CN101980089B - Control device for high-speed dome camera holder - Google Patents
Control device for high-speed dome camera holder Download PDFInfo
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- CN101980089B CN101980089B CN2010102695488A CN201010269548A CN101980089B CN 101980089 B CN101980089 B CN 101980089B CN 2010102695488 A CN2010102695488 A CN 2010102695488A CN 201010269548 A CN201010269548 A CN 201010269548A CN 101980089 B CN101980089 B CN 101980089B
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Abstract
The invention relates to a control device for a high-speed dome camera holder. The control device comprises a horizontal initial position detector, a horizontal and vertical stepping motor driver, a vertical initial position detector, an address setting switch, a digital-to-analog converter, an embedded microcontroller, a video character superimposed circuit, a serial bus interface, a watchdog reset circuit, a data storage circuit, an original video signal, a superimposed video signal, a horizontal stepping motor and a vertical stepping motor. The control device has the advantages that: the power failure storage of a holder position is implemented by adding a nonvolatile storage element; the holder automatically enters a preset position or a position before restarting after initialization is completed when restarted; meanwhile, the holder is regularly corrected to recover the original state so as not to influence the holder position; through a high-speed digital analogue converter, the movement speed of the holder can be regulated in a wider range; and the video character superimposed circuit provides an operation menu for holder operation, realizes human-machine interaction and can conveniently set all the parameters of the holder.
Description
Technical field
What the present invention relates to is a kind of control device of high speed ball-shaped camera head, belongs to the technical field that directly applies to video, picture control.
Background technology
Tripod head controlling device is that application is very wide in the safety-security area; Development is also installed very rapidly; Particularly on the high speed ball-shaped camera, used widely; Most tripod head controlling device is controlled by level, vertical two-way motor respectively in the prior art, and the Electric Machine Control mode adopts open loop control usually.
As shown in Figure 1; This tripod head controlling device adopts open loop control mode; Control chip sends motion control instruction to driving circuit after the reference position receives movement instruction, driving circuit is according to motion control instruction control step motor rotating certain angle; Realize that gear train moves on level or vertical direction, thereby make the video camera on the gear train can move to the target location.
The shortcoming of above-mentioned control mode can only rest on fixedly reference position after being to restart at every turn, can produce cumulative errors if long-play has step-out or gear train to meet big resistance; The The Cloud Terrace movement velocity is difficult for regulating; Cradle head control can't man-machine interaction, is difficult for carrying out control setting.
Summary of the invention
What the present invention proposed is a kind of control device of high speed ball-shaped camera head; Its purpose is to overcome the above-mentioned defective of existing in prior technology; Adopt non-volatile memory device; Adopt high-speed figure analog conversion circuit and step motor control algorithm, in control device, added the video character supercircuit simultaneously.
Technical solution of the present invention: it is characterized in that comprising the detection of horizontal direction initial position, horizontal direction stepper motor driver, vertical direction stepper motor driver, the detection of vertical direction initial position, address setting switch, digital to analog converter, embedded microcontroller, video character supercircuit, serial bus interface, watchdog reset circuit, data storage circuitry, raw video signal, stack rear video signal, horizontal direction stepper motor, vertical direction stepper motor; The signal output part water receiving of horizontal direction stepper motor driver square signal input part wherein to stepper motor; The signal output part water receiving of horizontal direction stepper motor square signal input part to the initial position detection; The signal output part of vertical direction stepper motor driver connects the signal input part of vertical direction stepper motor; The signal output part of vertical direction stepper motor connects the signal input part that the vertical direction initial position detects; The first signal input part water receiving of embedded microcontroller square signal output part to the initial position detection; The signal output part that the secondary signal input termination vertical direction initial position of embedded microcontroller detects; The signal output part of embedded microcontroller connects the signal input part of digital to analog converter; The signal input part of the signal output part water receiving of digital to analog converter square signal input part, vertical direction stepper motor driver to stepper motor driver; The first signal output/input end grounding location of embedded microcontroller is provided with the signal I/O end of switch; The signal I/O end of the secondary signal output/input termination video character supercircuit of embedded microcontroller; The signal I/O end of the 3rd signal output/input termination serial bus interface of embedded microcontroller; The signal I/O end of the 4th signal output/input termination watchdog reset circuit of embedded microcontroller; The signal I/O end of the 5th signal output/input termination data storage circuitry of embedded microcontroller, the signal input part of video character supercircuit connects the output terminal of raw video signal, and the signal output part of video character supercircuit connects the signal input part of stack rear video signal.Advantage of the present invention: realized the power down storage of The Cloud Terrace position through adding non-volatile memory device; When The Cloud Terrace is restarted, can get into automatically after initialization is accomplished preset or restart before the position, also can realize the The Cloud Terrace regular calibration simultaneously; The attitude that still restores to the original state after the correction does not influence the The Cloud Terrace position; High-speed figure analog conversion circuit and step motor control algorithm have realized that the movement velocity of The Cloud Terrace regulates in relative broad range; The video character supercircuit is that The Cloud Terrace is controlled actions menu is provided, thereby realizes man-machine interaction, convenient setting to each parameter of The Cloud Terrace.
