WO2014029238A1 - Mounting support of ball type monitoring device - Google Patents

Mounting support of ball type monitoring device Download PDF

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Publication number
WO2014029238A1
WO2014029238A1 PCT/CN2013/078359 CN2013078359W WO2014029238A1 WO 2014029238 A1 WO2014029238 A1 WO 2014029238A1 CN 2013078359 W CN2013078359 W CN 2013078359W WO 2014029238 A1 WO2014029238 A1 WO 2014029238A1
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WO
WIPO (PCT)
Prior art keywords
stepping motor
pan
tilt
mounting support
main body
Prior art date
Application number
PCT/CN2013/078359
Other languages
French (fr)
Chinese (zh)
Inventor
黄学禹
Original Assignee
Huang Xueyu
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Filing date
Publication date
Application filed by Huang Xueyu filed Critical Huang Xueyu
Publication of WO2014029238A1 publication Critical patent/WO2014029238A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/19632—Camera support structures, e.g. attachment means, poles

Definitions

  • the invention relates to a monitoring device, in particular to a cloud platform for monitoring a ball machine.
  • the pan/tilt of the monitoring dome can drive the camera to continuously perform 360° horizontal reciprocating rotation and 90° reciprocating rotation in the vertical direction. It has a full range of monitoring range and is widely used, but the traditional monitoring ball.
  • the pan/tilt head of the machine controls the motor action through the control circuit and the mechanical touch switch to realize the 360° horizontal reciprocating motion and the 90° vertical reciprocating rotation of the camera.
  • the mechanical touch on the monitoring dome is monitored.
  • the switch has thousands of touch switches every day, and these mechanical touch switches generally have an operating life of only 100,000 times. Therefore, the monitoring ball machine is prone to fatigue damage of the mechanical touch switch during the long-time automatic monitoring and scanning process. Affect the normal use of the monitoring dome.
  • an object of the present invention is to provide a monitoring dome camera that is simple in structure and prevents the monitoring ball machine from affecting the normal use of the monitoring ball machine due to fatigue damage of the mechanical touch switch.
  • a pan/tilt head for monitoring a ball machine comprising a base of a pan/tilt head, a main body of the pan/tilt head is mounted on the base of the pan/tilt head, and a stepping motor I for driving the horizontal direction of the pan/tilt head is arranged on the main body of the pan/tilt head
  • the camera is mounted with a camera capable of rotating in a vertical direction, and the camera is connected with a stepping motor II that drives the vertical direction to rotate and is fixedly mounted on the outer surface of the central side wall of the main body of the pan-tilt, the base of the pan-tilt and the main body of the gimbal
  • the upper part of the main body of the gimbal is provided with a limiting mechanism II for preventing the camera from rotating in the vertical direction.
  • the stepping motor I and the stepping motor II are respectively respectively.
  • the control circuit is electrically connected to automatically set their respective rotation starting point, end point and recording their rotational displacement, and the control circuit can control the stepping motor I and the stepping motor II at any of the respective starting points, end points and displacements of their rotations.
  • the automatic commutation or stop rotation at the position, the above control circuit can control the stepping motor I and the stepping motor II at their respective starting and ending points of rotation They rotate through the displacement of a position at any automatic reversing rotation or stops rotating, to effectively prevent the fatigue failure due to mechanical tact switch and monitoring the impact of the ball machine normal use.
  • the limiting mechanism 1 includes a first stopper fixedly mounted at a circumferential edge of the upper surface of the gimbal base and a second stopper fixedly mounted at an outer side of the bottom of the main body of the gimbal, the first stopper and the second The stop enables the pan/tilt head to rotate within a set horizontal angle range.
  • the limiting mechanism II is a horizontally fixed round rod fixedly mounted on the upper part of the main body of the pan/tilt, and the round rod can rotate the camera within a set vertical rotation angle range.
