CN107333061A - A kind of method that cradle head preset positions precision is improved with compensation - Google Patents
A kind of method that cradle head preset positions precision is improved with compensation Download PDFInfo
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- CN107333061A CN107333061A CN201710524088.0A CN201710524088A CN107333061A CN 107333061 A CN107333061 A CN 107333061A CN 201710524088 A CN201710524088 A CN 201710524088A CN 107333061 A CN107333061 A CN 107333061A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
- H04N23/617—Upgrading or updating of programs or applications for camera control
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- Multimedia (AREA)
- Signal Processing (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention belongs to safety precaution field of video monitoring, a kind of method that cradle head preset positions precision is improved with compensation is disclosed, method is：There is error and compensated using the method for compensation in the fit clearance that the radial clearance and the mechanical transmission mechanism of head existed to motor output shaft is present, specifically include following steps：Head self-inspection, head proper motion, saves presets position, calls presetting bit.With it, the radial clearance that motor output shaft is present, the error that the fit clearance of the mechanical transmission mechanism presence of head is brought is quantified, these errors are compensated by when calling presetting bit.The method that present invention compensation improves cradle head preset positions precision reaches the effect for improving cradle head preset positions precision.
Description
Technical field
Raising cradle head preset positions precision is compensated the invention belongs to safety precaution field of video monitoring, more particularly to a kind of use
Method.
Background technology
With the enhancing and the fast development of Video Supervision Technique of social safety prevention awareness, head video monitoring is in safety
Multiple security fields such as city, track traffic, financial service, forest fire protection and land and sea border defense are widely used.Presetting bit is by quilt
The mode that the region of monitoring and the operation conditions of head link together.The place of emphasis monitoring is needed when head is run to, to
Head sends the instruction for setting preset site, and head is then by the orientation (vertically and horizontally position) of head now and video camera
State recording gets off, and is numbered.When sent to head recall order when, head runs to the point with prestissimo immediately,
Video camera also returns to the state remembered at that time, so as to facilitate monitoring personnel to check monitored field in time.And presetting bit is smart
Degree is to weigh one of most important index of head function.
Often to be ideally driven control to head in design and production process, and ignore following ask
Topic：First, motor output shaft radial clearance that may be present；2nd, the fit clearance that the mechanical transmission mechanism of head is present.
In summary, the problem of prior art is present be：The radial clearance that motor output shaft is present, the machine driving of head
The fit clearance that mechanism is present.Due to the reason, these mistakes such as the limitation and workman's mounting technology of existing manufacturing process be unstable
It is poor inevitable, and the error that each head is present is different from, how to measure error that these problems bring and mended
It is the key for improving cradle head preset positions precision to repay.
The content of the invention
The problem of existing for prior art, the invention provides a kind of side that cradle head preset positions precision is improved with compensation
Method.
The present invention is achieved in that a kind of method that cradle head preset positions precision is improved with compensation, described to be improved with compensation
The method of cradle head preset positions precision is：What the radial clearance and the mechanical transmission mechanism of head existed to motor output shaft was present matches somebody with somebody
There is error and compensated using the method for compensation in conjunction gap.
Further, the method for improving cradle head preset positions precision with compensation is specifically included：
Step 1: head self-inspection, calculates the radial clearance W1 of horizontal stage electric machine output shaft presence and the machine driving of head
There is the count pulse number △ N corresponding to fit clearance W2 in mechanism；
Step 2: head proper motion, will when head is with motion triggers head position detecting device in X1 directions clockwise
Umber of pulse is calculated as N0, then current PRF number Ncur=N0；The triggering head position detection when X2 is moved head in a counterclockwise direction
Device, is entered as Nmax, then Ncur=Nmax by current PRF number；
Step 3: saving presets position, presetting bit position is represented with current PRF number, when set location P1 is one pre-
During set, the position that the corresponding umber of pulse in current head position is saved as into P1 points is separately represented with N1；Rotary platform, set location
When P2 is presetting bit, the position that the corresponding umber of pulse in current head position is saved as into P2 points is separately represented with N2, is set by that analogy
Put other preset sites；
Step 4: calling presetting bit, inquiry head calls the umber of pulse N1 corresponding to presetting bit P1.
