CN118100707A - Oscillating machine and method for identifying rotation limiting point of oscillating machine and detecting rotation angle - Google Patents
Oscillating machine and method for identifying rotation limiting point of oscillating machine and detecting rotation angle Download PDFInfo
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- CN118100707A CN118100707A CN202410468358.0A CN202410468358A CN118100707A CN 118100707 A CN118100707 A CN 118100707A CN 202410468358 A CN202410468358 A CN 202410468358A CN 118100707 A CN118100707 A CN 118100707A
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Abstract
The application provides a head shaking machine and a method for identifying a rotation limiting point of the head shaking machine and detecting a rotation angle, wherein the method comprises the following steps: detecting the current of one control circuit between the motor and the motor driving module, and judging that the motor is positioned at a rotation limiting point position when the current exceeds a current threshold value; when the head shaking machine is electrified for self-checking, detecting whether the motor reaches a rotation limit point, and determining the rotation angle of the motor according to the step number between the motor reaching the rotation limit point and the rotation return position. According to the method, whether the rotation of the motor reaches the limit point is detected by adding current detection, a mark which reaches the limit point is added into the main control module, closed-loop control is formed, the running current state of the motor is detected in real time, the mark of the limit point is updated, the rotation angle of the motor is calculated according to the detected limit point, and the position is more accurate.
Description
Technical Field
The application belongs to the field of household cameras, and particularly relates to a head shaking machine and a method for identifying a rotation limiting point of the head shaking machine and detecting a rotation angle.
Background
The home network camera with the motor is generally called a head shaking machine, and the home network camera can view real-time images monitored by the camera through a mobile phone application program and can control the camera to rotate.
The head shaking machine is generally provided with two motors for controlling rotation, one for controlling horizontal shaking (the angle range of horizontal rotation is about 0-355 degrees) and one for controlling vertical shaking (the angle range of vertical rotation is about 0-90 degrees), and the motors are generally 4-line 2-phase stepping motors or 5-line 4-phase stepping motors. The relation between the number of steps and the rotation angle is determined by calculating the number of steps required by the camera to rotate one circle, and then the rotation angle of the camera is controlled.
The industrial camera with the cradle head control rotation is provided with a limit switch, and when the cradle head rotates to the position of the limit switch, a signal is output to a main control module of the industrial camera to detect the limit point, so that the industrial camera is limited to continue to rotate. For the household network camera, the limit switch is not arranged on the head shaking machine in terms of cost and structural design, so that whether the motor rotates to reach the limit point or not can not be identified or detected by the main control module of the head shaking machine.
Therefore, after the head shaking machine is electrified for self-checking, the head shaking machine is firstly rotated to a limit point and then returned to a self-checking position, and the camera angle during self-checking is determined by the step number during return, but the limit point cannot be accurately identified or detected by the main control module, so that the calculation of the camera angle during self-checking is inaccurate.
In addition, after power-on self-test, if the user manually rotates the angle of the motor for some purpose, such as inserting a memory card, the main control module cannot recognize this behavior. When the user controls the equipment to rotate through the mobile phone application program, the equipment can not stop after rotating to the limit point or can not rotate to the limit point and also consider the fault of reaching the limit point.
Disclosure of Invention
The application aims to provide a head shaking machine and a method for identifying a rotation limit point of the head shaking machine and detecting a rotation angle, so as to solve or alleviate at least one problem in the background art.
In a first aspect, the present application provides the following technical solutions: a method of identifying a rotational limit point of a head rocker and detecting a rotational angle, the method comprising:
Detecting the current of one control circuit between the motor and the motor driving module, and judging that the motor is positioned at a rotation limiting point position when the current exceeds a current threshold value;
when the head shaking machine is electrified for self-checking, detecting whether the motor reaches a rotation limit point, and determining the rotation angle of the motor according to the step number between the motor reaching the rotation limit point and the rotation return position.
Further, a current sampling resistor is arranged on the control line, and a current detection module is adopted to detect the control line where the current sampling resistor is located, so that the current of the control line is obtained.
Further, a current transformer is arranged on the control line, and the current of the control line is sampled through the current transformer, so that the current of the control line is obtained.
Further, the current threshold value when the motor is at the rotation limit point is larger than the current value when the motor is at normal rotation.
