CN217928061U - Monitoring ball machine with gyro image stabilization function - Google Patents
Monitoring ball machine with gyro image stabilization function Download PDFInfo
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- CN217928061U CN217928061U CN202221548233.1U CN202221548233U CN217928061U CN 217928061 U CN217928061 U CN 217928061U CN 202221548233 U CN202221548233 U CN 202221548233U CN 217928061 U CN217928061 U CN 217928061U
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Abstract
The embodiment of the utility model discloses a monitoring ball machine with a gyro image stabilization function, which comprises a mounting seat, a shell and a camera device; an azimuth axis motor and an azimuth axis angle detection assembly are arranged on the azimuth axis circuit board; the shell is connected with the mounting seat in a manner of rotating along the horizontal direction through an azimuth axis motor; the camera device is connected to the shell in a manner of rotating along the vertical direction through the pitch shaft motor; the pitching shaft circuit board can synchronously rotate with the camera device; and a pitching shaft angle detection assembly, a single chip microcomputer, an IMU sensor and a motor driving chip are also arranged on the pitching shaft circuit board. The utility model discloses control ball machine with top image stabilization function can be through adopting ripe ball machine casing to reform transform driving motor and circuit wherein, upgrade it for the ball machine that has high accuracy top stabilization function, can satisfy the needs of on-board control, compare low cost, installation convenient, use simply, the sexual valence relative altitude with conventional on-board photoelectric ball.
Description
Technical Field
The utility model relates to a control ball machine, specifically speaking relate to a control ball machine with top steady image function.
Background
The monitoring ball machine has the advantages of attractive appearance, firmness, reliability and low cost, is widely applied in the monitoring field and is distributed in streets and alleys. More and more customers want to use the monitoring ball machine on the ship to observe the water surface target, for ship observation, water search and rescue and the like.
However, the general ball machine is driven by a stepping motor in a speed reducing way, so that the high-precision application of image stabilization and the high-precision stability requirement of remote observation are difficult to meet.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the utility model provides a control ball machine with top image stabilization function. The inside step motor of traditional ball machine and reduction gearing can lead to the transmission precision low, the slow defect of response, in order to realize the stable control requirement of optical axis inertia, consequently change it into external rotor brushless motor direct drive, adopt original package assembly and detection control circuit simultaneously, reduce the installation complexity, reduce cost, stabilize drive circuit through the high performance top simultaneously, the inertial stability of ball machine is realized in the rotation of driving motor, reach the image stabilization requirement of video monitoring when shipborne or on-vehicle.
The monitoring ball machine with the gyro image stabilization function mainly comprises a mounting seat, a shell and a camera device. The shell is rotatably connected to the mounting seat, and an azimuth axis circuit board connected with the shell is arranged in the shell; the middle shaft of the mounting seat is connected with a first rotor magnetic ring of the azimuth axis motor through a first structural member; the azimuth axis circuit board is connected with a first stator coil of the azimuth axis motor through a second structural member; the first rotor magnetic ring of the azimuth axis motor and the first stator coil of the azimuth axis motor can rotate relatively, so that the shell can rotate in the horizontal direction relative to the mounting seat; an azimuth axis angle detection assembly is arranged on the azimuth axis circuit board; the middle frame of the cabin body of the camera device is connected to the pitching shaft rotating support arm of the shell in a manner of rotating along the vertical direction; a pitch shaft motor and a pitch shaft circuit board are arranged in the pitch shaft rotating support arm; a second rotor magnetic ring of the pitching shaft motor is connected to the inside of the pitching shaft rotating support arm through a fourth structural part; a second stator coil of the pitch shaft motor is connected with a rotating shaft arranged on one side of the middle frame of the cabin body through a third structural part; the pitch shaft circuit board is also connected with a third structural component, so that the pitch shaft circuit board can synchronously rotate with a second stator coil of the pitch shaft motor and the cabin middle frame; the pitching shaft circuit board is also provided with a pitching shaft angle detection assembly, a single chip microcomputer, an IMU sensor and a motor driving chip; the conductive slip ring, the azimuth axis circuit board and the pitching axis circuit board which are arranged in the mounting seat are electrically connected through cables.
