WO2017206757A1

WO2017206757A1 - Anti-jitter method and device for oscillating system, oscillating system, fan, and fan heater

Info

Publication number: WO2017206757A1
Application number: PCT/CN2017/085406
Authority: WO
Inventors: 刘锦泉; 潘新运; 刘鑫
Original assignee: 广东美的环境电器制造有限公司; 美的集团股份有限公司
Priority date: 2016-06-01
Filing date: 2017-05-22
Publication date: 2017-12-07

Abstract

An anti-jitter method for an oscillating system and an anti-jitter device for an oscillating system for implementing the method, an oscillating system, a fan, and a fan heater. The anti-jitter method for an oscillating system comprises the following steps: detecting a rotating position of a machine head of an oscillating system in real time; and controlling, when it is detected that the machine head rotates to a first preset position, an oscillating driving motor to decelerate at a constant speed or a variable speed, and to stop rotating when the head reaches a second preset position, the second position being spaced apart from the maximum limit point by a preset value. By means of the method, jittering of the machine head during the oscillation of the oscillating system can be avoided, and thus the service life of parts is prolonged, and the user experience is improved.

Description

摇头***防抖动方法、装置、摇头***、风扇及暖风机Anti-shake method, device, moving head system, fan and heater for shaking head system

相关申请的交叉引用Cross-reference to related applications

本申请要求广东美的环境电器制造有限公司，美的集团股份有限公司于2016年6月1日提交的、发明名称为“摇头***防抖动方法、装置、摇头***、风扇及暖风机”的、中国专利申请号“201610390026.0”、以及发明名称为“摇头***防抖动方法、装置、摇头***、风扇及暖风机”的、中国专利申请号“201610384051.8”的优先权。This application requires Guangdong Meite Environmental Electric Appliance Manufacturing Co., Ltd., the United States Group Co., Ltd. submitted on June 1, 2016, the invention name is "shaking system anti-shake method, device, moving head system, fan and heater", China Patent Application No. "201610390026.0", and the title of the invention is "Priority of the anti-shake method, device, moving head system, fan and heater" of the shaking head system, and the priority of the Chinese patent application number "201610384051.8".

技术领域Technical field

本发明涉及摇头***技术领域，特别涉及一种摇头***防抖动方法、装置、摇头***、风扇及暖风机。The invention relates to the technical field of a shaking head system, in particular to a method, a device, a shaking head system, a fan and a heater of a shaking head system.

背景技术Background technique

摇头***一般具有左右摇头功能。目前的摇头***在摇头转动过程中，当到达最大限位角度时，由于转动机构零部件之间的物理碰撞，常使机头发生剧烈抖动，容易导致零部件损坏且用户体验较差。The shaking head system generally has a left and right shaking function. In the current shaking head system, when the maximum tilt angle is reached, the physical collision between the components of the rotating mechanism often causes the head to violently shake, which easily leads to component damage and poor user experience.

发明内容Summary of the invention

本发明的主要目的是提出一种摇头***防抖动方法，旨在解决当到达最大限位角度时，由于转动机构零部件之间的物理碰撞，常使机头发生剧烈抖动，容易导致零部件损坏且用户体验较差的问题。The main object of the present invention is to provide a method for anti-shake of a shaking head system, which aims to solve the problem that when the physical limit of the components of the rotating mechanism is reached when the maximum limit angle is reached, the head is often shaken violently, which easily leads to parts and components. Damaged and poor user experience.

为实现上述目的，本发明提出的一种摇头***防抖动方法，其包括以下步骤：To achieve the above object, the present invention provides a method for anti-shake of a shaking head system, which comprises the following steps:

实时侦测摇头***机头的转动位置；Real-time detection of the rotational position of the head of the shaking head system;

在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速或者变速减速，至机头到达预设的第二位置时停转；所述第二位置与最大限位点间隔预置值。When detecting that the nose is rotated to the preset first position, controlling the moving head driving motor to decelerate at a constant speed or decelerating the speed, and stopping until the head reaches the preset second position; the second position and the maximum limit point Interval preset value.

优选地，所述第一位置位于机头中点与最大限位点之间；所述第二位置位于所述第一位置与所述最大限位点之间；或者，所述第二位置为所述最大限位点。Preferably, the first position is between a midpoint of the nose and a maximum limit point; the second position is between the first position and the maximum limit point; or the second position is The maximum limit point.

优选地，所述第一位置与最大限位点之间的角度为1-5度。Preferably, the angle between the first position and the maximum limit point is 1-5 degrees.

优选地，所述控制摇头驱动电机开始匀速减速，至机头到达第二位置时停转的步骤包括：Preferably, the step of controlling the shaking head driving motor to start to decelerate at a constant speed, and stopping when the head reaches the second position comprises:

根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动电机匀速减速的转速；Calculating the uniform speed of the moving head driving motor according to the distance between the first position and the second position and the preset head rotation time Speed of rotation

驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。The moving head driving motor is driven to rotate at a constant speed according to the rotating speed, and stops when the head reaches the second position.

优选地，所述控制摇头驱动电机变速减速的步骤包括：Preferably, the step of controlling the speed reduction of the moving head drive motor comprises:

获取在第一位置与第二位置间设置的变速位置；Obtaining a shift position set between the first position and the second position;

在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。Each time a shift position is reached, the moving head drive motor is controlled to operate at a speed corresponding to the shift position.

优选地，所述变速减速为先快后慢。Preferably, the speed reduction is slower first and then slower.

优选地，所述在摇头***摇头时实时侦测机头的转动位置的步骤包括：Preferably, the step of detecting the rotational position of the handpiece in real time when the shaking head system shakes the head comprises:

驱动所述摇头驱动电机实时侦测机头的转动位置。The moving head driving motor is driven to detect the rotational position of the handpiece in real time.

优选地，所述摇头驱动电机为步进电机；所述实时侦测机头的转动位置的步骤包括：Preferably, the moving head driving motor is a stepping motor; and the step of detecting the rotating position of the head in real time comprises:

驱动所述步进电机实时侦测机头的转动位置。The stepping motor is driven to detect the rotational position of the handpiece in real time.

优选地，所述实时侦测机头的转动角度的步骤包括：Preferably, the step of real-time detecting the rotation angle of the handpiece comprises:

侦测摇头***的摇头模式；Detecting the shaking mode of the shaking head system;

根据所述摇头模式，启动预置的传感器，以实时侦测所述机头的转动位置。According to the moving head mode, the preset sensor is activated to detect the rotational position of the handpiece in real time.