  • the invention has the beneficial effects that: since the invention automatically sets the rotation starting point and the end point of the stepping motor I and the stepping motor II when the control circuit is powered on, and records the displacement of the rotation of the stepping motor I and the stepping motor II, the control circuit controls the stepping motor I and The stepping motor II automatically reverses or stops the rotation at any of the respective starting points, end points and displacements of the rotation, and the stepping motor I and the stepping motor II can be realized without using a mechanical touch switch.
  • the driving device for monitoring the ball machine is the stepping motor I and
  • the stepping motor II can effectively reduce the electrical damage of the current to the stepping motor I and the stepping motor II when the monitoring ball machine is blocked by the limiting mechanism I and the limiting mechanism II; and the setting is in the base of the gimbal and the gimbal
  • the limiting mechanism I between the main body and the limiting mechanism II disposed on the upper part of the main body of the gimbal can make the main body of the gimbal and the camera turn at the set level respectively. Rotational angular range and perpendicular to the rotation angle range.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 3 is a schematic diagram of the motion of the present invention.
  • a pan/tilt head for monitoring a ball machine includes a pan/tilt base 1 on which a pan/tilt main body 2 is splicably mounted, and a pan/tilt main body 2 is provided with a step for driving it to rotate in a horizontal direction.
  • the motor I21 is movably mounted on the middle portion of the pan/tilt main body 2 with a camera 20 capable of rotating in a vertical direction, and the camera 20 is connected with a step for driving it to rotate in the vertical direction and fixedly mounted on the outer surface of the central side wall of the pan/tilt main body 2.
  • a limit mechanism I31 for preventing the pan head main body 2 from rotating in the horizontal direction is disposed between the pan/tilt base 1 and the pan/tilt main body 2, and the upper portion of the pan/tilt main body 2 is provided with a limit for preventing the camera 20 from rotating in the vertical direction.
  • the positional mechanism II32, the stepping motor I21 and the stepping motor II22 are respectively connected with a control circuit for automatically setting their respective rotation starting points, end points and recording their rotational displacements, and the control circuit can control the stepping motor I21 and the stepping motor. II22 automatically reverses or stops rotating at any of the respective starting points, end points and displacements of their rotation.
  • the control circuit is preferably controlled by a single-chip computer program.
  • the limiting mechanism I31 includes a first stopper 310 fixedly mounted at a circumferential edge of the upper surface of the pan-tilt base 1 and a second stopper 311 fixedly mounted at an outer side of the bottom of the pan-tilt main body 2, the above-mentioned
  • the one stopper 310 and the second stopper 311 are preferentially processed into a cylindrical shape, and of course, they may be processed into other shapes.
  • the limiting mechanism II32 is a round rod that is fixedly mounted on the upper part of the pan/tilt main body 2 and horizontally placed.
  • the shape of the above-mentioned limiting mechanism II32 is preferentially set to a round rod shape, and of course, it may be processed into other shapes.
  • the stepping motor needs to take 1000 steps from the limit A to the limit B.
  • the single unit is powered on and initialized.
  • the stepping motor starts to rotate when receiving the pulse signal input from the single-chip microcomputer.
  • the stepping motor drives the pointer 4 between the limit A and the limit B to the limit A.
  • the single-chip microcomputer outputs a set of pulse signals
  • the stepping motor takes one step
  • the value of the register S NM, when the pointer 4 reaches the limit A can no longer move, if the 1000 sets of pulse signals have not yet all output, then the stepper motor is in the stalled state until all the 1000 sets of pulse signals are output, stepping The motor stops rotating.
  • the step number register is cleared to 0, and the single-chip microcomputer sets the position of the stepping motor at this time as the starting point of rotation;
  • the single-chip microcomputer controls the rotation of the stepping motor.
  • the single-chip microcomputer knows that the stepping motor has moved to the starting point or the end point of the rotation, and the single-chip microcomputer no longer outputs the same pulse as the previous group.
  • the signal control stepper motor continues to rotate, and the single chip only outputs the pulse signal opposite to the previous group to drive the stepping motor to rotate in the opposite direction or no longer continue to output the signal, thereby realizing the function of the stepping motor to automatically reverse or stop the rotation, thereby not It is necessary to use the mechanical touch switch to realize the automatic reversing rotation of the monitoring dome machine.