According to a preferred embodiment of the present invention, the azimuth axis angle detecting assembly includes a first magnetic ring phase detecting sensor and a first rotation zero sensor; the first magnetic ring phase detection sensor is a magnetic encoder chip or consists of two linear Hall elements; the first rotation zero position sensor is a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
According to a preferred embodiment of the present invention, the pitch axis angle detection assembly includes a second magnetic ring phase detection sensor and a second rotation zero sensor; the second magnetic ring phase detection sensor is a magnetic encoder chip or consists of two linear Hall elements; the second rotation zero position sensor is a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
According to a preferred embodiment of the present invention, the azimuth axis motor and the pitch axis motor are both external rotor brushless motors.
According to a preferred embodiment of the present invention, a power conversion circuit is further disposed on the azimuth axis circuit board; one end of the power supply conversion circuit is connected with a power supply through a conductive slip ring, and the other end of the power supply conversion circuit is connected to an electric device in the monitoring ball machine with the gyro image stabilization function to supply power to the monitoring ball machine.
According to a preferred embodiment of the present invention, the housing includes an upper housing and a lower housing detachably disposed below the upper housing; the azimuth axis circuit board is arranged in the upper shell and is arranged on a plurality of fixing columns in the upper shell; a pitching shaft rotating support arm is arranged on the lower shell; the pitching shaft rotating support arm comprises a first support lug and a second support lug, and the first support lug and the second support lug are oppositely arranged, so that a U-shaped mounting opening is formed between the first support lug and the second support lug; the camera device is arranged in the U-shaped mounting opening; the pitch axis circuit board and the pitch axis motor are disposed in the first support ear or the second support ear.
According to a preferred embodiment of the present invention, a rain cover is disposed outside the mounting seat and the upper housing; and a hanging bayonet is arranged at the top of the rain cover.
Compared with the prior art, the utility model discloses control ball machine with top steady image function has following beneficial effect:
the utility model discloses control ball machine with top steady image function can be through adopting ripe ball machine casing to reform transform driving motor and circuit wherein, upgrade it for the ball machine that has high accuracy top stabilization function, can satisfy the needs of on-board control, compare low cost, install convenient, use simply, the sexual valence relative altitude with conventional on-board photoelectric ball.
Additional features of the invention will be set forth in part in the description which follows. Additional features of the invention will be set forth in part in the description which follows and in part will be apparent to those having ordinary skill in the art upon examination of the following and the accompanying drawings or may be learned from the manufacture or operation of the embodiments. The features of the present disclosure may be realized and attained by practice or use of various methods, instrumentalities and combinations of the specific embodiments described below.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. Like reference symbols in the various drawings indicate like elements. Wherein,
fig. 1 and 2 are schematic structural diagrams of a monitoring ball machine with a gyro image stabilization function according to some embodiments of the present invention;
FIG. 3 is an enlarged view of a portion A of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 2 at B;
fig. 5 is a block diagram of a monitoring ball machine with a gyro image stabilization function according to some embodiments of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that if the terms "first", "second", etc. are used in the description and claims of the present invention and in the accompanying drawings, they are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged as appropriate in order to facilitate the embodiments of the invention described herein. Furthermore, if the terms "comprise" and "have" and any variations thereof are referred to, it is intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, if the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like are referred to, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in the present invention can be understood by those of ordinary skill in the art as appropriate.
Furthermore, in the present invention, the terms "mounted", "disposed", "provided", "connected", "coupled", etc. should be understood in a broad sense if they relate to one another. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The embodiment of the utility model discloses control ball machine with top steady image function.
As shown in fig. 1 to 5, the monitoring ball machine with a gyro image stabilization function may include a mount 1, a housing 2, and a camera device 5.
For example, as shown in fig. 1 and 2, the housing 2 may include an upper housing 210 and a lower housing 220 detachably disposed below the upper housing 210. Specifically, the upper housing 210 and the lower housing 220 may be detachably coupled by a card and coupling structure. A pitch axis rotating arm is provided on the lower housing 220, and includes a first support ear 221 and a second support ear 222, and the first support ear 221 and the second support ear 222 are oppositely disposed, so that a U-shaped mounting opening is formed between the first support ear 221 and the second support ear 222.
Wherein, the shell 2 is rotatably connected on the mounting seat 1. In particular, the housing 2 may be rotatably connected to the mounting base 1 by the bearing.