Description of drawings
Accompanying drawing 1 is a kind of tripod head controlling device block diagram that adopts open loop control mode that prior art provides.
Accompanying drawing 2 is structural representation block diagrams of the present invention.
Accompanying drawing 3 is driving system of stepping motor structural drawing.
Accompanying drawing 4 is hardware designs block diagrams of upd6453 character overlap chip.
Accompanying drawing 5 is SST25VF016B flash memory chip circuit connection diagrams.
Accompanying drawing 6 is ARM reset circuits.
Embodiment
In the hardware circuit design of master control borad, shared three 74HC245 chips, its function is the time-sharing multiplex of realizing the part I/O pin of ARM; Use SP706SE watchdog reset chip, realized the reset function of ARM chip, guaranteed stable, the reliability service of system; Use the storing and calling, the power down hold function of realization data of SST25VF016B Flash chip to data; Wherein TLC7255DA conversion chip and L6219 motor drive ic have constituted the main circuit of motor control module, realize the level of ball-shaped camera head and the driving of vertical stepper motor; UPD6453, LM1881 and CD4053 constitute the main circuit of OSD character laminating module, realize the menu display function of ball-shaped camera.
Motor control module is the core in the master control borad circuit design, and it is to realize spherical pan head 90 degree high speed rotating and pinpoint supports on 360 degree, the vertical direction in the horizontal direction.Design this time adopts two stepper motors to be responsible for horizontally rotating and vertical rotation of ball machine head respectively.
The principle of work of stepper motor and driving method
Stepper motor is a kind of topworks that electric pulse is converted into angular displacement.When step actuator receives a pulse signal, it rotates a fixing angle with regard to drive stepping motor by the direction of setting, and this angle is called step angle, and its rotation is to move step by step with fixing angle.Can come the pilot angle displacement through the gating pulse number, thereby reach the purpose of accurate location; Can control speed and the acceleration that motor rotates through the gating pulse frequency simultaneously, thereby reach the purpose of speed governing.Stepper motor can be used as a kind of specific type of electric machine of controlling usefulness, utilizes its characteristics that do not have cumulative errors, is widely used in the various open-loop control systems.
The operation of stepper motor will have an electronic installation to drive, and this device is exactly a stepper motor driver, and it is the pulse signal that sends control system, amplifies with drive stepping motor.The rotating speed of stepper motor is directly proportional with the frequency of pulse signal; The angle that stepper motor rotates is by the number decision of gating pulse.This design Selection be two-phase hybrid stepping motor, step angle is 0.9 degree, adopts 32 segmentation bipolarity current driving methods to drive.Segment the biphase current digital quantity value that calculates according to 32; And with its with the table stored in form in internal memory; Through the mode of tabling look-up; ARM controller control D/A switch chip TLC7225 converts each to corresponding control voltage to digital quantity, passes through special driving chip L6219 again, drives two-phase stepping motor thereby simulate the sinusoidal waveform drive current.Contrast accompanying drawing 3; The driving system of stepping motor structure is the signal input part that the signal output part of ARM controller connects the D/A switch chip, the signal input part of flat stepper motor driver of the signal output part water receiving of D/A switch chip and vertical stepper motor driver.
The circuit design of character laminating module
When adopting upd6453 to carry out the character stack, two chips need be used in its periphery, and LM1881 and CD4053, LM1881 are used for providing the field synchronization of vision signal to upd6453, row synchronously, upd6453
Superposed signal is ready to the back gives CD4053 as input, CD4053 integrates back output with raw video signal and character superposed signal, thereby accomplishes the character stack of video flowing.Its hardware design structure block diagram is shown in accompanying drawing 4.
