CN110646914A - Drive device idle-loop-back driving method, device, equipment and storage medium - Google Patents
Drive device idle-loop-back driving method, device, equipment and storage medium Download PDFInfo
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- CN110646914A CN110646914A CN201910936888.2A CN201910936888A CN110646914A CN 110646914 A CN110646914 A CN 110646914A CN 201910936888 A CN201910936888 A CN 201910936888A CN 110646914 A CN110646914 A CN 110646914A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
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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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- Optics & Photonics (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an idle-return driving method of driving equipment, which comprises the following steps: receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction; judging whether the driving direction is the direction of the idle return stroke pointing to the current position; if yes, controlling the stepping driving steps of the driving motor to drive the target driving piece to reach a preset position; if not, controlling the step number of the sum of the stepping drive step number of the drive motor and the estimated idle return step number, and driving the target driving piece to reach the preset position. When control drive equipment drives in this application, the problem of the idle return stroke of fully considering adopts different drive methods according to the position relation between idle return stroke and the drive direction to eliminate the influence of idle return to motor drive precision, control method is simple easily to realize, can improve motor drive's precision. The application also provides a drive device, equipment and a computer readable storage medium for driving the equipment, which have the beneficial effects.
Description
Technical Field
The present invention relates to the field of drive control technologies, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for driving a device to cancel backlash.
Background
Driving apparatuses such as motors have been widely used in various control fields, such as lens driving of automatic lenses, control driving of robot arms, and the like. With the development of control technologies in various fields, the requirement on the driving precision of the motor is higher and higher, and the cost of the high-precision motor is higher.
One of the important reasons for the motor to affect its driving accuracy is because there is backlash between the transmission parts. The ideal fit between the transmission components is gapless, but this gapless condition is difficult to achieve and can result in severe mechanical wear if the fit between the transmission components is too tight. Therefore, the problem of low motor driving accuracy caused by backlash between transmission members is difficult to overcome.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for eliminating backlash driving of a driving device and a computer readable storage medium, which can effectively eliminate the influence of backlash stroke on driving precision.
In order to solve the above technical problem, the present invention provides an idle reduction driving method of a driving device, including:
receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction;
judging whether the driving direction is the direction of the idle return stroke pointing to the current position;
if yes, controlling the driving motor to step by the driving steps, and driving the target driving piece to reach a preset position;
if not, controlling the driving motor to step by the sum of the driving steps and the estimated return-to-empty steps, and driving the target driving piece to reach a preset position.
Wherein the judging whether the driving direction is a direction of the lost motion pointing to the current position includes:
judging whether the driving direction is the same as the last driving direction of the driving motor, if not, the driving direction is the direction of the idle return stroke pointing to the current position; if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
The driving motor is a motor for focusing a lens;
after controlling the driving motor to step the driving step number and the step number of the sum of the estimated number of the idle return steps, the method further comprises the following steps:
when the lens finishes shooting, controlling the driving motor to step the driving step number and the estimated step number of the empty return along the direction opposite to the driving direction;
after driving the target driver to a predetermined position, further comprising:
and when the lens finishes shooting, controlling the driving motor to step the driving step number and the step number of the sum of the estimated return step number along the direction opposite to the driving direction.
If the driving direction is a direction pointing to the current position and deviating from the lost motion stroke, after controlling the driving motor to step the driving step number and the estimated lost motion step number along the direction opposite to the driving direction, the method further comprises:
and controlling the driving motor to step the estimated number of idle return steps along the direction opposite to the driving direction.
The driving motor is a motor for focusing a lens;
controlling the drive motor to step by a preset number of steps along a preset drive direction, and reaching a preset starting point comprises:
controlling the driving motor to step by a first preset step number along a preset driving direction, wherein the first preset step number is larger than the estimated idle return step number;
and controlling the driving motor to reversely step by a second preset step number along the preset driving direction to reach a preset starting point.
