanying drawing 1 is the example schematic that general The Cloud Terrace is provided with on ceiling board.
Accompanying drawing 2 is formation schematic representation of The Cloud Terrace that the present invention is suitable for.
Accompanying drawing 3 is according to the present invention, to the operating process schematic representation of horizontal stage electric machine method for compensation of vibration.
Accompanying drawing 4 is drive performances of the horizontal stage electric machine that is suitable for of the present invention, with the represented schematic representation of the form of chart.
Explanation to the symbol of major component in the accompanying drawing:
100... camera for monitoring 200... The Cloud Terrace
300... digital video recorder 20... pan (PAN) motor
(TILT) motor 22... The Cloud Terrace drive system 21... take a photograph downward
23... microcomputer 24... pan (PAN) angle detection system
(TILT) angle detection system 26... port/interface system 25... take a photograph downward
27... acceleration sensor 28...A/D converting system
Embodiment
Below, the embodiment according to the method for compensation of vibration of horizontal stage electric machine of the present invention is described in detail with reference to the accompanying drawings.
Fig. 2 is according to the present invention, to the represented schematic representation of formation of the suitable The Cloud Terrace of the method for compensation of vibration of horizontal stage electric machine.Be by comprising what following content constituted: substantially horizontal pan (PAN) motor (PM) 20, vertical direction pan (TILT) motor (TM) 21, The Cloud Terrace drive system 22, microcomputer 23, substantially horizontal pan (PAN) angle detection system 24, vertical direction pan (TILT) angle detection system 25 and port/interface system 26; Simultaneously; Have to have increased acceleration sensor 27 and A/D converting system (ADC) 28 etc., comprise that above content constitutes.
On the one hand, above-mentioned acceleration sensor 27 is on above-mentioned The Cloud Terrace 200, owing to external impact is injured under the situation about shaking, exports its corresponding analogue signal, the above-mentioned analogue signal of above-mentioned A/D converting system 28A/D conversion, output digital signal.
Simultaneously; Above-mentioned microcomputer 23 is the digital signals that receive above-mentioned A/D conversion, behind the shock momentum of detection The Cloud Terrace, compares with the reference value of setting at prior machine; Make the driving of permission on above-mentioned substantially horizontal pan (PAN) motor 20 and vertical direction pan (TILT) motor 21 disturb (Torque) to increase; Also have, make the position initialization of above-mentioned substantially horizontal pan (PAN) motor 20 and vertical direction pan (TILT) motor 21, normally accomplish (PAN) control operation of substantially horizontal pan and vertical direction pan (TILT) control operation; To this, do detailed explanation following.
Accompanying drawing 3 is according to the present invention, to the operating process of the method for compensation of vibration of horizontal stage electric machine, represented schematic representation.
S10, S11, for example above-mentioned microcomputer 23 are according to invitation of user etc., set under the situation of automatic vibration compensation pattern, make above-mentioned acceleration sensor 27 move (Enable).
On the other hand; Under the state that above-mentioned acceleration sensor 27 moves, vibrations take place, the analogue signal of above-mentioned its shock momentum ratio of acceleration sensor output on The Cloud Terrace; Above-mentioned A/D converting system 18 is the above-mentioned analogue signals of A/D conversion, the output digital signal.
S12, S13, simultaneously; Above-mentioned microcomputer 23 receives above-mentioned digital signal; To the vibrations degree that takes place on the present The Cloud Terrace; With after fixed digital shock value detects, the vibrations License Value that can allow on the above-mentioned shock value and in the reference value of setting in advance, for example above-mentioned PAN motor 20 and TILT motor 21 is compared.
S14, and, above-mentioned comparative result; If surpass the vibrations License Value; Above-mentioned microcomputer 23 reduces the rotational speed of above-mentioned PAN motor 20 and TILT motor 21, and motor drive current is increased, and makes driving torque (the Torque increase of PAN motor 20 and TILT21 motor.
S15, such as stepping (Step) motor that is used by above-mentioned PAN motor 20 and TILT motor 21 is shown in accompanying drawing 4; Rotation more and more at a high speed because driving torque reduces, so even little impact also owing on Electric Machine Control, trip; So above-mentioned microcomputer 23 takes place in order to prevent it, the rotational speed of motor is reduced, simultaneously; Motor drive current is increased, controlling level direction pan (PAN) operation and vertical direction pan (TILT) operation, compensation vibrations.
S16, S17; Also have, above-mentioned microcomputer 23 is accomplished as above-mentioned a series of vibration compensation operation, when the shock value that detects at present surpasses the vibrations threshold value of setting in advance; Be to trip on the PAN motor 20TILT motor 21; Or above normal Electric Machine Control surpasses unallowed vibrations threshold value, and to the position initialization of above-mentioned PAN motor 20 and TILT motor 21, a series of motor position initialization operation is accomplished.