An azimuth axis circuit board 3 connected to the housing 2 is provided inside the housing 2. Specifically, the azimuth axis circuit board 3 is disposed in the upper housing 210 and is mounted on a plurality of fixing posts inside the upper housing 210. For example, the azimuth axis circuit board 3 may be fastened by screws to fixing posts inside the upper case 210.
An azimuth axis motor 4 is provided on the azimuth axis circuit board 3. For example, the azimuth axis motor 4 may be an external rotor brushless motor, the stator specification of which is 5208, and the rotor of which is a 22-pole magnetic ring. The housing 2 is connected to the mount 1 by an azimuth axis motor 4 so as to be rotatable in the horizontal direction.
As shown in fig. 2 and 3, the intermediate shaft of the mounting base 1 is connected to the first rotor magnetic ring 402 of the azimuth axis motor 4 through a first structural member 910. The azimuth axis circuit board 3 is connected to the first stator coil 401 of the azimuth axis motor 4 via a second structural member 920. The first rotor magnetic ring 402 of the azimuth axis motor and the first stator coil 401 of the azimuth axis motor can rotate relatively, so that the housing 2 can rotate in the horizontal direction relative to the mounting base 1 under the driving of the azimuth axis motor 4.
An azimuth axis angle detection assembly is also arranged on the azimuth axis circuit board 3.
Illustratively, the azimuth axis angle detection assembly includes a first magnetic loop phase detection sensor and a first rotational null sensor.
The first magnetic ring phase detection sensor can adopt a magnetic encoder chip or consists of two linear Hall elements.
For example, two linear hall sensor chips of type SS49E may be employed as the first magnetic loop phase detection sensor. The two linear Hall sensor chips are placed under the magnetic ring at an interval of 8.2 degrees with the rotation axis as the center of a circle, the rotation angle of each pair of magnetic poles can be detected, and the data is used for driving the azimuth axis motor 4.
The first rotary zero position sensor can adopt a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
For example, a photoelectric detection assembly composed of a reflective optical coupler of model TLP910 and a baffle may be used as the first rotary zero sensor. The reflective optical coupler can detect a zero position baffle outside the motor rotor so as to determine the angle of the rotating zero position.
For example, the camera device 5 may employ a monitoring core 510 of an existing monitoring dome camera and a cabin center 520 for mounting the monitoring core 510. The monitoring core 510 is disposed in the cabin middle frame 520.
The cabin middle frame 520 of the camera device 5 is connected to the tilt-axis rotating arm of the housing 2 so as to be rotatable in the vertical direction.
Specifically, as shown in fig. 1 and 2, the cabin middle frame 520 of the camera device 5 is disposed in the U-shaped mounting opening formed between the first support ear 221 and the second support ear 222. Both sides of the cabin middle frame 520 of the camera device 5 are rotatably connected to the first support lug 221 and the second support lug 222 through a rotating shaft respectively.
A pitch axis motor 6 and a pitch axis circuit board 7 are provided in the pitch axis rotating arm. Specifically, the pitch axis motor 6 and the pitch axis circuit board 7 are disposed in the first support lug 221 or the second support lug 222. For example, the pitch axis motor 6 may be an external rotor brushless motor, the stator specification of which is 5208, and the rotor of which is a 22-pole magnetic ring.
As shown in fig. 2 and 4, the second rotor magnetic ring 602 of the pitch shaft motor 6 is connected to the inside of the pitch shaft rotating arm through the fourth structural member 940. Specifically, the second rotor magnetic ring 602 of the pitch axis motor 6 is connected to the inside of the first support lug 221 and the second support lug 222 through the fourth structural member 940.
As shown in fig. 2 and 4, the second stator coil 601 of the pitch axis motor 6 is connected to the rotating shaft provided on the side of the cabin middle frame 520 via a third connecting member 930.
The second rotor magnetic ring 602 of the pitch axis motor 6 and the second stator coil 601 of the pitch axis motor 6 can rotate relatively, so that the cabin middle frame 520 can rotate up and down in the vertical direction under the driving of the pitch axis motor 6.
The pitch axis circuit board 7 is also connected to the third structural member 930 such that the pitch axis circuit board 7 can rotate in synchronization with the second stator coil 601 of the pitch axis motor 6 and the nacelle middle frame 520.
The pitching shaft circuit board 7 is also provided with a pitching shaft angle detection assembly, a single chip microcomputer, an IMU sensor and a motor driving chip.