The present application also provides a drive device that disappears of drive apparatus, includes:
the instruction receiving module is used for receiving a driving instruction and obtaining a driving direction and a driving step number contained in the driving instruction;
the judging module is used for judging whether the driving direction is the direction of the idle return stroke pointing to the current position;
the driving module is used for controlling the driving motor to step the driving steps when the driving direction is the direction of the idle return stroke pointing to the current position, and driving the target driving piece to reach a preset position; and when the driving direction is the direction which points to the current position and deviates from the idle return stroke, controlling the driving motor to step the driving step number and the step number of the sum of the estimated idle return step number, and driving the target driving piece to reach the preset position.
The judging module is specifically configured to judge whether the driving direction is the same as a previous driving direction of the driving motor, and if not, the driving direction is a direction of a lost motion which points to a current position; if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
The present application also provides a drive device's drive device disappears and returns drive device, includes:
a memory for storing a computer program;
a processor for executing the computer program to implement the operations of the steps of the nulling back drive method of the drive apparatus as described in any one of the above.
The present application further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the nullification echo drive method of the drive apparatus as described in any one of the above.
The invention provides a drive device null-return drive method, which comprises the following steps: receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction; judging whether the driving direction is the direction of the idle return stroke pointing to the current position; if yes, controlling the stepping driving steps of the driving motor to drive the target driving piece to reach a preset position; if not, controlling the step number of the sum of the stepping driving step number of the driving motor and the estimated idle return step number, and driving the target driving piece to reach the preset position.
When control drive equipment drives in this application, the problem of the idle return stroke of fully considering adopts different drive methods according to the position relation between idle return stroke and the direction of drive to eliminate the influence of idle return to motor drive precision, control method is simple easily to realize, can improve motor drive's precision, and is favorable to the wide application of motor.
The application also provides a drive device, equipment and a computer readable storage medium for driving the equipment, which have the beneficial effects.
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In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for driving a drive device to eliminate backlash according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a schematic structure of a backlash mechanism according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for driving a lens to focus without backlash according to an embodiment of the present invention;
fig. 4 is a block diagram of a backlash elimination driving apparatus of a driving device according to an embodiment of the present invention.
Detailed Description
In most of the mechanical structures with driving motors, an intermediate connecting piece is often arranged between the driving motor and the driving target, and if the connection between each component is too tight, the abrasion between the components is serious due to the driving requirement, so that a movable gap needs to be left between each component, the movable gap is one of the main reasons for causing the driving motor to have a lost motion when the driving target is driven, and the lost motion is one of the important reasons for reducing the driving precision of the driving motor.
At present, a common mode for solving the idle return stroke is to improve a connection structure between a driving motor and a driving target, and reduce the influence of the idle return stroke on the driving precision as much as possible. However, the method for solving the backlash stroke needs to be improved on a relatively complex mechanical structure, and the connection structure, the connection mode and the driving mode between the driving motor and the driving target are different in different application scenarios, so that the backlash stroke needs to be eliminated by setting a corresponding mechanical structure for the structure of the device per se in different devices, and the method does not have universality applicable to various devices.
Therefore, the invention provides a control method for eliminating idle return stroke from a driving mode, which does not need to improve the structure of equipment, is suitable for various different equipment and has universality.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic flowchart of a method for driving a drive device to eliminate backlash according to an embodiment of the present invention, where the method may include:
step S11: and receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction.
Step S12: judging whether the driving direction is the direction of the idle return stroke pointing to the current position; if not, the process proceeds to step S13, and if yes, the process proceeds to step S14.
Step S13: and controlling the stepping driving steps of the driving motor to drive the target driving piece to reach the preset position.
Step S14: and controlling the step number of the stepping driving step number of the driving motor and the step number of the sum of the estimated idle return step number to drive the target driving piece to reach the preset position.