In a second aspect, the present application provides a technical solution that: a head shaking machine, the head shaking machine comprising:
a camera;
The motor is used for bearing the camera;
the motor driving module is connected with the motor and used for controlling the motor to run or stop;
The main control module is connected with the motor driving module and is used for analyzing and processing the sampling current of the motor to determine whether to send a control instruction for running or stopping the motor to the motor driving module;
the current sampling resistor is arranged on one control line between the motor driving module and the motor and is used for collecting current on the control line; and
The current detection module is connected with the main control module and is used for detecting the current on the control line provided with the current sampling resistor, processing and converting the acquired current into a signal which can be identified by the main control module and transmitting the signal to the main control module;
When the current is detected to exceed a current threshold, the main control module judges that the motor is positioned at a rotation limit point position; when the head shaking machine is electrified and self-checked, whether the motor reaches a rotation limiting point or not is detected, and the main control module determines the rotation angle of the motor according to the step number between the motor reaching the rotation limiting point and the rotation position.
Further, data transmission is performed between the main control module and the motor driving module through a UART, SPI, I C protocol.
In a third aspect, the present application provides a technical solution that: a head shaking machine, the head shaking machine comprising:
a camera;
The motor is used for bearing the camera;
the motor driving module is connected with the motor and used for controlling the motor to run or stop;
The main control module is connected with the motor driving module and is used for analyzing and processing the sampling current of the motor to determine whether to send a control instruction for running or stopping the motor to the motor driving module;
the current transformer is used for collecting and controlling the current of the line and transmitting the collected current to the main control module;
When the current is detected to exceed a current threshold, the main control module judges that the motor is positioned at a rotation limit point position; when the head shaking machine is electrified and self-checked, whether the motor reaches a rotation limiting point or not is detected, and the main control module determines the rotation angle of the motor according to the step number between the motor reaching the rotation limiting point and the rotation position.
Further, data transmission is performed between the main control module and the motor driving module through a UART, SPI, I C protocol.
According to the method, whether the rotation of the motor reaches the limit point is detected by adding current detection, a mark which reaches the limit point is added into the main control module, closed-loop control is formed, the running current state of the motor is detected in real time, the mark of the limit point is updated, the rotation angle of the motor is calculated according to the detected limit point, and the position is more accurate.
Drawings
In order to more clearly illustrate the technical solution provided by the present application, the following description will briefly refer to the accompanying drawings. It will be apparent that the figures described below are merely some embodiments of the application.
FIG. 1 is a schematic diagram of a method for identifying a rotation limit point and detecting a rotation angle of a head shaking machine according to the present application.
Fig. 2 is a schematic block diagram of the present application for identifying the rotational limit point of the head shaking machine.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application.
In order to solve the problems that a motor cannot accurately identify a limit point and the angle position of the motor is inaccurate by detecting the position of the limit point, the application provides a method for identifying the rotation limit point of a head shaking machine and detecting the rotation angle.
As shown in fig. 1, the method for identifying the rotation limit point of the head shaking machine and detecting the rotation angle provided by the application comprises the following steps:
And 101, detecting the current of one control circuit between the motor and the motor driving module, and when the current exceeds a threshold value, considering that the motor reaches a rotation limit point, thereby identifying the rotation limit point of the head shaking machine.
As shown in fig. 2, the present application provides a schematic block diagram for identifying a rotation limit point of a head shaking machine, a motor 11 is driven by a motor driving module 12, the motor driving module 12 communicates with a main control module 13, a current sampling resistor 14 is arranged on one control line of the motor driving module 12 and the motor 11, and a current detecting module 15 for converting a current adopted by the current sampling resistor 14 is also arranged, and the current detecting module 15 is connected with the main control module 13.
The current sampling resistor 14 and the current detection module 15 together form a key device for detecting a rotation limit point of the motor 11, the current sampling resistor 14 is used for collecting current, the current detection module 15 is used for converting current processing into signals which can be identified by the main control module 13 and transmitting the signals to the main control module 13, the main control module 13 is a core component of a camera, besides completing an audio/video function, the current signals of the motor 11 are analyzed and processed to determine whether to send a control instruction for running or stopping the motor 11 to the motor drive module 12, and the motor drive module 12 is used for controlling the running or stopping of the motor 11.