优选地，所述控制摇头驱动电机开始匀速减速，至机头到达第二位置时停转之后，还包括以下步骤：Preferably, the controlling the shaking head driving motor starts to decelerate at a constant speed, and after the machine head stops when reaching the second position, the following steps are further included:

控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。The drive moving head motor is controlled to rotate in reverse to drive the moving head system to perform a shaking operation.

本发明还提供一种摇头***防抖动装置，包括：The invention also provides an anti-shake device for a shaking head system, comprising:

侦测模块，用于实时侦测摇头***机头的转动位置；a detection module for detecting the rotational position of the head of the moving head system in real time;

控制模块，用于在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速，至机头到达第二位置时停转；所述第二位置与最大限位点间隔预置值。a control module, configured to control the shaking head driving motor to decelerate at a constant speed when detecting the rotation of the head to the preset first position, and stop when the head reaches the second position; the second position is spaced from the maximum limiting point Preset value.

优选地，所述控制模块包括：Preferably, the control module comprises:

计算单元，用于根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动机头匀速减速的转速；a calculating unit, configured to calculate a rotating speed of the uniform driving speed of the moving head driving head according to the distance between the first position and the second position and the preset head rotation time;

第一控制单元，用于驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。The first control unit is configured to drive the moving head driving motor to rotate at a constant speed according to the rotating speed, and stop when the moving head reaches the second position.

获取单元，用于获取在第一位置与第二位置间设置的变速位置； An acquiring unit, configured to acquire a shifting position set between the first position and the second position;

第二控制单元，用于在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。The second control unit is configured to control the moving head driving motor to operate according to the rotating speed corresponding to the shifting position every time a shifting position is reached.

优选地，所述控制单元，还用于控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。Preferably, the control unit is further configured to control the reverse rotation of the driving moving head motor to drive the moving head system to perform a shaking operation.

优选地，所述侦测模块，用于通过驱动所述摇头驱动电机实时侦测机头的转动位置。Preferably, the detecting module is configured to detect the rotational position of the handpiece in real time by driving the moving head driving motor.

优选地，所述摇头驱动电机为步进电机，所述侦测模块，用于驱动所述步进电机实时侦测机头的转动位置。Preferably, the moving head driving motor is a stepping motor, and the detecting module is configured to drive the stepping motor to detect the rotating position of the head in real time.

优选地，所述侦测模块包括：Preferably, the detecting module comprises:

传感器；sensor;

摇头模式检测单元，用于侦测摇头***的摇头模式；a shaking head mode detecting unit for detecting a moving head mode of the moving head system;

传感器启动单元，用于根据所述摇头模式，启动预置的传感器，以实时侦测所述机头的转动位置。The sensor activation unit is configured to activate a preset sensor according to the moving head mode to detect a rotational position of the handpiece in real time.

本发明还提供一种摇头***，包括机头，其还包括前述的摇头***防抖动装置。The present invention also provides a oscillating head system, including a handpiece, which further includes the aforementioned oscillating system anti-shake device.

本发明还提供一种风扇，包括前述的摇头***。The present invention also provides a fan comprising the aforementioned oscillating head system.

本发明还提供一种暖风机，包括前述的摇头***。The present invention also provides a heater, including the aforementioned moving head system.

本发明中，通过控制机头运转至接近或者为最大限位点时停止运转，避免了到达最大限位点时，由于转动机构零部件之间的物理碰撞，常使机头发生剧烈抖动，容易导致零部件损坏且用户体验较差的问题。使得摇头***在摇头过程中不会存在机头抖动的情况，提高了零部件的使用寿命且提升了用户体验。In the present invention, when the machine head is controlled to operate close to or at the maximum limit point, the operation is stopped, and when the maximum limit point is reached, the physical collision between the components of the rotating mechanism often causes the head to violently shake, which is easy. A problem that causes component damage and poor user experience. This makes the shaking head system not shake the head during the shaking process, which improves the service life of the parts and improves the user experience.

附图说明DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain other drawings according to the structures shown in the drawings without any creative work.

图1为本发明摇头***防抖动方法一实施例的流程示意图； 1 is a schematic flow chart of an embodiment of a method for preventing shaking of a shaking head system according to the present invention;

图2为本发明一实施例中摇头最大限位的示意图；2 is a schematic diagram of a maximum limit of a shaking head according to an embodiment of the present invention;

图3为本发明摇头***防抖动方法一实施例中实时侦测机头的转动位置的步骤流程图；3 is a flow chart showing the steps of detecting the rotational position of the handpiece in real time in an embodiment of the anti-shake method of the shaking head system of the present invention;

图4为本发明摇头***防抖动方法又一实施例中侦测机头的转动位置的步骤流程图；4 is a flow chart showing the steps of detecting the rotational position of the handpiece in another embodiment of the anti-shake method of the shaking head system of the present invention;

图5为本发明摇头***防抖动方法另一实施例的流程示意图；5 is a schematic flow chart of another embodiment of a method for preventing shaking of a shaking head system according to the present invention;

图6为本发明摇头***防抖动装置一实施例的结构示意图；6 is a schematic structural view of an embodiment of an anti-shake device for a moving head system according to the present invention;

图7a为本发明摇头***防抖动装置一实施例中控制模块的结构示意图；7a is a schematic structural view of a control module in an embodiment of an anti-shake device for a moving head system according to the present invention;

图7b为本发明摇头***防抖动装置一实施例中控制模块的结构示意图；7b is a schematic structural view of a control module in an embodiment of an anti-shake device for a moving head system according to the present invention;

图8为本发明摇头***防抖动装置一实施例中侦测模块的结构示意图；8 is a schematic structural diagram of a detecting module in an embodiment of an anti-shake device for a moving head system according to the present invention;

图9为本发明摇头***防抖动装置又一实施例的结构示意图。FIG. 9 is a schematic structural view of still another embodiment of the anti-shake device of the shaking head system of the present invention.

本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that if there is a directional indication (such as up, down, left, right, front, back, ...) in the embodiment of the present invention, the directional indication is only used to explain in a certain posture (as shown in the drawing) The relative positional relationship between the components, the motion situation, and the like, if the specific posture changes, the directional indication also changes accordingly.