  • the stepping motor moves toward the end point of the rotation or the starting point of the rotation from the end point of the rotation.
  • the value S of the step number register is incremented by 0 by 1000 or S is decremented from 1000 to 0. Therefore, the displacement of the stepping motor is one-to-one correspondence with the value S of the step number register.
  • the microcontroller only needs to record the value S of the step number register. The rotational displacement of the stepper motor can be recorded, so the microcontroller program can be edited in the step number register according to actual needs.
  • the microcontroller When the value of S, the microcontroller outputs a pulse signal with the previous set of pulse signal output is stopped, or a direction opposite to a pulse signal, the stepping motor can be controlled to rotate or stop rotating the transducer on a rotational displacement of a record.
  • the number of sets N of the forward pulse signals respectively outputted by the single-chip microcomputer to the stepping motor I21 and the stepping motor II22 may be based on the respective rotation starting point and the rotating end point.
  • the angular magnitude and mechanical gear ratio are calculated to set the number N of sets of required pulse signals.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

A mounting support of a ball type monitoring device, comprising a mounting support base (1) having a mounting support body (2) movably installed thereon; a stepping motor I (21) for driving the mounting support body to rotate in the horizontal direction is disposed on the mounting support body (2); a camera (20) capable of rotating in the vertical direction is movably installed in the middle part of the mounting support body (2), and the camera (20) is connected to a stepping motor II (22); the stepping motor II drives the camera (20) to rotate in the vertical direction and is fixedly installed on the outer surface of the side wall in the middle part of the mounting support body (2); a stopper I (31) for preventing the mounting support body (2) from rotating in the horizontal direction is disposed between the mounting support base (1) and the mounting support body (2); a stopper II (32) for preventing the camera (20) from rotating in the vertical direction is disposed at the upper part of the mounting support body (2); the stepping motor I (21) and the stepping motor II (22) are respectively connected to a control circuit capable of automatically setting respective rotation starting points and end points thereof and recording the rotational displacement thereof when powered on; and the control circuit can control the stepping motor I (21) and the stepping motor II (22) to automatically change direction or stop rotating at respective rotation starting points or end points and any rotational displacement position thereof.

Description

一种监控球机的云台  A gimbal for monitoring a ball machine
技术领域Technical field
本发明涉及一种监控设备，特别是一种监控球机的云台。The invention relates to a monitoring device, in particular to a cloud platform for monitoring a ball machine.
背景技术Background technique
众所周知，在安防行业中，监控球机的云台可以带动摄像机不断做360°水平往复转动和垂直方向上的90°往复转动，具有全方位的监控范围，因而得到广泛的应用，但是传统监控球机的云台是通过控制电路和机械触碰开关控制电机动作实现摄像机360°水平往复运动和90°垂直往复转动，但是因为监控球机是24小时不间断动作的，监控球机上的机械触碰开关每天会有数千次触碰开关动作，而这些机械触碰开关一般只有10万次的动作寿命，因此监控球机在长时间自动监控扫描的过程中容易导致机械触碰开关疲劳损坏，从而影响监控球机的正常使用。As we all know, in the security industry, the pan/tilt of the monitoring dome can drive the camera to continuously perform 360° horizontal reciprocating rotation and 90° reciprocating rotation in the vertical direction. It has a full range of monitoring range and is widely used, but the traditional monitoring ball. The pan/tilt head of the machine controls the motor action through the control circuit and the mechanical touch switch to realize the 360° horizontal reciprocating motion and the 90° vertical reciprocating rotation of the camera. However, since the monitoring dome is 24 hours uninterrupted, the mechanical touch on the monitoring dome is monitored. The switch has thousands of touch switches every day, and these mechanical touch switches generally have an operating life of only 100,000 times. Therefore, the monitoring ball machine is prone to fatigue damage of the mechanical touch switch during the long-time automatic monitoring and scanning process. Affect the normal use of the monitoring dome.