As shown in fig. 2, fig. 2 is a schematic diagram of a principle structure for generating the backlash according to the embodiment of the present invention. As can be seen from fig. 2, the maximum lost motion between the drive motor 1 and the intermediate transmission 2 is a, while the maximum lost motion between the intermediate transmission 2 and the target drive element 3 is b. When the driving motor 1 needs to drive the target driving member 3 to the right direction in fig. 2, the driving motor 1 needs to move the distance of the section a + b to the right side first to drive the target driving member 3 to move, that is, when the driving motor 1 drives the idle return stroke caused by the gap between each component, the effect of accumulating the components one by one exists, and the stroke of the distance of the section a + b where the driving motor 1 moves is the idle return stroke.
However, in the state of the drive motor 1, the intermediate transmission member 2, and the target drive member 3 in fig. 2, if the driving direction of the drive motor 1 is the leftward direction in fig. 2, it is obvious that the drive motor 1 can directly drive the drive target to move without a backlash. Obviously, even if there are clearances between the drive motor and the intermediate transmission member and the drive target member, there is not necessarily a backlash stroke every time the drive is performed.
It follows that the driving distance is influenced by the backlash stroke only if the direction in which the drive motor 1 moves the target drive member 3 is directed to the side having the backlash stroke, and vice versa. Therefore, in the present application, the driving method of the driving motor 1 is controlled according to the positional relationship between the driving direction and the backlash stroke, and when the driving direction is directed to the side having the backlash stroke, the preset backlash number is added to the original driving step number, thereby eliminating the influence of the backlash stroke on the driving accuracy. When the driving direction does not point to the idle-return stroke, the idle-return stroke does not affect the driving precision, so that the method can be implemented directly according to the driving step number in the driving instruction.
In addition, fig. 2 is a schematic diagram of linear driving for the driving motor 1, but it can be understood that the driving principle in the present application obviously also conforms to rotary driving and other similar driving methods, and the driving method in the present application can also be adopted to eliminate the influence of the backlash stroke, and is not repeated in this application.
The reason that the abundant analysis sky returns the stroke and produces in this application and the law that the sky returns the stroke and produces, control drive motor's drive stroke to the realization eliminates the influence of sky return stroke on driving method, need not to do complicated change to the structure of drive motor and driving medium, and control method is simple easily to be realized, can effectively eliminate the influence of sky return stroke to the drive, has the commonality to the drive motor of various not isostructures and driving medium, effectual improvement drive motor's drive precision.
Based on the above-described embodiment, the drive control method for the drive motor is closely related to the positional relationship between the drive motor and the lost motion stroke. Further analysis of the driving rule of the driving motor shows that the formation of the driving backlash is directly influenced by the driving direction of the last driving motor. If the driving motor 1 moves the target driving member 3 to the left as shown in fig. 2, the driving motor 1, the intermediate transmission 2 and the target driving member 3 will be in the state shown in fig. 2. In other words, if the present driving direction is the same as the previous driving direction, there is no backlash stroke, and if the present driving direction is opposite to the previous driving direction, there is backlash stroke. The drive of the drive motor is controlled based on this principle in the present embodiment.
Therefore, in a specific embodiment of the present invention, the step S12 may specifically include:
judging whether the driving direction is the same as the last driving direction of the driving motor;
if not, the driving direction is the direction of the idle return stroke pointing to the current position;
if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
When a driving instruction is received, whether the direction needing to be driven is the same as the previous driving direction is judged, if yes, the problem of the idle return stroke does not need to be considered, and if not, the step number of the idle return stroke needs to be superposed in the step number of the driving step, namely, the idle return step number is estimated.
The estimated number of idle return steps may be estimated manually in advance by, for example, stepping the drive motor by the same number of steps in two different directions, measuring the difference between the moving distances of the drive target member in the two cases, and estimating the number of idle return steps from the difference. There are also similar methods for obtaining the estimated backlash, which are not listed in this embodiment, and the specific method for obtaining the estimated backlash number is not specifically limited in the present invention.