参照图1，本发明提出的一种摇头***防抖动方法，其包括以下步骤：Referring to FIG. 1, a method for anti-shake of a shaking head system according to the present invention includes the following steps:

步骤S10，实时侦测摇头***机头的转动位置；Step S10, detecting the rotational position of the head of the shaking head system in real time;

本发明实施例中，首先在风扇中预置一个第一位置和第二位置，因摇头***摇头过程中根据摇头模式必然会存在两个方向上的最大限位，例如，在左右摇头模式下，存在一个左的最大限位以及一个右的最大限位。参考图2，其中标示出一个最大限位点，所述最大限位点为左方向的最大限位点，在图2中，最大限位点因摇头***的性能设置而不同，有的为最大转动角度为90度或120度(相对于机头的中点位置)等。在上下摇头模式下，存在一个上的最大限位以及一个下的最大限位，在设置第一位置和第二位置时，根据摇头***所具备的摇头模式设置多个第一位置和对应的多个第二位置，例如，在左右摇头模式时，设置左的第一位置和一个右的第一位置以及左的第二位置和一个右的第一位置，同样的第二位置也参照上述第一位置的设置方式设置。上述第一位置位于机头中点与最大限位点之间，优选地，所述第一位置与最大限位点之间的角度为1-5度，这里的角度在方向上对应，例如，左方向上的第一位置与左方向上的最大限位点之间的角度为1-5度，上方向上的第一位置与方向上的最大限位点之间的角度为1-5度。所述第二位置与最大限位点间隔预置值，所述预置值根据用户需求及摇头***性能设置，例如，通过预置值的设置，使得所述第二位置位于所述第一位置与所述最大限位点之间；或者，所述第二位置为所述最大限位点(预置值为0)，所述预置值可以是第二位置与最大限位点之间的摇头距离或摇头角度。第一位置和第二位置可以由厂家出厂设置，也可以通过控制界面由用户设置，不同方向的第一位置和第二位置可以设置为不同，即，在不同方向上可以设置不同的第一位置以及设置不同的第二位置。所述第一位置与第二位置的设置也还可以是：与最大限位点的间隔为第一间隔(间隔可以通过摇头的距离或摇头的角度来体现，以摇头的距离来说，可以是摇头范围的1/5或2/5等)的设置成第一位置，与最大限位点的间隔为第二间隔(第一间隔大于第二间隔)的设置成第二位置，而通过限定的方式去设置第一位置和第二位置，无需针对左右模式或上下模式设置。即，在按照上述设定后，直接默认各个方向的第一位置和第二位置与上面的设置规则一致。当然，在此基础上可以针对不同的摇头模式设置不同的限定设置方式。其次，还需在摇头***的控制电路中设置检测装置以实时侦测机头的转动位置，例如位置传感器、霍尔传感器或者距离传感器等。也可以通过摇头驱动电机进行侦测，例如，摇头驱动电机可以为步进电机，通过步进电机的步距进行侦测。在摇头***摇头过程中实时侦测摇头***机头的转动位置。在本发明另一实施例中，也可以是根据转动速度以及转动时间来计算到机头的转动位置。In the embodiment of the present invention, first, a first position and a second position are preset in the fan, and the maximum limit in two directions is inevitable according to the moving head mode during the shaking process of the shaking head system, for example, in the left and right shaking mode, There is a left maximum limit and a right maximum limit. Referring to FIG. 2, a maximum limit point is indicated, and the maximum limit point is a maximum limit point in the left direction. In FIG. 2, the maximum limit point is different due to the performance setting of the moving head system, and some are maximum. The rotation angle is 90 degrees or 120 degrees (relative to the midpoint position of the handpiece) and the like. In the up and down shaking mode, there is an upper maximum limit and a lower maximum limit. When the first position and the second position are set, a plurality of first positions and corresponding multiples are set according to the moving head mode of the moving head system. a second position, for example, in the left and right shaking mode, setting a left first position and a right first position and a left second position and a right first position, and the same second position is also referred to the first The setting method of the location. The first position is located between the midpoint of the nose and the maximum limit point. Preferably, the angle between the first position and the maximum limit point is 1-5 degrees, where the angle corresponds in the direction. For example, the angle between the first position in the left direction and the maximum limit point in the left direction is 1-5 degrees, and the angle between the first position in the upper direction and the maximum limit point in the direction is 1- 5 degrees. The second position and the maximum limit point are separated by a preset value, and the preset value is set according to user requirements and shaking head system performance, for example, by setting a preset value, the second position is located at the first position Between the second limit position and the maximum limit point; or the second position is the maximum limit point (preset value is 0), and the preset value may be between the second position and the maximum limit point Shake the head or shake the head. The first position and the second position may be set by the factory, or may be set by the user through the control interface, and the first position and the second position in different directions may be set to be different, that is, different first positions may be set in different directions. And set a different second position. The setting of the first position and the second position may also be: the interval from the maximum limit point is the first interval (the interval may be represented by the distance of shaking the head or the angle of shaking the head, and in terms of the distance of the shaking head, may be Set the first position to the first position, and the interval from the maximum limit point to the second interval (the first interval is greater than the second interval) is set to the second position, and the defined The way to set the first position and the second position is not necessary for the left and right mode or the up and down mode setting. That is, after the above setting, the first position and the second position in the respective directions are directly matched by the above setting rules. Of course, on this basis, different limited setting modes can be set for different moving head modes. Secondly, it is also necessary to provide a detecting device in the control circuit of the shaking head system to detect the rotational position of the handpiece in real time, such as a position sensor, a Hall sensor or a distance sensor. It can also be detected by moving the motor by shaking the head. For example, the moving motor of the moving head can be a stepping motor and detected by the stepping distance of the stepping motor. The rotational position of the head of the shaking head system is detected in real time during the shaking process of the shaking head system. In another embodiment of the present invention, the rotational position of the handpiece may be calculated based on the rotational speed and the rotational time.

在侦测机头的转动位置后，判断机头的转动位置是否到达预设的第一位置。After detecting the rotational position of the handpiece, it is determined whether the rotational position of the handpiece reaches the preset first position.