S18 restarts the The Cloud Terrace operation again.
With reference to above content, above-mentioned vibrations License Value vibrations threshold value is a characteristic of considering above-mentioned PAN motor and TILT motor, according to the experimental result of enforcement, can come change setting by value arbitrarily.
Those of ordinary skill in the art will be appreciated that; Above embodiment is used for explaining the present invention; And be not to be used as qualification of the present invention; As long as in connotation scope of the present invention, all will drop in the scope of claims of the present invention the above embodiment's variation, modification.
Claims (3)
1. the method for compensation of vibration of a horizontal stage electric machine is characterized in that comprising:
The 1st step is utilized in the sensor that is possessed in the The Cloud Terrace, detects present shock value; And
The 2nd step after microcomputer is judged the vibrations License Value of shock value above the machine setting of above-mentioned detection, makes the driving torque of horizontal stage electric machine increase compensation;
The shock value of above-mentioned detection surpasses the vibrations threshold value of setting in advance, makes the position initialization of horizontal stage electric machine, restarts the The Cloud Terrace operation again.
2. the method for compensation of vibration of horizontal stage electric machine as claimed in claim 1 is characterized in that:
Above-mentioned the 1st step is what to utilize by digital signal conversion, and the output signal of the acceleration sensor that in The Cloud Terrace, possesses detects present shock value.
3. the method for compensation of vibration of horizontal stage electric machine as claimed in claim 1 is characterized in that:
The shock value that above-mentioned the 2nd step is above-mentioned detection surpasses the vibrations License Value that machine is set, and makes the rotational delay of horizontal stage electric machine, simultaneously, makes the driving current of horizontal stage electric machine increase compensation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100367561A CN101230887B (en) | 2007-01-24 | 2007-01-24 | Method for compensation of vibration of horizontal stage electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100367561A CN101230887B (en) | 2007-01-24 | 2007-01-24 | Method for compensation of vibration of horizontal stage electric machine |
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| Publication Number | Publication Date |
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| CN101230887A CN101230887A (en) | 2008-07-30 |
| CN101230887B true CN101230887B (en) | 2012-07-04 |
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| CN2007100367561A Expired - Fee Related CN101230887B (en) | 2007-01-24 | 2007-01-24 | Method for compensation of vibration of horizontal stage electric machine |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110242841B (en) * | 2016-05-31 | 2021-04-20 | 深圳市大疆灵眸科技有限公司 | Cloud platform |
| JP6880979B2 (en) * | 2016-11-30 | 2021-06-02 | 株式会社リコー | Vibration suppressor and electronic equipment |
| CN108808940A (en) * | 2018-04-26 | 2018-11-13 | 深圳市固胜智能科技有限公司 | Horizontal stage electric machine and holder for image collecting device |
| WO2020181530A1 (en) * | 2019-03-13 | 2020-09-17 | 深圳市大疆创新科技有限公司 | Gimbal vibration adjustment method, gimbal and client |
| CN111443735B (en) * | 2020-03-25 | 2023-10-24 | 浙江大华技术股份有限公司 | Method, device and system for maintaining posture of vehicle-mounted pan-tilt camera |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1424519A (en) * | 2001-12-10 | 2003-06-18 | 中国科学技术大学 | Vibration absorbing device and its control method |
| CN1438533A (en) * | 2002-02-08 | 2003-08-27 | 佳能株式会社 | Electronic apparatus and camera |
| CN1643268A (en) * | 2002-03-12 | 2005-07-20 | 东芝电梯株式会社 | Oscillation adjuster and oscillation adjusting method |
| CN1724892A (en) * | 2005-05-20 | 2006-01-25 | 上海微电子装备有限公司 | Precision vibration damping and locating device |
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- 2007-01-24 CN CN2007100367561A patent/CN101230887B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1424519A (en) * | 2001-12-10 | 2003-06-18 | 中国科学技术大学 | Vibration absorbing device and its control method |
| CN1438533A (en) * | 2002-02-08 | 2003-08-27 | 佳能株式会社 | Electronic apparatus and camera |
| CN1643268A (en) * | 2002-03-12 | 2005-07-20 | 东芝电梯株式会社 | Oscillation adjuster and oscillation adjusting method |
| CN1724892A (en) * | 2005-05-20 | 2006-01-25 | 上海微电子装备有限公司 | Precision vibration damping and locating device |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2000-45569A 2000.02.15 |
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