Further, in step one, head is horizontally or vertically prolonged clockwise direction X1 or Y1 and operated with speed V1, works as head
Start recording umber of pulse when position detecting device is triggered for the first time, head continues to prolong the motion of X1 or Y1 directions, and umber of pulse is opened from 0
Begin and be incremented by according to motor driving frequency fmc；
When head position detecting device is triggered for the second time, head stops operating, and now head completes a maximum row
The rotation of journey, the umber of pulse of record now is Nmax；
With speed V2, X2 or Y2 is rotated head in the counterclockwise direction, and umber of pulse is passed from Nmax according to motor driving frequency fmc
Subtract, until the failure of head position detecting device trigger signal, head stops, and now recording impulse number is Nb；Wherein, V2<V1；
Due to the radial clearance W1 that horizontal stage electric machine output shaft is present, there is fit clearance W2 in the mechanical transmission mechanism of head,
So in step 3 a bit of angle of cloud platform rotation, then obtain the corresponding umber of pulses of W1+W2 for △ N=Nmax-Nb.
Further, in step 4 calls presetting bit, the corresponding umber of pulse in current head position is Ncur, is specifically included：
1. as | Ncur-N1 |>During 1/2Nmax, if distance of the head current location apart from preset site is Np=Nmax- |
Ncur-N1|；
2. Np is worked as<During 1/2Nmax, if distance of the head current location apart from preset site is
Np=| Ncur-N1 |.
Further, step 1. in,
If, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 or Y1 directions and rotated clockwise,
Count value is successively decreased with Np, until Np=0, head stops；
If, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 or Y2 directions and rotated counterclockwise,
Count value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops.
Further, step 2. in,
If, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 or Y2 directions and rotated clockwise,
Count value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops；
If, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 or Y1 directions and rotated counterclockwise,
Count value is successively decreased with Np, until Np=0, head stops.
Another object of the present invention is to provide a kind of system that cradle head preset positions precision is improved with compensation.
Advantages of the present invention and good effect are：, can by horizontal stage electric machine output shaft on the premise of equipment cost is not increased
The calculation for the error software program that the fit clearance that the radial clearance and the mechanical transmission mechanism of head that can exist are present is brought
Method measures quantization, is compensated when cradle head preset positions are called.Contrast does not have to realize cradle head preset positions with compensation
The head of precision, about 10% can be improved with this method cradle head preset positions precision.
Compensation of the present invention by mentioning reaches raising cradle head preset positions precision for the compensation in two kinds of gaps of prior art
Effect.
Brief description of the drawings
Fig. 1 is the method flow diagram provided in an embodiment of the present invention that cradle head preset positions precision is improved with compensation；
Fig. 2 is Np=Nmax- provided in an embodiment of the present invention | Ncur-N1 |, Ncur<During N1, head action schematic diagram；
Fig. 3 is Np=Nmax- provided in an embodiment of the present invention | Ncur-N1 |, Ncur>During N1, head action schematic diagram；
Fig. 4 is Np provided in an embodiment of the present invention<1/2Nmax, Ncur<During N1, head action schematic diagram；
Fig. 5 is Np provided in an embodiment of the present invention<1/2Nmax, Ncur>During N1, head action schematic diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Compensation of the present invention by mentioning reaches raising cradle head preset positions precision for the compensation in two kinds of gaps of prior art
Effect.
The present invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the method provided in an embodiment of the present invention that cradle head preset positions precision is improved with compensation, including following step
Suddenly：
S101：Head self-inspection, calculates the radial clearance W1 of horizontal stage electric machine output shaft presence and the mechanical transmissioning machine of head
There is the count pulse number △ N corresponding to fit clearance W2 in structure；
S102：Head proper motion, when head is with motion triggers head position detecting device in X1 directions clockwise, by arteries and veins
Rush number and be calculated as N0, then current PRF number Ncur=N0；The triggering head position detection dress when X2 is moved head in a counterclockwise direction
Put, current PRF number is entered as Nmax, then Ncur=Nmax；
S103：Position is saved presets, presetting bit position is represented with current PRF number, when set location P1 is one preset
During position, the position that the corresponding umber of pulse in current head position is saved as into P1 points is separately represented with N1；Rotary platform, set location P2
During for presetting bit, the position that the corresponding umber of pulse in current head position is saved as into P2 points is separately represented with N2, is set by that analogy
Other preset sites；
S104：Presetting bit is called, inquiry head calls the umber of pulse N1 corresponding to presetting bit P1.