步骤S20，在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速或者变速减速，至机头到达预设的第二位置时停转；所述第二位置与最大限位点间隔预置值。Step S20, when detecting that the nose is rotated to the preset first position, controlling the moving head driving motor to decelerate at a constant speed or decelerating the speed, and stop when the head reaches the preset second position; the second position and the maximum Limit interval preset value.

如果到达预设的第一位置时，则可通过微控制单元MCU控制摇头驱动电机匀速减速或者变速减速运转，控制机头到达预设的第二位置时停止运转置。If the preset first position is reached, the shaking control drive motor can be controlled by the micro control unit MCU to achieve a constant speed deceleration or a variable speed deceleration operation, and the control head is stopped when it reaches the preset second position.

在本发明的一个实施例中，在摇头***摇头过程中，实时侦测机头的转动位置，在机头转动至预设的第一位置时，控制摇头驱动电机匀速减速，至机头到达预设的第二位置时停转。所述第二位置为接近最大限位点的位置或者为醉倒限位点。通过控制机头运转至接近或者为最大限位点时停止运转，避免了到达最大限位点时，由于转动机构零部件之间的物理碰撞，常使机头发生剧烈抖动，容易导致零部件损坏且用户体验较差的问题。使得摇头***在摇头过程中不会存在机头抖动的情况，提高了零部件的使用寿命且提升了用户体验。In an embodiment of the present invention, during the shaking process of the shaking head system, the rotating position of the moving head is detected in real time, and when the moving head is rotated to the preset first position, the moving head driving motor is controlled to decelerate at a constant speed until the nose reaches the pre-predetermined Stop when the second position is set. The second position is a position close to the maximum limit point or a drunk limit point. By controlling the movement of the machine head to close to or at the maximum limit point, the operation is stopped, and when the maximum limit point is reached, the mechanical collision between the parts of the rotating mechanism often causes the head to violently shake, which may easily cause damage to the parts. And the user experience is poor. This makes the shaking head system not shake the head during the shaking process, which improves the service life of the parts and improves the user experience.

为了更好的控制机头在第二预设位置停止运转，本发明一较佳实施例中，上述控制摇头驱动电机开始匀速减速，至机头到达第二位置时停转可包括：根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动电机匀速减速的转速；驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。In order to better control the stop of the machine head in the second preset position, in a preferred embodiment of the present invention, the control shake The head drive motor starts to decelerate at a constant speed, and stopping when the machine head reaches the second position may include: calculating a speed of the uniform speed deceleration of the moving head driving motor according to the distance between the first position and the second position and the preset head rotation time; The moving head driving motor rotates at a constant speed according to the rotating speed, and stops when the head reaches the second position.

为了更好的控制机头在第二预设位置停止运转，本发明一较佳实施例中，所述控制摇头驱动电机变速减速的步骤可包括：获取在第一位置与第二位置间设置的变速位置；在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。In order to better control the stop of the machine head in the second preset position, in a preferred embodiment of the present invention, the step of controlling the speed reduction of the moving head drive motor may include: acquiring between the first position and the second position The shifting position; the control unit is driven to rotate at a speed corresponding to the shift position every time a shift position is reached.

在设置第一位置与第二位置后，计算第一位置与第二位置之间的距离，计算的距离的第一位置与第二位置为对应的位置，例如，均为左的第一位置和第二位置或均为右的第一位置和第二位置。在计算出距离后，根据计算的距离和预设的机头转动时间计算出一个匀速减速的转速，驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。在本发明实施例中，所述计算转速的过程可以提前计算，在设置了第一位置和第二位置后即可对应计算转速。本发明实施例通过计算匀速减速的转速，可实现机头精准定位在第二位置。After the first position and the second position are set, the distance between the first position and the second position is calculated, and the first position and the second position of the calculated distance are corresponding positions, for example, the first position is left and The second position or both the first position and the second position are right. After calculating the distance, a uniform speed deceleration speed is calculated according to the calculated distance and the preset head rotation time, and the moving head driving motor is driven to rotate at a constant speed according to the rotating speed, and stops when the head reaches the second position. In the embodiment of the present invention, the process of calculating the rotational speed may be calculated in advance, and the rotational speed may be correspondingly calculated after the first position and the second position are set. The embodiment of the invention can accurately position the nose in the second position by calculating the rotating speed of the uniform speed deceleration.

如前所述，本发明实施例中，可通过步进电机侦测机头的转动位置，例如摇头驱动电机为步进电机，在步进电机转动过程中，可通过算法计算出机头所处的当前位置。步进电机通过算法计算位置为本领域技术人员周知技术，在此不做详述。As described above, in the embodiment of the present invention, the rotational position of the handpiece can be detected by the stepping motor. For example, the moving motor of the moving head is a stepping motor. During the rotation of the stepping motor, the algorithm can be used to calculate the position of the handpiece. The current location. The stepper motor calculates the position by an algorithm known to those skilled in the art and will not be described in detail herein.

在控制机头在第二位置停转后，控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。为了更好的描述本发明实施例，所述摇头***的摇头控制过程为：以左右摇头为例，在摇头***左右摇头模式下，获取到左右摇头***的第一位置和第二位置，包括左方向和右方向的第一位置和第二位置；a、在向左摇头时，到达左方向的第一位置后，控制摇头驱动电机匀速减速运转或者变速减速运转(例如，分两个阶段变速运转)，至左方向的第二位置停转，停转的位置为左方向的最大限位点或接近左方向的最大限位点；b、在停转后，控制摇头驱动电机向右运转，向右摇头；达到右方向的第一位置后，控制摇头驱动电机匀速减速运转，至右方向的第二位置停转，停转的位置为右方向的最大限位点或接近右方向的最大限位点；在停转后，控制摇头驱动电机向左运转，继续上述a的过程。在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。上下摇头模式下的防抖动控制与左右的类似，在此不再一一赘述。After the control head is stopped at the second position, the drive moving head motor is controlled to rotate in reverse to drive the moving head system to perform the shaking operation. In order to better describe the embodiment of the present invention, the shaking head control process of the shaking head system is: taking the left and right shaking head as an example, in the shaking head mode of the shaking head system, acquiring the first position and the second position of the left and right shaking head system, including the left The first position and the second position in the direction and the right direction; a, when shaking the head to the left, after reaching the first position in the left direction, controlling the moving head driving motor to perform the constant speed deceleration operation or the variable speed deceleration operation (for example, the two-stage variable speed operation) ), the second position to the left direction stops, the stop position is the maximum limit point in the left direction or the maximum limit point in the left direction; b, after the stop, the control head drive motor runs to the right, Shake the head right; after reaching the first position in the right direction, control the moving head drive motor to decelerate at a constant speed, and stop at the second position in the right direction. The stop position is the maximum limit point in the right direction or the maximum limit position in the right direction. Point; after the stop, control the moving head drive motor to the left to continue the process of a above. During the entire shaking process, there is no possibility that the machine head will still rotate at the maximum limit point, which reduces the damage of the components. The anti-shake control in the up and down shaking mode is similar to the left and right, and will not be repeated here.