发明内容Summary of the invention
为了解决上述问题，本发明的目的在于提供一种结构简单，又避免监控球机因机械触碰开关疲劳损坏而影响监控球机正常使用的监控球机云台。In order to solve the above problems, an object of the present invention is to provide a monitoring dome camera that is simple in structure and prevents the monitoring ball machine from affecting the normal use of the monitoring ball machine due to fatigue damage of the mechanical touch switch.
本发明为解决其技术问题而采用的技术方案是：The technical solution adopted by the present invention to solve the technical problem thereof is:
一种监控球机的云台，包括云台底座，云台底座上活接安装有云台主体，云台主体上设置有驱动其在水平方向上转动的步进电机Ⅰ，云台主体中部上活接安装有能够在垂直方向上转动的摄像机，摄像机连接有驱动其在垂直方向上转动并固定安装在云台主体中部侧壁外表面上的步进电机Ⅱ，云台底座与云台主体之间设置有阻止云台主体在水平方向上转动的限位机构Ⅰ，云台主体上部设置有阻止摄像机在垂直方向上转动的限位机构Ⅱ，所述的步进电机Ⅰ和步进电机Ⅱ分别连接有通电自动设置它们各自的转动起点、终点和记录它们转动位移的控制电路，控制电路能够控制步进电机Ⅰ和步进电机Ⅱ在各自的转动起点、终点和它们转动过的位移中任一位置处自动换向转动或停止转动，上述的控制电路能够控制步进电机Ⅰ和步进电机Ⅱ在各自的转动起点、终点和它们转动过的位移中任一位置处自动换向转动或停止转动，有效避免了因机械触碰开关疲劳损坏而影响监控球机的正常使用。A pan/tilt head for monitoring a ball machine, comprising a base of a pan/tilt head, a main body of the pan/tilt head is mounted on the base of the pan/tilt head, and a stepping motor I for driving the horizontal direction of the pan/tilt head is arranged on the main body of the pan/tilt head The camera is mounted with a camera capable of rotating in a vertical direction, and the camera is connected with a stepping motor II that drives the vertical direction to rotate and is fixedly mounted on the outer surface of the central side wall of the main body of the pan-tilt, the base of the pan-tilt and the main body of the gimbal There is a limiting mechanism I for preventing the main body of the gimbal from rotating in the horizontal direction. The upper part of the main body of the gimbal is provided with a limiting mechanism II for preventing the camera from rotating in the vertical direction. The stepping motor I and the stepping motor II are respectively respectively The control circuit is electrically connected to automatically set their respective rotation starting point, end point and recording their rotational displacement, and the control circuit can control the stepping motor I and the stepping motor II at any of the respective starting points, end points and displacements of their rotations. The automatic commutation or stop rotation at the position, the above control circuit can control the stepping motor I and the stepping motor II at their respective starting and ending points of rotation They rotate through the displacement of a position at any automatic reversing rotation or stops rotating, to effectively prevent the fatigue failure due to mechanical tact switch and monitoring the impact of the ball machine normal use.
进一步，所述限位机构Ⅰ包括固定安装在云台底座上表面圆周边缘处的第一挡块和固定安装在云台主体底部外侧处的第二挡块，上述的第一挡块和第二挡块能够使得云台主体在设定的水平角度范围内转动。Further, the limiting mechanism 1 includes a first stopper fixedly mounted at a circumferential edge of the upper surface of the gimbal base and a second stopper fixedly mounted at an outer side of the bottom of the main body of the gimbal, the first stopper and the second The stop enables the pan/tilt head to rotate within a set horizontal angle range.
进一步，所述限位机构Ⅱ为固定安装在云台主体上部且水平放置的圆杆，上述的圆杆能够使得摄像机在设置的垂直转动角度范围内转动。Further, the limiting mechanism II is a horizontally fixed round rod fixedly mounted on the upper part of the main body of the pan/tilt, and the round rod can rotate the camera within a set vertical rotation angle range.