Further, when determining whether the driving direction in the driving command points to the idle-return stroke, comparing whether the driving direction is the same as the previous driving direction may be specifically adopted. But this presupposes that the driving direction is required up to the last time. If the last driving direction is not recorded, the following steps can be performed before receiving the driving command:
and controlling the driving motor to step by a preset step number along a preset driving direction to reach a preset starting point, wherein the preset step number is larger than the estimated idle return step number.
That is, when the previous driving direction is not determined, the driving motor may drive the driving target member to drive the driving target member in a certain direction for a certain distance, which corresponds to setting a driving direction for the driving motor, and in the next driving, the driving may be performed with the driving direction of the driving as a reference.
As mentioned before, the solution to the present application is applicable in many different driven driving devices. To further explain the technical solution of the present application, a lens for taking a head image will be described below as an example.
When the lens is focused and images are shot at different focal length positions, the driving motor is required to drive the lens to move to the corresponding focal length position along the optical axis of the lens, and a backlash stroke exists between the driving motor and the lens. Therefore, as shown in fig. 3, fig. 3 is a schematic flowchart of a method for driving a lens focus without backlash according to an embodiment of the present invention, where the method may include:
step S21: and receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction.
Specifically, the driving instruction may be obtained by performing an autofocus operation based on the currently captured image.
Step S22: it is determined whether the driving direction is the direction of the return stroke to the current position, and if not, the process proceeds to step S23, and if so, the process proceeds to step S24.
Specifically, as described above, it is determined whether the driving direction is the backlash formation direction pointing to the current position, and the determination may also be performed based on the previous driving direction, which is not described herein again.
Step S23: the drive motor is controlled to step the number of drive steps to drive the lens to the predetermined position, and the process proceeds to step S25.
Step S24: and controlling the step number of the stepping drive step number of the drive motor and the step number of the sum of the estimated idle return step number to drive the lens to reach the preset position, and entering the step S25.
Specifically, the predetermined position point is a position where the lens needs to perform image shooting, and after the lens reaches the predetermined position, the image shooting can be performed.
Step S25: and when the lens finishes shooting, controlling the driving motor to step in the direction opposite to the driving direction and estimating the step number of the sum of the idle return steps.
In the lens, image capturing can be performed after the lens reaches a predetermined position by the driving action of the driving motor. After the image is shot, the lens needs to be retracted to the initial position again, so that the lens is driven to reach the predetermined position according to the driving instruction, and after the shooting is finished, the lens needs to be reversely driven again, that is, the driving direction is reversed once, and a section of backlash is inevitably formed, so that the number of steps of driving the lens needs to be increased.
In addition, if the driving direction is the direction pointing to the current position and deviating from the lost motion stroke before the lens is not driven to the preset position, after the lens reaches the preset position, the lens is driven by the driving motor, and after the lens is stepped in the direction opposite to the driving direction by the step number of the sum of the driving step number and the estimated lost motion step number, the lens is inevitably different from the initial position by one lost motion.
Therefore, if the driving direction is a direction pointing to the current position and departing from the lost motion stroke, after controlling the driving motor to step the number of steps of the sum of the driving step number and the estimated lost motion step number in a direction opposite to the driving direction, the method may further include:
and controlling the driving motor to step along the direction opposite to the driving direction to estimate the number of idle return steps.
It should be noted that, when the camera lens capable of focusing is set for different shooting focal lengths required for different scenes, there are generally a plurality of predetermined shot image position points, and when the camera lens is automatically focused, the motor can automatically drive the camera lens to respectively reach different position points for image shooting, and finally the clearest image is selected and displayed to the user, and the initial point where the camera lens initially stays is often one of the predetermined shot position points, so that a clear image cannot be shot even if the position where the camera lens stays and the initial point only differ by the distance of the backlash. Therefore, when the image capturing is completed, the lens is required to return to the position point that is exactly the same as the initial position, and naturally, if the initial position point is not one of the plurality of image capturing position points, the lens is not required to necessarily return to the position, and may be within the vicinity thereof.