本发明实施例中，机头有多种摇头模式，例如左右摇头或者上下摇头。参照图3所示，在一较佳实施例中，前述步骤S10包括：In the embodiment of the invention, the handpiece has various shaking head modes, such as shaking the head left or right or shaking the head up and down. Referring to FIG. 3, in a preferred embodiment, the foregoing step S10 includes:

步骤S11，侦测摇头***的摇头模式；例如，侦测摇头***是处于左右摇头模式还是上下摇头模式，以确定机头的第一位置和第二位置。 Step S11, detecting the shaking mode of the shaking head system; for example, detecting whether the shaking head system is in the left and right shaking mode or the up and down shaking mode to determine the first position and the second position of the handpiece.

步骤S12，根据摇头模式，启动预置的传感器，以侦测机头的转动位置。例如，当处于左右摇头模式时，可以启动左右位置传感器，以侦测机头的左右转动位置；当处于上下摇头模式时，可以启动上下位置传感器，以侦测机头的上下转动位置；或者，当处于上下摇头模式时，除启动上下位置传感器外，同时启动左右位置传感器，以侦测机头的左右转动位置；又或者，当处于左右摇头模式时，除启动左右位置传感器外，同时启动上下位置传感器，以侦测机头的上下转动位置，以保证机头无论上下左右均能防止抖动，从而进一步提升用户体验，避免零部件的损坏。In step S12, according to the moving head mode, the preset sensor is activated to detect the rotational position of the handpiece. For example, when in the left and right shaking mode, the left and right position sensors can be activated to detect the left and right rotation positions of the handpiece; when in the up and down shaking mode, the up and down position sensors can be activated to detect the up and down rotation position of the handpiece; or When in the up and down shaking mode, in addition to starting the up and down position sensor, the left and right position sensors are simultaneously activated to detect the left and right rotational position of the head; or, when in the left and right shaking mode, in addition to starting the left and right position sensors, simultaneously start up and down The position sensor detects the up and down rotation position of the machine head to ensure that the machine head can prevent the vibration from moving up and down, thereby further improving the user experience and avoiding damage to the components.

参照图4所示，本发明一较佳实施例中，传感器可以为霍尔传感器，可定位在机头外部，在机头内部设置与之适配的磁性件；前述步骤S12可包括：Referring to FIG. 4, in a preferred embodiment of the present invention, the sensor may be a Hall sensor, which may be positioned outside the head, and a magnetic member is disposed inside the head; the foregoing step S12 may include:

步骤S121，在摇头***处于左右摇头模式时，启动设置在机头外部的霍尔传感器，在霍尔传感器检测到与之相适配的磁性件时，判断机头的转动位置为预设的第一位置。当侦测到磁性件时，说明机头当前位置处于预设的第一位置或者接近预设的第一位置。本发明实施例通过霍尔传感器侦测机头的左右位置，结构简单，成本较低，可靠性高。Step S121, when the shaking head system is in the left and right shaking mode, the Hall sensor disposed outside the head is activated, and when the Hall sensor detects the matching magnetic member, determining the rotating position of the head is the preset number a location. When the magnetic component is detected, it indicates that the current position of the handpiece is at the preset first position or close to the preset first position. The embodiment of the invention detects the left and right positions of the machine head through the Hall sensor, has the advantages of simple structure, low cost and high reliability.

本发明实施例中，初始位置可以由用户设定，并不局限于厂家设定。参照图5所示，在一较佳实施例中，上述方法还可包括以下步骤：In the embodiment of the present invention, the initial position may be set by the user, and is not limited to the manufacturer setting. Referring to FIG. 5, in a preferred embodiment, the above method may further include the following steps:

步骤S30，接受用户输入的第一位置和第二位置的设定信号；Step S30, accepting a setting signal of the first position and the second position input by the user;

步骤S40，根据设定信号设定机头的第一位置和第二位置。第一位置和第二位置可以通过控制界面由用户设置，例如，可在控制界面上设定第一位置和第二位置所处机头的位置，选择第一位置和第二位置与最大限位点的角度或距离。或者通过一键设置的方式设置第一和第二位置，具体的设置多个一键按钮，每个按钮对应不同的一键设置的第一和第二位置的值，或者通过一个按钮进入一键设置模式，再根据选择键或者下拉菜单进行一键设置。In step S40, the first position and the second position of the handpiece are set according to the setting signal. The first position and the second position may be set by the user through the control interface. For example, the position of the head position where the first position and the second position are located may be set on the control interface, and the first position and the second position and the maximum limit are selected. The angle or distance of the point. Or setting the first and second positions by a one-button setting, specifically setting a plurality of one-key buttons, each button corresponding to the value of the first and second positions of different one-key settings, or entering a button through a button Set the mode, and then make one-click settings according to the selection button or drop-down menu.

本发明实施例可实现由用户设定机头控制的位置，进一步提升了用户体验。The embodiment of the invention can realize the position controlled by the user to set the head, thereby further improving the user experience.