本发明的有益效果是：由于本发明通过控制电路接通电源时自动设置步进电机Ⅰ和步进电机Ⅱ各自的转动起点、终点和记录它们转动过的位移，控制电路控制步进电机Ⅰ和步进电机Ⅱ在各自的转动起点、终点和它们转动过的位移中任一位置处自动换向转动或停止转动，不需要使用机械触碰开关就能够实现步进电机Ⅰ和步进电机Ⅱ的换向转动或停止转动，有效避免了因机械触碰开关的疲劳损坏而影响监控球机的正常使用，从而延长了监控球机的使用寿命；同时监控球机的驱动装置为步进电机Ⅰ和步进电机Ⅱ，能够有效减少监控球机受到限位机构Ⅰ和限位机构Ⅱ发生堵转时，电流对步进电机Ⅰ和步进电机Ⅱ的电气伤害；另外设置在云台底座与云台主体之间的限位机构Ⅰ和设置在云台主体上部的限位机构Ⅱ能够使得云台主体和摄像机分别在设定的水平转动角度范围和垂直转动角度范围内转动。The invention has the beneficial effects that: since the invention automatically sets the rotation starting point and the end point of the stepping motor I and the stepping motor II when the control circuit is powered on, and records the displacement of the rotation of the stepping motor I and the stepping motor II, the control circuit controls the stepping motor I and The stepping motor II automatically reverses or stops the rotation at any of the respective starting points, end points and displacements of the rotation, and the stepping motor I and the stepping motor II can be realized without using a mechanical touch switch. Reversing the rotation or stopping the rotation, effectively avoiding the fatigue damage of the mechanical touch switch and affecting the normal use of the monitoring ball machine, thereby prolonging the service life of the monitoring ball machine; meanwhile, the driving device for monitoring the ball machine is the stepping motor I and The stepping motor II can effectively reduce the electrical damage of the current to the stepping motor I and the stepping motor II when the monitoring ball machine is blocked by the limiting mechanism I and the limiting mechanism II; and the setting is in the base of the gimbal and the gimbal The limiting mechanism I between the main body and the limiting mechanism II disposed on the upper part of the main body of the gimbal can make the main body of the gimbal and the camera turn at the set level respectively. Rotational angular range and perpendicular to the rotation angle range.
附图说明DRAWINGS
下面结合附图和具体实施方式对本发明作进一步详细的说明。The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.
图1是本发明的结构示意图；Figure 1 is a schematic view of the structure of the present invention;
图2是本发明中控制电路的运算流程图；2 is a flowchart showing the operation of the control circuit in the present invention;
图3是本发明的运动原理图。Figure 3 is a schematic diagram of the motion of the present invention.
具体实施方式detailed description
参照图1，一种监控球机的云台，包括云台底座1，云台底座1上活接安装有云台主体2，云台主体2上设置有驱动其在水平方向上转动的步进电机Ⅰ21，云台主体2中部上活接安装有能够在垂直方向上转动的摄像机20，摄像机20连接有驱动其在垂直方向上转动并固定安装在云台主体2中部侧壁外表面上的步进电机Ⅱ22，云台底座1与云台主体2之间设置有阻止云台主体2在水平方向上转动的限位机构Ⅰ31，云台主体2上部设置有阻止摄像机20在垂直方向上转动的限位机构Ⅱ32，所述的步进电机Ⅰ21和步进电机Ⅱ22分别连接有通电自动设置它们各自的转动起点、终点和记录它们转动位移的控制电路，控制电路能够控制步进电机Ⅰ21和步进电机Ⅱ22在各自的转动起点、终点和它们转动过的位移中任一位置处自动换向转动或停止转动，所述的控制电路优先选用单片机程序控制，上述的步进电机Ⅰ21和步进电机Ⅱ22分别受到限位机构Ⅰ31和限位机构Ⅱ32的限位作用而发生堵转时，能够受到比普通电机更少的电气伤害，从而延长了监控球机的使用寿命。Referring to Fig. 1, a pan/tilt head for monitoring a ball machine includes a pan/tilt base 1 on which a pan/tilt main body 2 is splicably mounted, and a pan/tilt main body 2 is provided with a step for driving it to rotate in a horizontal direction. The motor I21 is movably mounted on the middle portion of the pan/tilt main body 2 with a camera 20 capable of rotating in a vertical direction, and the camera 20 is connected with a step for driving it to rotate in the vertical direction and fixedly mounted on the outer surface of the central side wall of the pan/tilt main body 2. In the motor II22, a limit