As previously described, a starting drive direction may be set for the drive motor without determining the last drive direction. Specifically, the following steps may be performed before step S21:
controlling the driving motor to step by a first preset step number along a preset driving direction, wherein the first preset step number is larger than the estimated idle return step number;
and controlling the driving motor to reversely step by a second preset step number along the preset driving direction to reach a preset starting point.
Specifically, the first preset number of steps may be equal to the second preset number of steps. Because the lens position is within a fixed range when the lens is not performing focus shooting. Therefore, in the case where the previous driving direction is not determined, the lens can be driven in a certain direction for a distance and then returned to the vicinity of the original position to prepare for the next focus driving.
In the following, the drive device for eliminating backlash provided by the embodiment of the present invention is introduced, and the drive device for eliminating backlash described below and the drive method for eliminating backlash described above may be referred to correspondingly.
Fig. 4 is a block diagram of a backlash elimination driving apparatus of a driving device according to an embodiment of the present invention, where the backlash elimination driving apparatus of the driving device according to fig. 4 may include:
the instruction receiving module 100 is configured to receive a driving instruction and obtain a driving direction and a driving step number included in the driving instruction;
the judging module 200 is configured to judge whether the driving direction is a direction of a return stroke pointing to the current position;
the driving module 300 is configured to control the driving motor to step the driving steps to drive the target driving element to reach a predetermined position when the driving direction is a direction of the idle-return stroke pointing to the current position; and when the driving direction is the direction which points to the current position and deviates from the idle return stroke, controlling the driving motor to step the driving step number and the step number of the sum of the estimated idle return step number, and driving the target driving piece to reach the preset position.
Optionally, in another specific embodiment of the present invention, the method may further include:
the judging module 200 is specifically configured to judge whether the driving direction is the same as a previous driving direction of the driving motor, and if not, the driving direction is a direction of a lost motion stroke pointing to a current position; if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
Optionally, in another specific embodiment of the present invention, the method may further include:
the driving motor is used for focusing the lens;
the driving module 300 is specifically configured to control the driving motor to step the number of steps of the sum of the driving step number and the estimated idle-return step number along a direction opposite to the driving direction when the lens finishes focusing and shooting after the target driving element is driven to reach the predetermined position.
Optionally, in another specific embodiment of the present invention, the method may further include:
the driving module 300 is further configured to, if the driving direction is a direction pointing to the current position and departing from the backlash stroke, control the driving motor to step in a direction opposite to the driving direction by the estimated backlash step number after controlling the driving motor to step in the direction opposite to the driving direction by the step number of the sum of the driving step number and the estimated backlash step number.
Optionally, in another specific embodiment of the present invention, the method may further include:
the driving module 300 is specifically configured to control the driving motor to step by a preset step number along a preset driving direction before receiving a driving instruction, and reach a preset starting point, where the preset step number is greater than the estimated number of idle return steps.
Optionally, in another specific embodiment of the present invention, the method may further include:
the driving motor is used for focusing the lens;
the driving module 300 is specifically configured to control the driving motor to step by a first preset step number along a preset driving direction before receiving a driving instruction, where the first preset step number is greater than the estimated idle return step number; and controlling the driving motor to reversely step by a second preset step number along the preset driving direction to reach a preset starting point.
The backlash elimination driving apparatus of the driving device of this embodiment is used to implement the aforementioned backlash elimination driving method of the driving device, and therefore specific implementations of the backlash elimination driving apparatus of the driving device can be seen in the foregoing embodiments of the backlash elimination driving method of the driving device, for example, the instruction receiving module 100, the determining module 200, and the driving module 300 are respectively used to implement steps S11, S12, S13, and S14 in the backlash elimination driving method of the driving device, so that the specific implementations thereof may refer to descriptions of corresponding partial embodiments, and are not described herein again.