本发明还提供一种摇头***防抖动装置，该服务装置用于实现上述方法。参照图6所示，在一实施例中，本发明摇头***防抖动装置包括：The present invention also provides an anti-shake device for a shaking head system, the service device for implementing the above method. Referring to FIG. 6, in an embodiment, the anti-shake device of the moving head system of the present invention comprises:

侦测模块10，用于实时侦测摇头***机头的转动位置；本发明实施例中，首先在风扇中预置一个第一位置和第二位置，因摇头***摇头过程中根据摇头模式必然会存在两个方向上的最大限位，例如，在左右摇头模式下，存在一个左的最大限位以及一个右的最大限位。参考图2，其中标示出一个最大限位点，所述最大限位点为左方向的最大限位点，在图2中，最大限位点因摇头***的性能设置而不同，有的为最大转动角度为90度或120度(相对于机头的中点位置)等。在上下摇头模式下，存在一个上的最大限位以及一个下的最大限位，在设置第一位置和第二位置时，根据摇头***所具备的摇头模式设置多个第一位置和对应的多个第二位置，例如，在左右摇头模式时，设置左的第一位置和一个右的第一位置以及左的第二位置和一个右的第一位置，同样的第二位置也参照上述第一位置的设置方式设置。上述第一位置位于机头中点与最大限位点之间，优选地，所述第一位置与最大限位点之间的角度为1-5度，这里的角度在方向上对应，例如，左方向上的第一位置与左方向上的最大限位点之间的角度为1-5度，上方向上的第一位置与方向上的最大限位点之间的角度为1-5度。所述第二位置与最大限位点间隔预置值，所述预置值根据用户需求及摇头***性能设置，例如，通过预置值的设置，使得所述第二位置位于所述第一位置与所述最大限位点之间；或者，所述第二位置为所述最大限位点(预置值为0)，所述预置值可以是第二位置与最大限位点之间的摇头距离或摇头角度。第一位置和第二位置可以由厂家出厂设置，也可以通过控制界面由用户设置，不同方向的第一位置和第二位置可以设置为不同，即，在不同方向上可以设置不同的第一位置以及设置不同的第二位置。所述第一位置与第二位置的设置也还可以是：与最大限位点的间隔为第一间隔(间隔可以通过摇头的距离或摇头的角度来体现，以摇头的距离来说，可以是摇头范围的1/5或2/5等)的设置成第一位置，与最大限位点的间隔为第二间隔(第一间隔大于第二间隔)的设置成第二位置，而通过限定的方式去设置第一位置和第二位置，无需针对左右模式或上下模式设置。即，在按照上述设定后，直接默认各个方向的第一位置和第二位置与上面的设置规则一致。当然，在此基础上可以针对不同的摇头模式设置不同的限定设置方式。其次，还需在摇头***的控制电路中设置检测装置以实时侦测机头的转动位置，例如位置传感器、霍尔传感器或者距离传感器等。也可以通过摇头驱动电机进行侦测，例如，摇头驱动电机可以为步进电机，通过步进电机的步距进行侦测。在摇头***摇头过程中实时侦测摇头***机头的转动位置。在本发明另一实施例中，也可以是根据转动速度以及转动时间来计算到机头的转动位置。The detecting module 10 is configured to detect the rotating position of the head of the moving head system in real time. In the embodiment of the present invention, first, a first position and a second position are preset in the fan, and the shaking head system is inevitably according to the moving head mode during the shaking process. There are maximum limits in both directions. For example, in the left and right shaking mode, there is a left maximum limit and a right maximum limit. Referring to FIG. 2, a maximum limit point is indicated, and the maximum limit point is a maximum limit point in the left direction. In FIG. 2, the maximum limit point is different due to the performance setting of the moving head system, and some are maximum. The rotation angle is 90 degrees or 120 degrees (relative to the midpoint position of the handpiece) and the like. In the up and down shaking mode, there is an upper maximum limit and a lower maximum limit. When the first position and the second position are set, a plurality of firsts are set according to the moving head mode of the moving head system. a position and a corresponding plurality of second positions, for example, in the left and right shaking mode, setting a left first position and a right first position and a left second position and a right first position, the same second position Also refer to the setting of the above first position setting. The first position is located between the midpoint of the nose and the maximum limit point. Preferably, the angle between the first position and the maximum limit point is 1-5 degrees, where the angle corresponds in direction, for example, The angle between the first position in the left direction and the maximum limit point in the left direction is 1-5 degrees, and the angle between the first position in the upper direction and the maximum limit point in the direction is 1-5 degrees. . The second position and the maximum limit point are separated by a preset value, and the preset value is set according to user requirements and shaking head system performance, for example, by setting a preset value, the second position is located at the first position Between the second limit position and the maximum limit point; or the second position is the maximum limit point (preset value is 0), and the preset value may be between the second position and the maximum limit point Shake the head or shake the head. The first position and the second position may be set by the factory, or may be set by the user through the control interface, and the first position and the second position in different directions may be set to be different, that is, different first positions may be set in different directions. And set a different second position. The setting of the first position and the second position may also be: the interval from the maximum limit point is the first interval (the interval may be represented by the distance of shaking the head or the angle of shaking the head, and in terms of the distance of the shaking head, may be Set the first position to the first position, and the interval from the maximum limit point to the second interval (the first interval is greater than the second interval) is set to the second position, and the defined The way to set the first position and the second position is not necessary for the left and right mode or the up and down mode setting. That is, after the above setting, the first position and the second position in the respective directions are directly matched by the above setting rules. Of course, on this basis, different limited setting modes can be set for different moving head modes. Secondly, it is also necessary to provide a detecting device in the control circuit of the shaking head system to detect the rotational position of the handpiece in real time, such as a position sensor, a Hall sensor or a distance sensor. It can also be detected by moving the motor by shaking the head. For example, the moving motor of the moving head can be a stepping motor and detected by the stepping distance of the stepping motor. The rotational position of the head of the shaking head system is detected in real time during the shaking process of the shaking head system. In another embodiment of the present invention, the rotational position of the handpiece may be calculated based on the rotational speed and the rotational time.

控制模块20，用于在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速或者变速减速，至机头到达预设的第二位置时停转；所述第二位置与最大限位点间隔预置值。如果到达预设的第一位置时，则可通过微控制单元MCU控制摇头驱动电机匀速减速运转，控制机头到达预设的第二位置时停止运转置。The control module 20 is configured to control the moving head of the moving head motor to decelerate or decelerate when the head is detected to rotate to a preset first position, and stop when the head reaches the preset second position; The position is separated from the maximum limit point by a preset value. If the preset first position is reached, the shaking control drive motor can be controlled by the micro control unit MCU to perform the constant speed deceleration operation, and when the control head reaches the preset second position, the operation is stopped.