mechanism I31 for preventing the pan head main body 2 from rotating in the horizontal direction is disposed between the pan/tilt base 1 and the pan/tilt main body 2, and the upper portion of the pan/tilt main body 2 is provided with a limit for preventing the camera 20 from rotating in the vertical direction. The positional mechanism II32, the stepping motor I21 and the stepping motor II22 are respectively connected with a control circuit for automatically setting their respective rotation starting points, end points and recording their rotational displacements, and the control circuit can control the stepping motor I21 and the stepping motor. II22 automatically reverses or stops rotating at any of the respective starting points, end points and displacements of their rotation. The control circuit is preferably controlled by a single-chip computer program. When the stepping motor I21 and the stepping motor II22 described above are blocked by the limiting mechanism I31 and the limiting mechanism II32, respectively, they can be subjected to less electrical damage than the ordinary motor, thereby prolonging the monitoring of the ball machine. Service life.
再进一步改进，所述限位机构Ⅰ31包括固定安装在云台底座1上表面圆周边缘处的第一挡块310和固定安装在云台主体2底部外侧处的第二挡块311，上述的第一挡块310和第二挡块311优先加工成圆柱状，当然加工成其他的形状也可以。Further improvement, the limiting mechanism I31 includes a first stopper 310 fixedly mounted at a circumferential edge of the upper surface of the pan-tilt base 1 and a second stopper 311 fixedly mounted at an outer side of the bottom of the pan-tilt main body 2, the above-mentioned The one stopper 310 and the second stopper 311 are preferentially processed into a cylindrical shape, and of course, they may be processed into other shapes.
进一步改进，所述限位机构Ⅱ32为固定安装在云台主体2上部且水平放置的圆杆，上述的限位机构Ⅱ32的形状优先设置为圆杆状，当然加工成其他的形状也可以。 Further, the limiting mechanism II32 is a round rod that is fixedly mounted on the upper part of the pan/tilt main body 2 and horizontally placed. The shape of the above-mentioned limiting mechanism II32 is preferentially set to a round rod shape, and of course, it may be processed into other shapes.
参照图2和图3，这里假设步进电机从限位A处走到限位B处需要走1000步，当监控球机接通电源时，单处机上电初始化后，设定单片机需要向步进电机输出正向脉冲信号的组数N=1000，步进电机接收到单片机输入的脉冲信号就开始转动，步进电机带动位于限位A与限位B之间的指针4向限位A处移动，单片机输出一组脉冲信号，步进电机就走一步，步数寄存器的数值S=N-1，所以单片机输出M(M≤1000)处脉冲信号，步进电机走了M步，步数寄存器的数值S=N-M，当指针4到达限位A处不能再移动时，假如1000组脉冲信号还没有全部输出，于是步进电机处于堵转状态，直到1000组脉冲信号全部输完，步进电机停止转动，这时，步数寄存器清0，单片机将步进电机此时所在的位置设置为转动起点；Referring to Fig. 2 and Fig. 3, it is assumed that the stepping motor needs to take 1000 steps from the limit A to the limit B. When the monitoring dome is powered on, the single unit is powered on and initialized. The number of groups of positive pulse signals entering the motor output is N=1000. The stepping motor starts to rotate when receiving the pulse signal input from the single-chip microcomputer. The stepping motor drives the pointer 4 between the limit A and the limit B to the limit A. Move, the single-chip microcomputer outputs a set of pulse signals, the stepping motor takes one step, the value of the step number register is S=N-1, so the single-chip output M (M ≤ 1000) at the pulse signal, the stepping motor takes the M step, the number of steps The value of the register S=NM, when the pointer 4 reaches the limit A can no longer move, if the 1000 sets of pulse signals have not yet all output, then the stepper motor is in the stalled state until all the 1000 sets of pulse signals are output, stepping The motor stops rotating. At this time, the step number register is cleared to 0, and the single-chip microcomputer sets the position of the stepping motor at this time as the starting point of rotation;