When the motor 11 rotates normally, the motor current detected by the current detection module 15 is A; when the motor 11 rotates to the limit point, the current will exceed the current threshold B (which is greater than the current a) due to the stalling of the motor 11, at which point the motor is considered to reach the limit point. The main control module 13 sends an instruction to the motor driving module 12 after receiving the current greater than the current threshold value B sent by the current detection module 15, so as to control the motor 11 to stop running.
When the mobile phone application program controls the head shaking machine to rotate in the same direction, the mobile phone application program can directly prompt that the limiting point is reached. The head shaking machine (equipment end) can not respond to the rotation instruction of the mobile phone application program at the moment.
In some embodiments of the present application, the data transmission between the main control module 13 and the motor driving module 12 includes, but is not limited to, UART, SPI, I C protocol, and the like.
Step 102, when the head shaking machine is electrified and self-inspected, detecting whether the motor reaches a rotation limiting point, if so, calculating the angle when the motor stops according to the number of steps when the stepping motor rotates from the rotation limiting point to a stop position, and further detecting the rotation angle of the head shaking machine.
The device of the head shaking machine can self-detect after being electrified, when the motor self-detects first rotation, the current detection module 15 can detect whether the motor reaches a rotation limiting point, if the motor reaches the limiting point, the accurate real-time position of the motor can be calculated according to the step number when the stepping motor rotates in the other direction, and then the rotation angle of the head shaking machine is obtained.
For the device which has powered on the self-test, if the user controls the device (the head shaking machine) to rotate through the mobile phone application program, the main control module 13 detects the current of the motor 11 in real time, and the limit point position is reset once the current exceeds the threshold value.
In some embodiments, the present application provides a head-shaking machine comprising: the camera is carried by the motor 11 to rotate in the horizontal or vertical direction, the motor 11 is driven by the motor driving module 12 to rotate or stop, the motor driving module 12 is communicated with the main control module 13, the current sampling resistor 14 is arranged on a control circuit of one of the motor driving module 12 and the motor 11, the current detection module 15 adapting to the current sampling resistor 14 is arranged at the same time, and the current detection module 15 is connected with the main control module 13. The current sampling resistor 14 collects the current on the control line, the current detection module 15 converts the collected current into a signal which can be identified by the main control module 13 and transmits the signal to the main control module 13, the main control module 13 analyzes and processes the sampled current signal of the motor 11 to determine whether to send a control instruction for running or stopping the motor 11 to the motor driving module 12, and the motor driving module 12 is used for controlling the running or stopping of the motor 11.
In other embodiments, the present application also provides a head shaker comprising: the camera is carried by the motor 11 to rotate in the horizontal or vertical direction, the motor 11 is driven by the motor driving module 12 to rotate or stop, the motor driving module 12 is communicated with the main control module 13, the current transformer is arranged on one control circuit of the motor driving module 12 and the motor 11, and the current transformer is connected with the main control module 13. The current transformer collects the current on the control line, processes and converts the collected current into a signal which can be identified by the main control module 13 and transmits the signal to the main control module 13, the main control module 13 analyzes and processes the sampled current signal of the motor 11 to determine whether to send a control instruction for running or stopping the motor 11 to the motor driving module 12, and the motor driving module 12 is used for controlling the running or stopping of the motor 11.
According to the method, whether the rotation of the motor reaches the limit point is detected by adding current detection, a mark which reaches the limit point is added into the main control module, closed-loop control is formed, the running current state of the motor is detected in real time, the mark of the limit point is updated, the rotation angle of the motor is calculated according to the detected limit point, and the position is more accurate.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of identifying a rotational limit point of a head rocker and detecting a rotational angle, the method comprising:
Detecting the current of one control circuit between the motor and the motor driving module, and judging that the motor is positioned at a rotation limiting point position when the current exceeds a current threshold value;
when the head shaking machine is electrified for self-checking, detecting whether the motor reaches a rotation limit point, and determining the rotation angle of the motor according to the step number between the motor reaching the rotation limit point and the rotation return position.
2. The method for identifying a rotation limit point and detecting a rotation angle of a head shaking machine according to claim 1, wherein a current sampling resistor is arranged on the control line, and a current detection module is adopted to detect the control line where the current sampling resistor is located, so that the current of the control line is obtained.