It is as follows that the circuit of Upd6453 chip connects design drawing, and OSD-BUSY is connected the P0.26 pin of LPC-2132, is used for reaction chip upd6453 and whether can carries out writing of data stream; OSD-CLK
Be connected the P0.25 pin of LPC-2132, the clock signal that provides data stream to write; OSD-CS is connected the P0.17 pin of LPC-2132, is the chip selection signal of upd6453, and low level representes that chip can use; OSD-DATA is connected the P0.18 pin of LPC-2132, is the traffic spike input channel; HS1, VS1 are connected on the LM1881, are used for synchronous, the field sync signal input of row of receiver, video stream; OSC1 is connected on the CD4053, is the character signal after the stack is inputed to CD4053.
The circuit design of data memory module
High-speed intelligent ball facility have powerful power down hold function, are provided with as the presetting bit of ball machine, and the menu change is provided with, and the current operational factor of ball machine etc. all need be preserved before power down, recovers current state after powering on again again.This just need be in the periphery design data power down storage system of ARM microcontroller, and the data of using the flash storer that needs are preserved in this design are preserved.
The principal feature of Flash storer is under the situation of power down, can preserve data message, and storage speed is fast, and capacity is big.The flash chip of this design Selection is the flashsst25VF016B of 16Mbit SPI serial, and it is a 8 SPI Flash storage chips, and capacity is 2MB, and being divided into is 500 sectors, and each sector-size is 4KB.The read-write operation of SST25VF016B chip is unit with the byte, can under the 2.7-3.6V supply voltage, accomplish read-write operation.Its application circuit connection layout is shown in accompanying drawing 5.
The pin of SST25VF016B comprises power pins, SPI interface pin, control pin, and this chip is connected with CPU through SPI control pin.On circuit diagram, be specially: SPI_SCK is a serial time clock line, and SPI_SI is the serial data input pin, and SPI_SO is the serial data output pin; SPI_CS is a chip select line; When this pin level was low, chip activated duty, in the interface circuit /WP ,/the external pull-up resistor of HOLD pin.
The reset circuit design
A reliable and stable control system; The function that can not lack system reset is promptly in program exception, under the situation of hang-up; The ARM microcontroller is carried out the operation of a warm reset by resetting system; Be equivalent under the situation of not power down, make the ARM chip to restart once, this designs and develops the chip of selecting for use that resets is exactly SP7O6SE, and its reset circuit design is like accompanying drawing 6.
Used ARM pin of resetting system and related application macro definition:
#define SP706_WDI (1＜＜20) //the P0.20 mouth is the feeding-dog signal pin
#define WDI_LOW () (I00CLR|=SP706_WDI) // drag down P0.20
Level
#define WDI_HIGH () (IOOSET|=SP706_WDI) // draw high P0.2
Level
Resetting pin/RST of SP706SE is connected ARM LPC-2132's/and REST is last; The realization of this watchdog system is through in master routine, calling these two macro definitions of WDI_LOW () and WDI_HIG (); Through constantly drawing high and drag down the level of P0.20 pin, avoid making that the WDI pin of SP706SE continues low level above 1.6 seconds, if like this; / RST then can produce low level, makes ARM reset once.Under the program normal operation, the level of P0.20 pin is changing all the time, above-mentioned situation can not occur, in case program exception occurs running situation about flying ,/RST low level can make that ARM resets, and the program recovery that makes is normal.