本发明实施例中，在摇头***摇头过程中，实时侦测机头的转动位置，在机头转动至预设的第一位置时，控制摇头驱动电机匀速减速，至机头到达预设的第二位置时停转。所述第二位置为接近最大限位点的位置或者为醉倒限位点。通过控制机头运转至接近或者为最大限位点时停止运转，避免了到达最大限位点时，由于转动机构零部件之间的物理碰撞，常使机头发生剧烈抖动，容易导致零部件损坏且用户体验较差的问题。使得摇头***在摇头过程中不会存在机头抖动的情况，提高了零部件的使用寿命且提升了用户体验。In the embodiment of the present invention, during the shaking process of the shaking head system, the rotating position of the machine head is detected in real time, and when the machine head is rotated to the preset first position, the moving head driving motor is controlled to decelerate at a constant speed until the head reaches the preset position. Stop at the second position. The second position is a position close to the maximum limit point or a drunk limit point. Stopping when the nose is controlled to approach or is at the maximum limit point, avoiding the physical collision between the components of the rotating mechanism when the maximum limit point is reached. Often, the machine head is violently shaken, which is likely to cause damage to components and poor user experience. This makes the shaking head system not shake the head during the shaking process, which improves the service life of the parts and improves the user experience.

为了更好的控制机头在第二预设位置停止运转，本发明一较佳实施例中，参考图7a，所述控制模块20可包括：计算单元21，用于根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动电机匀速减速的转速；第一控制单元22，用于驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。In order to better control the operation of the machine head in the second preset position, in a preferred embodiment of the present invention, referring to FIG. 7a, the control module 20 may include: a calculating unit 21, according to the first position and the second The distance between the position and the preset head rotation time is used to calculate the speed of the moving speed of the moving head of the moving head driving motor; the first control unit 22 is configured to drive the moving head driving motor to rotate at a constant speed according to the rotating speed until the head reaches the second position. Stopped.

为了更好的控制机头在第二预设位置停止运转，在本发明的一个实施例中，参考图7b所示，控制模块20可包括：获取单元23，用于获取在第一位置与第二位置间设置的变速位置；第二控制单元24，用于在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。In order to better control the operation of the machine head to stop at the second preset position, in an embodiment of the present invention, referring to FIG. 7b, the control module 20 may include: an acquisition unit 23, configured to acquire the first position and the a shifting position provided between the two positions; a second control unit 24 for controlling the moving head driving motor to operate at a rotational speed corresponding to the shifting position every time a shifting position is reached.

其中，所述变速减速为先快后慢。Wherein, the speed reduction is slower first and then slower.

如前所述，本发明实施例中，侦测模块10可通过步进电机侦测机头的转动位置，例如摇头驱动电机为步进电机，在步进电机转动过程中，可通过算法计算出机头所处的当前位置。步进电机通过算法计算位置为本领域技术人员周知技术，在此不做详述。As described above, in the embodiment of the present invention, the detecting module 10 can detect the rotational position of the handpiece by using a stepping motor, for example, the moving motor of the moving head is a stepping motor, and can be calculated by an algorithm during the rotation of the stepping motor. The current position of the nose. The stepper motor calculates the position by an algorithm known to those skilled in the art and will not be described in detail herein.

在本发明的一个实施例中，在控制机头在第二位置停转后，第一控制单元22控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。为了更好的描述本发明实施例，所述摇头***的摇头控制过程为：以左右摇头为例，在摇头***左右摇头模式下，获取到左右摇头***的第一位置和第二位置，包括左方向和右方向的第一位置和第二位置；a、在向左摇头时，到达左方向的第一位置后，控制摇头驱动电机匀速减速运转，至左方向的第二位置停转，停转的位置为左方向的最大限位点或接近左方向的最大限位点；b、在停转后，控制摇头驱动电机向右运转，向右摇头；达到右方向的第一位置后，控制摇头驱动电机匀速减速运转，至右方向的第二位置停转，停转的位置为右方向的最大限位点或接近右方向的最大限位点；在停转后，控制摇头驱动电机向左运转，继续上述a的过程。在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。上下摇头模式下的防抖动控制与左右的类似，在此不再一一赘述。In one embodiment of the invention, after the control head is stopped in the second position, the first control unit 22 controls the reverse rotation of the drive moving head motor to drive the moving head system to perform the shaking operation. In order to better describe the embodiment of the present invention, the shaking head control process of the shaking head system is: taking the left and right shaking head as an example, in the shaking head mode of the shaking head system, acquiring the first position and the second position of the left and right shaking head system, including the left The first position and the second position in the direction and the right direction; a. When the head is shaken to the left, after reaching the first position in the left direction, the moving head driving motor is controlled to decelerate at a constant speed, and the second position in the left direction is stopped, and stops. The position is the maximum limit point in the left direction or the maximum limit point in the left direction; b. After the stop, the control head drives the motor to the right and shakes the head to the right; after reaching the first position in the right direction, the control head is moved. The driving motor decelerates at a constant speed and stops at the second position in the right direction. The stop position is the maximum limit point in the right direction or the maximum limit point in the right direction; after the stop, the control head drive motor runs to the left. , continue the process of a above. During the entire shaking process, there is no possibility that the machine head will still rotate at the maximum limit point, which reduces the damage of the components. Shake up and down The anti-shake control in the head mode is similar to the left and right, and will not be repeated here.

在本发明的另一个实施例中，在控制机头在第二位置停转后，第二控制单元24控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。为了更好的描述本发明实施例，所述摇头***的摇头控制过程为：以左右摇头为例，在摇头***左右摇头模式下，获取到左右摇头***的第一位置和第二位置，包括左方向和右方向的第一位置和第二位置；a、在向左摇头时，到达左方向的第一位置后，控制摇头驱动电机变速减速运转(例如，分两个阶段变速运转)，至左方向的第二位置停转，停转的位置为左方向的最大限位点或接近左方向的最大限位点；b、在停转后，控制摇头驱动电机向右运转，向右摇头；达到右方向的第一位置后，控制摇头驱动电机变速减速运转(例如，分两个阶段变速运转)，至右方向的第二位置停转，停转的位置为右方向的最大限位点或接近右方向的最大限位点；在停转后，控制摇头驱动电机向左运转，继续上述a的过程。在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。上下摇头模式下的防抖动控制与左右的类似，在此不再一一赘述。In another embodiment of the invention, after the control head is stopped in the second position, the second control unit 24 controls the reverse rotation of the drive moving head motor to drive the moving head system to perform the shaking operation. In order to better describe the embodiment of the present invention, the shaking head control process of the shaking head system is: taking the left and right shaking head as an example, in the shaking head mode of the shaking head system, acquiring the first position and the second position of the left and right shaking head system, including the left The first position and the second position in the direction and the right direction; a, when shaking the head to the left, after reaching the first position in the left direction, controlling the moving speed of the moving head of the moving motor (for example, two-stage shifting operation) to the left The second position of the direction stops, and the stop position is the maximum limit point in the left direction or the maximum limit point in the left direction; b. After the stop, the control head drives the motor to the right and shakes the head to the right; After the first position in the right direction, the moving head drive motor shifting deceleration operation (for example, two-stage shifting operation) is performed, and the second position in the right direction is stopped, and the stop position is the maximum limit point in the right direction or close to The maximum limit point in the right direction; after the stop, the control head drives the motor to the left to continue the process of a above. During the entire shaking process, there is no possibility that the machine head will still rotate at the maximum limit point, which reduces the damage of the components. The anti-shake control in the up and down shaking mode is similar to the left and right, and will not be repeated here.