Wherein, azimuth axis angle detection subassembly, every single move axle angle detection subassembly, IMU sensor and motor drive chip are connected with the singlechip electricity. The motor driving chip is electrically connected with the azimuth axis motor 4 and the pitch axis motor 6.
Illustratively, a single chip microcomputer with the model number of GD32F103 can be adopted. An IMU sensor model ICM20602 may be used. A motor driver chip model DRV8313 may be used.
Illustratively, the pitch axis angle sensing assembly includes a second magnetic loop phase sensing sensor and a second rotational null sensor.
The second magnetic ring phase detection sensor is a magnetic encoder chip or consists of two linear Hall elements.
For example, two linear hall sensor chips of type SS49E may be employed as the second magnetic loop phase detection sensor. The two linear Hall sensor chips are placed at the corresponding positions of the magnetic ring at intervals of 8.2 degrees by taking the rotating shaft center as the center of a circle, the rotating angle of each pair of magnetic poles can be detected, and the data is used for driving the pitching axis motor 6.
The second rotation zero position sensor is a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
For example, a photoelectric detection module composed of a reflective optical coupler and a stop, which is type TLP910, may be used as the second rotary zero sensor. The reflective optical coupler can detect a zero position baffle plate on the outer side of the motor rotor so as to determine the angle of a rotating zero position.
And a conductive slip ring 8 is also arranged in the mounting seat 1. The conductive slip ring 8, the azimuth axis circuit board 3 and the pitch axis circuit board 7 which are arranged in the mounting base 1 are electrically connected through cables to supply power for electric parts.
Further, a power conversion circuit is provided on the azimuth axis circuit board 3. Power supply conversion circuit one end is connected with the power through electrically conductive sliding ring 8, and the other end is connected to the utility model discloses with electrical apparatus (like singlechip, IMU sensor, motor drive chip, every single move axle motor and azimuth axis motor etc.) for its power supply among the control ball machine with top image stabilization function. Specifically, as shown in fig. 5, the lower portion of the conductive slip ring 8 is provided with a first harness interface, and the first harness interface is connected to the azimuth axis circuit board and the pitch axis circuit board through a harness.
Further, a rain cover 9 may be further disposed outside the mounting base 1 and the upper housing 210. A hanging bayonet is arranged at the top of the rain cover 9.
The utility model discloses control ball machine with top steady image function can pass through azimuth axis angle detection subassembly, every single move axis angle detection subassembly, IMU sensor etc. detect control ball machine at the ascending skew angle of horizontal direction and vertical side, the singlechip is through the ascending skew angle of horizontal direction and vertical side that detects, through motor drive chip control every single move axis motor and azimuth axis motor, every single move axis motor and azimuth axis motor drive casing and camera device rotate back to the zero-bit, thereby keep camera device's stability, play the effect of steady image.
The utility model discloses control ball machine with top image stabilization function can be through adopting ripe ball machine casing to reform transform driving motor and circuit wherein, upgrade it for the ball machine that has high accuracy top stabilization function, can satisfy the needs of on-board control, compare low cost, installation convenient, use simply, the sexual valence relative altitude with conventional on-board photoelectric ball.
It should be noted that all of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except for mutually exclusive features and/or steps.