The present application also provides a drive device's drive device disappears and returns drive device, includes:
a memory for storing a computer program;
a processor for executing the computer program to implement the operations of the steps of the nulling back drive method of the drive apparatus as described in any of the above embodiments.
In particular, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a computer program executed by a processor, or in a combination of the two. The computer program may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of memory known in the art.
A computer-readable storage medium is also provided in the present application, having a computer program stored thereon, where the computer program, when being executed by a processor, implements the steps of the method for blank loop driving of a driving device according to any of the above embodiments.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Claims (10)
1. A backlash elimination driving method of a driving apparatus, comprising:
receiving a driving instruction, and obtaining a driving direction and a driving step number contained in the driving instruction;
judging whether the driving direction is the direction of the idle return stroke pointing to the current position;
if so, controlling the drive motor to step by the drive steps, and driving the target driving piece to reach a preset position;
if not, controlling the driving motor to step by the sum of the driving steps and the estimated return-to-empty steps, and driving the target driving piece to reach a preset position.
2. The backlash eliminating driving method of a driving apparatus according to claim 1, wherein said judging whether the driving direction is a direction of backlash travel to a current position includes:
judging whether the driving direction is the same as the last driving direction of the driving motor, if not, the driving direction is the direction of the idle return stroke pointing to the current position; if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
3. The backlash drive method of the drive apparatus according to claim 2, wherein the drive motor is a motor for focusing a lens;
after driving the target driver to a predetermined position, further comprising:
and when the lens finishes shooting, controlling the driving motor to step the driving step number and the estimated step number of the empty return along the direction opposite to the driving direction.
4. The backlash eliminating driving method of a driving apparatus according to claim 3, further comprising, after controlling said driving motor to step by a step number of a sum of said driving step number and said estimated backlash step number in a direction opposite to said driving direction, if said driving direction is a direction pointing to a current position away from said backlash stroke:
and controlling the driving motor to step the estimated number of idle return steps along the direction opposite to the driving direction.
5. The backlash elimination driving method of the driving apparatus according to any one of claims 1 to 4, further comprising, before receiving the driving instruction:
and controlling the driving motor to step by a preset step number along a preset driving direction to reach a preset starting point, wherein the preset step number is greater than the estimated return step number.
6. The backlash drive method of the drive apparatus according to claim 5, wherein the drive motor is a motor for focusing a lens;
controlling the drive motor to step by a preset number of steps along a preset drive direction, and reaching a preset starting point comprises:
controlling the driving motor to step by a first preset step number along a preset driving direction, wherein the first preset step number is larger than the estimated idle return step number;
and controlling the driving motor to reversely step by a second preset step number along the preset driving direction to reach a preset starting point.
7. An backlash elimination drive device of a drive apparatus, comprising:
the instruction receiving module is used for receiving a driving instruction and obtaining a driving direction and a driving step number contained in the driving instruction;
the judging module is used for judging whether the driving direction is the direction of the idle return stroke pointing to the current position;
the driving module is used for controlling the driving motor to step the driving steps when the driving direction is the direction of the idle return stroke pointing to the current position, and driving the target driving piece to reach a preset position; and when the driving direction is the direction which points to the current position and deviates from the idle return stroke, controlling the driving motor to step the driving step number and the step number of the sum of the estimated idle return step number, and driving the target driving piece to reach the preset position.
8. The backlash elimination driving device of the driving apparatus according to claim 7, wherein the determining module is specifically configured to determine whether the driving direction is the same as a previous driving direction of the driving motor, and if not, the driving direction is a direction of a backlash stroke pointing to a current position; if so, the driving direction is a direction pointing to the current position and deviating from the idle return stroke.