3. The method for identifying a rotation limit point of a head shaking machine and detecting a rotation angle according to claim 1, wherein a current transformer is arranged on the control line, and the current of the control line is sampled through the current transformer, so that the current of the control line is obtained.
4. A method of identifying a rotational limit point of a head shaking machine and detecting a rotational angle as claimed in any one of claims 1 to 3, wherein the current threshold value when the motor is at the rotational limit point is greater than the current value when the motor is at normal rotation.
5. A head shaking machine, characterized in that it comprises:
a camera;
The motor is used for bearing the camera;
the motor driving module is connected with the motor and used for controlling the motor to run or stop;
The main control module is connected with the motor driving module and is used for analyzing and processing the sampling current of the motor to determine whether to send a control instruction for running or stopping the motor to the motor driving module;
the current sampling resistor is arranged on one control line between the motor driving module and the motor and is used for collecting current on the control line; and
The current detection module is connected with the main control module and is used for detecting the current on the control line provided with the current sampling resistor, processing and converting the acquired current into a signal which can be identified by the main control module and transmitting the signal to the main control module;
When the current is detected to exceed a current threshold, the main control module judges that the motor is positioned at a rotation limit point position; when the head shaking machine is electrified and self-checked, whether the motor reaches a rotation limiting point or not is detected, and the main control module determines the rotation angle of the motor according to the step number between the motor reaching the rotation limiting point and the rotation position.
6. The head rocker of claim 5 wherein the data transfer between the main control module and the motor drive module is via a protocol comprising UART, SPI, I C.
7. A head shaking machine, characterized in that it comprises:
a camera;
The motor is used for bearing the camera;
the motor driving module is connected with the motor and used for controlling the motor to run or stop;
The main control module is connected with the motor driving module and is used for analyzing and processing the sampling current of the motor to determine whether to send a control instruction for running or stopping the motor to the motor driving module;
the current transformer is used for collecting and controlling the current of the line and transmitting the collected current to the main control module;
When the current is detected to exceed a current threshold, the main control module judges that the motor is positioned at a rotation limit point position; when the head shaking machine is electrified and self-checked, whether the motor reaches a rotation limiting point or not is detected, and the main control module determines the rotation angle of the motor according to the step number between the motor reaching the rotation limiting point and the rotation position.
8. The head rocker of claim 7 wherein the data transfer between the main control module and the motor drive module is via a protocol comprising UART, SPI, I C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410468358.0A CN118100707A (en) | 2024-04-18 | 2024-04-18 | Oscillating machine and method for identifying rotation limiting point of oscillating machine and detecting rotation angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410468358.0A CN118100707A (en) | 2024-04-18 | 2024-04-18 | Oscillating machine and method for identifying rotation limiting point of oscillating machine and detecting rotation angle |
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| CN118100707A true CN118100707A (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410468358.0A Pending CN118100707A (en) | 2024-04-18 | 2024-04-18 | Oscillating machine and method for identifying rotation limiting point of oscillating machine and detecting rotation angle |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204989989U (en) * | 2015-08-04 | 2016-01-20 | 浙江宇视科技有限公司 | Tripod head camera |
| CN114513603A (en) * | 2021-12-16 | 2022-05-17 | 深圳市睿联技术股份有限公司 | Control circuit, pan-tilt camera, control method, and computer-readable storage medium |
| US20220294318A1 (en) * | 2019-12-05 | 2022-09-15 | Rohm Co., Ltd. | Circuit and method for driving stepping motor |
| CN115898924A (en) * | 2021-09-30 | 2023-04-04 | 广东美的环境电器制造有限公司 | Control method, device and equipment of head shaking mechanism and storage medium |
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2024
- 2024-04-18 CN CN202410468358.0A patent/CN118100707A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204989989U (en) * | 2015-08-04 | 2016-01-20 | 浙江宇视科技有限公司 | Tripod head camera |
| US20220294318A1 (en) * | 2019-12-05 | 2022-09-15 | Rohm Co., Ltd. | Circuit and method for driving stepping motor |
| CN115898924A (en) * | 2021-09-30 | 2023-04-04 | 广东美的环境电器制造有限公司 | Control method, device and equipment of head shaking mechanism and storage medium |
| CN114513603A (en) * | 2021-12-16 | 2022-05-17 | 深圳市睿联技术股份有限公司 | Control circuit, pan-tilt camera, control method, and computer-readable storage medium |
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