In addition, the above embodiments are exemplary, and those skilled in the art can devise various solutions in light of the disclosure, which are also within the scope of the disclosure and the protection scope of the present invention. It should be understood by those skilled in the art that the present specification and its drawings are illustrative and not restrictive on the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (7)
1. A monitoring ball machine with a gyro image stabilization function comprises a mounting seat (1), a shell (2) and a camera device (5),
the shell (2) is rotatably connected to the mounting seat (1), and an azimuth axis circuit board (3) connected with the shell (2) is arranged in the shell (2);
the middle shaft of the mounting seat (1) is connected with a first rotor magnetic ring (402) of an azimuth axis motor (4) through a first structural member (910); the azimuth axis circuit board (3) is connected with a first stator coil (401) of the azimuth axis motor (4) through a second structural member (920); the first rotor magnetic ring (402) of the azimuth axis motor (4) and the first stator coil (401) of the azimuth axis motor (4) can rotate relatively, so that the shell (2) can rotate in the horizontal direction relative to the mounting seat (1);
an azimuth axis angle detection assembly is arranged on the azimuth axis circuit board (3);
a cabin body middle frame (520) of the camera device (5) is connected to the pitching shaft rotating arm of the shell (2) in a manner of being capable of rotating along the vertical direction;
a pitch shaft motor (6) and a pitch shaft circuit board (7) are arranged in the pitch shaft rotating support arm;
a second rotor magnetic ring (602) of the pitch shaft motor (6) is connected to the inside of the pitch shaft rotating support arm through a fourth structural member (940); a second stator coil (601) of the pitch shaft motor (6) is connected with a rotating shaft arranged on one side of a cabin body middle frame (520) through a third structural component (930); the pitch axis circuit board (7) is also connected with the third structural component (930) so that the pitch axis circuit board (7) can synchronously rotate with a second stator coil (601) of the pitch axis motor (6) and the cabin middle frame (520);
a pitching shaft angle detection assembly, a single chip microcomputer, an IMU sensor and a motor driving chip are further arranged on the pitching shaft circuit board (7);
the conductive slip ring (8) arranged in the mounting seat (1), the azimuth axis circuit board (3) and the pitch axis circuit board (7) are electrically connected through cables.
2. The monitoring ball machine with the gyro image stabilization function according to claim 1, wherein the azimuth axis angle detection assembly comprises a first magnetic ring phase detection sensor and a first rotation null sensor;
the first magnetic ring phase detection sensor is a magnetic encoder chip or consists of two linear Hall elements;
the first rotation zero position sensor is a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
3. The monitoring ball machine with the gyro image stabilization function according to claim 1, wherein the pitching axis angle detection assembly comprises a second magnetic ring phase detection sensor and a second rotation null sensor;
the second magnetic ring phase detection sensor is a magnetic encoder chip or consists of two linear Hall elements;
the second rotary zero position sensor is a magnetic induction detection assembly consisting of magnetic steel and a Hall element or a photoelectric detection assembly consisting of an optical coupler and a baffle.
4. The monitoring ball machine with the gyro image stabilization function according to claim 1, wherein the azimuth axis motor (4) and the pitch axis motor (6) are outer rotor brushless motors.
5. The monitoring ball machine with the gyro image stabilization function according to claim 1, wherein a power conversion circuit is further arranged on the azimuth axis circuit board (3);
one end of the power supply conversion circuit is connected with a power supply through a conductive slip ring (8), and the other end of the power supply conversion circuit is connected to an electric device in the monitoring ball machine with the gyro image stabilization function to supply power to the monitoring ball machine.
6. The monitoring dome machine with gyro image stabilization according to claim 1, wherein the housing (2) includes an upper housing (210) and a lower housing (220) detachably disposed below the upper housing (210);
the azimuth axis circuit board (3) is arranged in the upper shell (210) and is arranged on a plurality of fixing columns in the upper shell (210);
a pitching shaft rotating support arm is arranged on the lower shell (220); the pitch axis rotating arm comprises a first supporting lug (221) and a second supporting lug (222), the first supporting lug (221) and the second supporting lug (222) are oppositely arranged, so that a U-shaped mounting opening is formed between the first supporting lug (221) and the second supporting lug (222);
the camera device (5) is arranged in the U-shaped mounting opening;
the pitch axis circuit board (7) and the pitch axis motor (6) are disposed in the first support ear (221) or the second support ear (222).
7. The monitoring dome machine with the gyro image stabilization function according to claim 6, wherein a rain cover (9) is arranged at the outer sides of the mounting seat (1) and the upper shell (210); and a hanging bayonet is arranged at the top of the rain cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221548233.1U CN217928061U (en) | 2022-06-20 | 2022-06-20 | Monitoring ball machine with gyro image stabilization function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221548233.1U CN217928061U (en) | 2022-06-20 | 2022-06-20 | Monitoring ball machine with gyro image stabilization function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
| CN117495914A (en) * | 2023-12-29 | 2024-02-02 | 中国科学院长春光学精密机械与物理研究所 | Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system |
-
2022
- 2022-06-20 CN CN202221548233.1U patent/CN217928061U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
| CN117495914A (en) * | 2023-12-29 | 2024-02-02 | 中国科学院长春光学精密机械与物理研究所 | Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system |
| CN117495914B (en) * | 2023-12-29 | 2024-04-19 | 中国科学院长春光学精密机械与物理研究所 | Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system |
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