然后，单片机再输出1000组反向脉冲信号给步进电机，步进电机反向转动，从而带动指针4从限位A处走向限位B处，单片机输出一组反向脉冲信号，步进电机就走一步，步数寄存器的数值S=0+1，所以单片机输出M组反向脉冲信号，步进电机就走了M步，步数寄存器的数值S=0+M，当到达限位B时，步数寄存器的数值S=1000，单片机将步进电机此时所在的位置设置为转动终点。Then, the MCU outputs 1000 sets of reverse pulse signals to the stepping motor, and the stepping motor rotates in the reverse direction, thereby driving the pointer 4 from the limit A to the limit B, and the single chip outputs a set of reverse pulse signals, the stepping motor Take one step, the value of the step register is S=0+1, so the MCU outputs M sets of reverse pulse signals, the stepper motor goes M step, the step register value S=0+M, when the limit B is reached When the value of the step register is S=1000, the MCU sets the position of the stepping motor at this time as the end point of rotation.
因此，单片机控制步进电机转动，当步数寄存器的数值S=0或S=1000时，单片机就知道步进电机已经运动到转动起点或终点，单片机不再输出与前一组方向相同的脉冲信号控制步进电机继续转动，单片机只输出与前一组方向相反的脉冲信号驱动步进电机反向转动或者不再继续输出信号，实现步进电机自动换向转动或停止转动的功能，从而不需要使用机械触碰开关就可以实现监控球机的自动换向转动；另外，单片机确定了步进电机的转动起点和终点后，步进电机在转动起点走向转动终点或从转动终点走向转动起点，步数寄存器的数值S由0递增1000或S从1000递减到0，所以步进电机的位移是与步数寄存器的数值S是一一对应的，单片机只需要记下步数寄存器的数值S就可以记录下步进电机的转动位移，因此可以根据实际需要编辑单片机程序在步数寄存器为某一个数值S时，单片机输出与前一组脉冲信号方向相反的脉冲信号或者停止输出脉冲信号，就可以控制步进电机在某一个记录转动位移上换向转动或停止转动。Therefore, the single-chip microcomputer controls the rotation of the stepping motor. When the value of the step register is S=0 or S=1000, the single-chip microcomputer knows that the stepping motor has moved to the starting point or the end point of the rotation, and the single-chip microcomputer no longer outputs the same pulse as the previous group. The signal control stepper motor continues to rotate, and the single chip only outputs the pulse signal opposite to the previous group to drive the stepping motor to rotate in the opposite direction or no longer continue to output the signal, thereby realizing the function of the stepping motor to automatically reverse or stop the rotation, thereby not It is necessary to use the mechanical touch switch to realize the automatic reversing rotation of the monitoring dome machine. In addition, after the single-chip microcomputer determines the starting point and the end point of the stepping motor, the stepping motor moves toward the end point of the rotation or the starting point of the rotation from the end point of the rotation. The value S of the step number register is incremented by 0 by 1000 or S is decremented from 1000 to 0. Therefore, the displacement of the stepping motor is one-to-one correspondence with the value S of the step number register. The microcontroller only needs to record the value S of the step number register. The rotational displacement of the stepper motor can be recorded, so the microcontroller program can be edited in the step number register according to actual needs. When the value of S, the microcontroller outputs a pulse signal with the previous set of pulse signal output is stopped, or a direction opposite to a pulse signal, the stepping motor can be controlled to rotate or stop rotating the transducer on a rotational displacement of a record.