9. A backlash elimination drive device of a drive device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the operations of the steps of the nulling-back drive method of a drive device according to any of claims 1 to 6.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the drive method of nulling back of a drive device according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936888.2A CN110646914A (en) | 2019-09-29 | 2019-09-29 | Drive device idle-loop-back driving method, device, equipment and storage medium |
| PCT/CN2020/079117 WO2021056978A1 (en) | 2019-09-29 | 2020-03-13 | Driving method and device for eliminating backlash of driving apparatus, apparatus, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910936888.2A CN110646914A (en) | 2019-09-29 | 2019-09-29 | Drive device idle-loop-back driving method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110646914A true CN110646914A (en) | 2020-01-03 |
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| CN201910936888.2A Pending CN110646914A (en) | 2019-09-29 | 2019-09-29 | Drive device idle-loop-back driving method, device, equipment and storage medium |
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| CN (1) | CN110646914A (en) |
| WO (1) | WO2021056978A1 (en) |
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| CN111464088A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464091A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464089A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| WO2021056978A1 (en) * | 2019-09-29 | 2021-04-01 | 成都极米科技股份有限公司 | Driving method and device for eliminating backlash of driving apparatus, apparatus, and storage medium |
| CN112616020A (en) * | 2020-12-17 | 2021-04-06 | 深圳市睿联技术股份有限公司 | Photographing apparatus, focusing method thereof, and computer-readable storage medium |
| CN112887691A (en) * | 2021-02-20 | 2021-06-01 | 歌尔光学科技有限公司 | Projector focusing method, system and computer readable storage medium |
| CN112987609A (en) * | 2021-02-05 | 2021-06-18 | 爱威科技股份有限公司 | Driving control method and system for master-slave driving device |
| CN114518631A (en) * | 2020-11-19 | 2022-05-20 | 成都极米科技股份有限公司 | Backlash elimination method and device, electronic equipment and computer-readable storage medium |
| CN114518630A (en) * | 2020-11-19 | 2022-05-20 | 成都极米科技股份有限公司 | Backlash elimination method and device, electronic equipment and computer-readable storage medium |
| WO2023207725A1 (en) * | 2022-04-26 | 2023-11-02 | 华为技术有限公司 | Inter-pupilary distance adjustment method, head-mounted display device and readable storage medium |
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| WO2021056978A1 (en) * | 2019-09-29 | 2021-04-01 | 成都极米科技股份有限公司 | Driving method and device for eliminating backlash of driving apparatus, apparatus, and storage medium |
| CN111464089B (en) * | 2020-04-08 | 2022-04-01 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464091A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464089A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464088A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN111464088B (en) * | 2020-04-08 | 2022-04-01 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
| CN114518631A (en) * | 2020-11-19 | 2022-05-20 | 成都极米科技股份有限公司 | Backlash elimination method and device, electronic equipment and computer-readable storage medium |
| CN114518630A (en) * | 2020-11-19 | 2022-05-20 | 成都极米科技股份有限公司 | Backlash elimination method and device, electronic equipment and computer-readable storage medium |
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| CN114518630B (en) * | 2020-11-19 | 2023-09-01 | 成都极米科技股份有限公司 | Null back elimination method, device, electronic equipment and computer readable storage medium |
| CN112616020A (en) * | 2020-12-17 | 2021-04-06 | 深圳市睿联技术股份有限公司 | Photographing apparatus, focusing method thereof, and computer-readable storage medium |
| CN112987609A (en) * | 2021-02-05 | 2021-06-18 | 爱威科技股份有限公司 | Driving control method and system for master-slave driving device |
| CN112887691A (en) * | 2021-02-20 | 2021-06-01 | 歌尔光学科技有限公司 | Projector focusing method, system and computer readable storage medium |
| WO2023207725A1 (en) * | 2022-04-26 | 2023-11-02 | 华为技术有限公司 | Inter-pupilary distance adjustment method, head-mounted display device and readable storage medium |
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