In S101, head is horizontally or vertically prolonged clockwise direction X1 or Y1 and operated with speed V1, when the detection of head position
Device start recording umber of pulse when being triggered for the first time, head continues to prolong the motion of X1 or Y1 directions, umber of pulse since 0 and according to
Motor driving frequency fmc is incremented by；
When head position detecting device is triggered for the second time, head stops operating, and now head completes a maximum row
The rotation of journey, the umber of pulse of record now is Nmax；
With speed V2, X2 or Y2 is rotated head in the counterclockwise direction, and umber of pulse is passed from Nmax according to motor driving frequency fmc
Subtract, until the failure of head position detecting device trigger signal, head stops, and now recording impulse number is Nb；Wherein, V2<V1；
Due to the radial clearance W1 that horizontal stage electric machine output shaft is present, there is fit clearance W2 in the mechanical transmission mechanism of head,
So in step 3 a bit of angle of cloud platform rotation, then obtain the corresponding umber of pulses of W1+W2 for △ N=Nmax-Nb.
In S104 calls presetting bit, the corresponding umber of pulse in current head position is Ncur, is specifically included：
1. as | Ncur-N1 |>During 1/2Nmax, if distance of the head current location apart from preset site is Np=Nmax- |
Ncur-N1|；
2. Np is worked as<During 1/2Nmax, if distance of the head current location apart from preset site is
Np=| Ncur-N1 |.
Step 1. in,
Such as Fig. 2, if, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 or Y1 directions up time
Pin is rotated, and count value is successively decreased with Np, until Np=0, head stops；
Such as Fig. 3, if, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 the or Y2 directions inverse time
Pin is rotated, and count value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops.
Step 2. in,
Such as Fig. 4, if, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 or Y2 directions up time
Pin is rotated, and count value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops；
Such as Fig. 5, if, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 the or Y1 directions inverse time
Pin is rotated, and count value is successively decreased with Np, until Np=0, head stops.
On the premise of equipment cost is not increased, by horizontal stage electric machine output shaft radial clearance that may be present and the machine of head
The error that the fit clearance that tool transmission mechanism is present is brought measures quantization with the algorithm of software program, is calling head pre-
Compensated when set.Contrast without the head that cradle head preset positions precision is realized with compensation, it is preset with this method head
Position precision can improve about 10%.
Compensation of the present invention by mentioning reaches raising cradle head preset positions precision for the compensation in two kinds of gaps of prior art
Effect.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (7)
1. a kind of method that cradle head preset positions precision is improved with compensation, it is characterised in that described to improve cradle head preset positions with compensation
The method of precision is：The fit clearance that the radial clearance and the mechanical transmission mechanism of head existed to motor output shaft is present is present
Error is compensated using the method for compensation.
2. the method as claimed in claim 1 that cradle head preset positions precision is improved with compensation, it is characterised in that described to be carried with compensation
The method of Goldwin Heights presetting bit precision is specifically included：
Step 1: head self-inspection, calculates the radial clearance W1 of horizontal stage electric machine output shaft presence and the mechanical transmission mechanism of head
There is the count pulse number △ N corresponding to fit clearance W2；
Step 2: head proper motion, when head is with motion triggers head position detecting device in X1 directions clockwise, by pulse
Number is calculated as N0, then current PRF number Ncur=N0；The triggering head position detecting device when X2 is moved head in a counterclockwise direction,
Current PRF number is entered as Nmax, then Ncur=Nmax；
Step 3: saving presets position, presetting bit position is represented with current PRF number, when set location P1 is a presetting bit
When, the position that the corresponding umber of pulse in current head position is saved as into P1 points is separately represented with N1；Rotary platform, set location P2 is
During presetting bit, the position that the corresponding umber of pulse in current head position is saved as into P2 points is separately represented with N2, and it is set by that analogy
His preset site；
Step 4: calling presetting bit, inquiry head calls the umber of pulse N1 corresponding to presetting bit P1.