上述步进电机Ⅰ21和步进电机Ⅱ22在控制程序通电初始化时，单片机分别向步进电机Ⅰ21和步进电机Ⅱ22输出正向脉冲信号的组数N可以根据它们各自转动起点与转动终点之间的角度大小和机械传动比计算得出，从而设定所需要的脉冲信号的组数N。When the stepping motor I21 and the stepping motor II22 are energized and initialized by the control program, the number of sets N of the forward pulse signals respectively outputted by the single-chip microcomputer to the stepping motor I21 and the stepping motor II22 may be based on the respective rotation starting point and the rotating end point. The angular magnitude and mechanical gear ratio are calculated to set the number N of sets of required pulse signals.
以上所述仅为本发明的优先实施方式，只要以基本相同手段实现本发明目的的技术方案都属于本发明的保护范围之内。The above is only a preferred embodiment of the present invention, and any technical solution that achieves the object of the present invention by substantially the same means is within the scope of the present invention.

Claims (3)

  1. 一种监控球机的云台，包括云台底座（1），云台底座（1）上活接安装有云台主体（2），云台主体（2）上设置有驱动其在水平方向上转动的步进电机Ⅰ（21），云台主体（2）中部上活接安装有能够在垂直方向上转动的摄像机（20），摄像机（20）连接有驱动其在垂直方向上转动并固定安装在云台主体（2）中部侧壁外表面上的步进电机Ⅱ（22），云台底座（1）与云台主体（2）之间设置有阻止云台主体（2）在水平方向上转动的限位机构Ⅰ（31），云台主体（2）上部设置有阻止摄像机（20）在垂直方向上转动的限位机构Ⅱ（32），其特征在于：所述的步进电机Ⅰ（21）和步进电机Ⅱ（22）分别连接有通电自动设置它们各自的转动起点、终点和记录它们转动位移的控制电路，控制电路能够控制步进电机Ⅰ（21）和步进电机Ⅱ（22）在各自的转动起点、终点和它们转动过的位移中任一位置处自动换向转动或停止转动。 A pan/tilt head for monitoring a ball machine, comprising a pan/tilt base (1), a pan-tilt main body (2) is mounted on the gimbal base (1), and the pan-tilt main body (2) is provided with a drive in a horizontal direction The rotating stepping motor I (21) is mounted on the middle of the pan/tilt main body (2) with a camera (20) capable of rotating in a vertical direction, and the camera (20) is connected to drive it to rotate in a vertical direction and fixedly mounted. Stepping motor II (22) on the outer surface of the central side wall of the main body of the gimbal (2), between the pan/tilt base (1) and the pan/tilt main body (2) is arranged to prevent the gimbal body (2) from being horizontally The rotating limit mechanism I (31), the upper part of the pan/tilt body (2) is provided with a limiting mechanism II (32) for preventing the camera (20) from rotating in the vertical direction, characterized in that: the stepping motor I ( 21) and the stepping motor II (22) are respectively connected with a control circuit for automatically setting their respective rotation starting point, end point and recording their rotational displacement, and the control circuit can control the stepping motor I (21) and the stepping motor II (22) ) at their respective starting and ending points Any of which is rotated through a displacement transducer at a position rotated or stopped automatically rotated.
  2. 根据权得要求1所述的一种监控球机的云台，其特征在于：所述限位机构Ⅰ（31）包括固定安装在云台底座（1）上表面圆周边缘处的第一挡块（310）和固定安装在云台主体2底部外侧处的第二挡块（311）。A pan/tilt head for monitoring a ball machine according to claim 1, characterized in that: the limiting mechanism I (31) comprises a first stop fixedly mounted at a circumferential edge of the upper surface of the gimbal base (1) (310) and a second stopper (311) fixedly mounted at the outer side of the bottom of the pan/tilt main body 2.
  3. 根据权利要求1所述的一种监控球机的云台，其特征在于：所述限位机构Ⅱ（32）为固定安装在云台主体（2）上部且水平放置的圆杆。 The pan/tilt head of the monitoring ball machine according to claim 1, wherein the limiting mechanism II (32) is a horizontal rod fixedly mounted on the upper part of the pan/tilt main body (2) and horizontally placed.
PCT/CN2013/078359 2012-08-24 2013-06-28 Mounting support of ball type monitoring device WO2014029238A1 (en)

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