Claims (1)
1. the control device of a high speed ball-shaped camera head; It is characterized in that comprising the detection of horizontal direction initial position, horizontal direction stepper motor driver, vertical direction stepper motor driver, the detection of vertical direction initial position, address setting switch, digital to analog converter, embedded microcontroller, video character supercircuit, serial bus interface, watchdog reset circuit, data storage circuitry, raw video signal, stack rear video signal, horizontal direction stepper motor and vertical direction stepper motor; The signal output part water receiving of horizontal direction stepper motor driver square signal input part wherein to stepper motor; The signal output part water receiving of horizontal direction stepper motor square signal input part to the initial position detection; The signal output part of vertical direction stepper motor driver connects the signal input part of vertical direction stepper motor; The signal output part of vertical direction stepper motor connects the signal input part that the vertical direction initial position detects; The first signal input part water receiving of embedded microcontroller square signal output part to the initial position detection; The signal output part that the secondary signal input termination vertical direction initial position of embedded microcontroller detects; The signal output part of embedded microcontroller connects the signal input part of digital to analog converter; The signal output part water receiving of digital to analog converter is square to the signal input part of stepper motor driver and the signal input part of vertical direction stepper motor driver; The first signal output/input end grounding location of embedded microcontroller is provided with the signal I/O end of switch; The signal I/O end of the secondary signal output/input termination video character supercircuit of embedded microcontroller; The signal I/O end of the 3rd signal output/input termination serial bus interface of embedded microcontroller, the signal I/O end of the 4th signal output/input termination watchdog reset circuit of embedded microcontroller, the signal I/O end of the 5th signal output/input termination data storage circuitry of embedded microcontroller; The signal input part of video character supercircuit connects the output terminal of raw video signal, and the signal output part of video character supercircuit connects the signal input part of stack rear video signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102695488A CN101980089B (en) | 2010-09-02 | 2010-09-02 | Control device for high-speed dome camera holder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102695488A CN101980089B (en) | 2010-09-02 | 2010-09-02 | Control device for high-speed dome camera holder |
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| CN102098499B (en) * | 2011-03-24 | 2013-01-30 | 杭州华三通信技术有限公司 | Pan/ tilt/ zoom (PTZ) camera control method, device and system thereof |
| CN103581515A (en) * | 2012-08-06 | 2014-02-12 | 苏州工业园区凯艺精密科技有限公司 | Automatic tracking, recording and broadcasting device |
| CN102955479B (en) * | 2012-10-25 | 2015-09-30 | 歌尔声学股份有限公司 | The operating control device of television camera |
| CN103051264A (en) * | 2012-12-21 | 2013-04-17 | 天津市亚安科技股份有限公司 | Adjusting system for driving voltage of cradle head motor |
| CN103152553A (en) * | 2013-03-05 | 2013-06-12 | 天津市亚安科技股份有限公司 | Video monitoring system |
| CN103399582B (en) * | 2013-07-25 | 2016-11-16 | 浙江宇视科技有限公司 | Method and device for out-of-step detection of ball machine |
| CN103458182B (en) * | 2013-08-15 | 2017-02-15 | 青岛歌尔声学科技有限公司 | Camera lens control device |
| CN103777649B (en) * | 2014-02-27 | 2016-06-08 | 富盛科技股份有限公司 | What the sensing of monopod video camera camera lens was remotely located realizes method |
| CN104267742B (en) * | 2014-09-24 | 2017-08-15 | 浙江宇视科技有限公司 | A kind of vertical origin calibrating method of ball machine and device |
| CN105278557B (en) * | 2015-11-20 | 2018-03-09 | 南京杰迈视讯科技有限公司 | A kind of tripod head controlling device actively calibrated automatically in real time and method |
| CN106569512A (en) * | 2016-11-04 | 2017-04-19 | 极翼机器人(上海)有限公司 | Holder calibration method |
| CN110609576B (en) * | 2019-09-26 | 2022-09-02 | 浙江大华技术股份有限公司 | Cloud deck control method, device and system, control equipment and storage medium |
| CN111596699A (en) * | 2020-04-21 | 2020-08-28 | 深圳英飞拓智能技术有限公司 | Vertical angle control device and control method for pan-tilt-zoom camera |
| CN112532142B (en) * | 2020-11-27 | 2023-05-26 | 中电凯杰科技有限公司 | AGV biax steering wheel is based on FPGA altitude resource multiplexing's control system |
| CN114967536B (en) * | 2022-04-29 | 2025-10-31 | 亿航智能设备（广州）有限公司 | Tripod head control method, tripod head, equipment and storage medium |
| CN116560414A (en) * | 2023-03-30 | 2023-08-08 | 浙江大华技术股份有限公司 | Position signal acquisition circuit, device, pan-tilt position correction method and equipment |
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| CN201897709U (en) * | 2010-09-02 | 2011-07-13 | 南京南自信息技术有限公司 | Control device of high-speed spherical video camera holder |
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| US6833863B1 (en) * | 1998-02-06 | 2004-12-21 | Intel Corporation | Method and apparatus for still image capture during video streaming operations of a tethered digital camera |
| JP2000078428A (en) * | 1998-09-02 | 2000-03-14 | Hitachi Denshi Ltd | Video data transmission system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201897709U (en) * | 2010-09-02 | 2011-07-13 | 南京南自信息技术有限公司 | Control device of high-speed spherical video camera holder |
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Inventor after: Fei Zhangjun Inventor after: Chen Feiling Inventor after: Fu Huaiwen Inventor after: Cao Xing Inventor after: Zhao Zhizhong Inventor after: Ren Guangzhen Inventor before: Fei Zhangjun Inventor before: Chen Feiling Inventor before: Fu Huaiwen Inventor before: Cao Xing Inventor before: Zhao Zhizhong Inventor before: Ren Guangzhen |
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