3. the method as claimed in claim 2 that cradle head preset positions precision is improved with compensation, it is characterised in that in step one,
Head is horizontally or vertically prolonged clockwise direction X1 or Y1 and operated with speed V1, when head position detecting device is triggered for the first time
Start recording umber of pulse, head continues to prolong the motion of X1 or Y1 directions, and umber of pulse is passed since 0 and according to motor driving frequency fmc
Increase；
When head position detecting device is triggered for the second time, head stops operating, range of now head completion
Rotate, the umber of pulse of record now is Nmax；
With speed V2, X2 or Y2 is rotated head in the counterclockwise direction, and umber of pulse is successively decreased from Nmax according to motor driving frequency fmc, directly
To the failure of head position detecting device trigger signal, head stops, and now recording impulse number is Nb；Wherein, V2<V1；
Due to the radial clearance W1 that horizontal stage electric machine output shaft is present, there is fit clearance W2 in the mechanical transmission mechanism of head, so
The a bit of angle of cloud platform rotation in step 3, then obtain the corresponding umber of pulses of W1+W2 for △ N=Nmax-Nb.
4. the method as claimed in claim 2 that cradle head preset positions precision is improved with compensation, it is characterised in that called in step 4
In presetting bit, the corresponding umber of pulse in current head position is Ncur, is specifically included：
1. as | Ncur-N1 |>During 1/2Nmax, if distance of the head current location apart from preset site is Np=Nmax- | Ncur-
N1|；
2. Np is worked as<During 1/2Nmax, if distance of the head current location apart from preset site is
Np=| Ncur-N1 |.
5. the as claimed in claim 4 method that cradle head preset positions precision is improved with compensation, it is characterised in that step 1. in,
If, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 or Y1 directions and rotated clockwise, and counts
Value is successively decreased with Np, until Np=0, head stops；
If, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 or Y2 directions and rotated counterclockwise, and counts
Value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops.
6. the as claimed in claim 4 method that cradle head preset positions precision is improved with compensation, it is characterised in that step 2. in,
If, Ncur<A direction of action is X1 or Y1 on N1, head；Then head prolongs X2 or Y2 directions and rotated clockwise, and counts
Value is successively decreased with Np+ △ N, until Np+ △ N=0, head stops；
If, Ncur>A direction of action is X1 or Y1 on N1, head；Then head prolongs X1 or Y1 directions and rotated counterclockwise, and counts
Value is successively decreased with Np, until Np=0, head stops.
7. a kind of using for method as claimed in claim 1 for using compensation to improve cradle head preset positions precision compensates raising cradle head preset positions
The system of precision.
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| CN201710524088.0A CN107333061A (en) | 2017-06-30 | 2017-06-30 | A kind of method that cradle head preset positions precision is improved with compensation |
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| CN201710524088.0A CN107333061A (en) | 2017-06-30 | 2017-06-30 | A kind of method that cradle head preset positions precision is improved with compensation |
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Cited By (6)
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| CN108762325A (en) * | 2018-05-28 | 2018-11-06 | 长春博信光电子有限公司 | Control method, device and the holder of holder movement speed |
| CN108897234A (en) * | 2018-07-04 | 2018-11-27 | 河南师范大学 | A kind of air control method based on motor self-test |
| CN110347184A (en) * | 2019-07-01 | 2019-10-18 | 深圳市科卫泰实业发展有限公司 | A kind of azimuthal implementation method for holder automatic following system |
| CN111246094A (en) * | 2020-01-17 | 2020-06-05 | 高新兴科技集团股份有限公司 | Holder, holder offset compensation correction method, computer storage medium and equipment |
| CN111240370A (en) * | 2020-02-10 | 2020-06-05 | 浙江大华技术股份有限公司 | Method, device and system for correcting position of holder and storage medium |
| CN111811794A (en) * | 2020-06-18 | 2020-10-23 | 浙江大华技术股份有限公司 | Cloud deck self-checking method and device, computing equipment and storage medium |
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| CN111240370A (en) * | 2020-02-10 | 2020-06-05 | 浙江大华技术股份有限公司 | Method, device and system for correcting position of holder and storage medium |
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| CN111811794A (en) * | 2020-06-18 | 2020-10-23 | 浙江大华技术股份有限公司 | Cloud deck self-checking method and device, computing equipment and storage medium |
| CN111811794B (en) * | 2020-06-18 | 2022-05-20 | 浙江大华技术股份有限公司 | Cloud deck self-checking method and device, computing equipment and storage medium |
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