参照图8所示，本发明一实施例中，侦测模块10还可包括：Referring to FIG. 8, in an embodiment of the present invention, the detecting module 10 may further include:

传感器11；本发明实施例中，传感器11的作用在于侦测机头的转动位置，其可以是霍尔传感器、位置传感器或者距离传感器等，不局限于单个设置，可以组合设置，例如，可设置霍尔传感器侦测机头的左右位置信号，同时也可设置位置传感器或者距离传感器侦测机头的上下位置信号。可在摇头***的立柱或者机头上设置位置传感器或距离传感器，在机头转动至某一位置时，输出机头的左右位置信号和/或上下位置信号以使机头变速减速运转。In the embodiment of the present invention, the function of the sensor 11 is to detect the rotational position of the handpiece, which may be a Hall sensor, a position sensor or a distance sensor, etc., and is not limited to a single setting, and may be combined, for example, can be set. The Hall sensor detects the left and right position signals of the head, and can also set the position sensor or the distance sensor to detect the up and down position signals of the head. A position sensor or a distance sensor may be disposed on the column or the head of the shaking head system, and when the head is rotated to a certain position, the left and right position signals and/or the up and down position signals of the head are output to decelerate the head speed.

摇头模式检测单元12，用于侦测摇头***的摇头模式；例如，侦测摇头***是处于左右摇头模式还是上下摇头模式，以确定机头的第一位置和第二位置。The moving head mode detecting unit 12 is configured to detect the moving head mode of the moving head system; for example, detecting whether the moving head system is in the left and right shaking mode or the up and down shaking mode to determine the first position and the second position of the handpiece.

传感器启动单元13，用于根据摇头模式，启动预置的传感器，以侦测机头的转动位置。例如，当处于左右摇头模式时，可以启动左右位置传感器，以侦测机头的左右转动位置；当处于上下摇头模式时，可以启动上下位置传感器，以侦测机头的上下转动位置；或者，当处于上下摇头模式时，除启动上下位置传感器外，同时启动左右位置传感器，以侦测机头的左右转动位置；又或者，当处于左右摇头模式时，除启动左右位置传感器外，同时启动上下位置传感器，以侦测机头的上下转动位置，以保证机头无论上下左右均能防止抖动，从而进一步提升用户体验，避免零部件的损坏。The sensor starting unit 13 is configured to activate a preset sensor according to the moving head mode to detect the rotating position of the handpiece. For example, when in the left and right shaking mode, the left and right position sensors can be activated to detect the left and right rotation positions of the handpiece; when in the up and down shaking mode, the up and down position sensors can be activated to detect the up and down rotation position of the handpiece; or When in the up and down shaking mode, in addition to starting the up and down position sensor, the left and right position sensors are simultaneously activated to detect the left and right rotational position of the head; or, when in the left and right shaking mode, in addition to starting the left and right position sensors, simultaneously start up and down The position sensor detects the up and down rotation position of the machine head to ensure that the machine head can prevent the vibration from moving up and down, thereby further improving the user experience and avoiding damage to the components.

在一实施例中，传感器11为霍尔传感器，设置在机头的外部；传感器启动单元13用于： In an embodiment, the sensor 11 is a Hall sensor disposed outside the handpiece; the sensor activation unit 13 is configured to:

在摇头***处于左右摇头模式时；When the shaking head system is in the left and right shaking mode;

启动设置在机头外部的霍尔传感器，在霍尔传感器检测到与之相适配的磁性件时，输出机头的当前转动位置信号。当侦测到磁性件时，说明机头当前位置处于第一位置。本发明实施例通过霍尔传感器侦测机头的左右位置，结构简单，成本较低，可靠性高。The Hall sensor disposed outside the handpiece is activated to output a current rotational position signal of the handpiece when the Hall sensor detects the magnetic component that is adapted thereto. When the magnetic component is detected, the current position of the handpiece is in the first position. The embodiment of the invention detects the left and right positions of the machine head through the Hall sensor, has the advantages of simple structure, low cost and high reliability.

在一实施例中，传感器11为位置传感器或距离传感器；传感器启动单元13用于：In an embodiment, the sensor 11 is a position sensor or a distance sensor; the sensor activation unit 13 is used to:

在摇头***处于左右摇头模式或上下摇头模式时；When the shaking head system is in the left and right shaking mode or the up and down shaking mode;

启动设置在机头或摇头***立柱上的位置传感器或距离传感器，以获取机头的当前转动位置信号。在本实施例中，可在摇头***的立柱或者机头上设置位置传感器或距离传感器，在机头转动至某一位置时，输出机头的左右位置信号和/或上下位置信号以使变速减速运转。A position sensor or distance sensor disposed on the head of the nose or the shaking head system is activated to obtain a current rotational position signal of the handpiece. In this embodiment, a position sensor or a distance sensor may be disposed on the column or the head of the shaking head system, and when the head is rotated to a certain position, the left and right position signals of the head and/or the up and down position signals are output to decelerate the speed. Running.

本发明实施例中，第一位置和第二位置可以由用户设定，并不局限于厂家设定。参照图9所示，上述装置还包括：In the embodiment of the present invention, the first location and the second location may be set by a user, and are not limited to factory settings. Referring to FIG. 9, the foregoing apparatus further includes:

用户输入模块30，用于接收用户输入的第一位置和第二位置的设定信号；The user input module 30 is configured to receive a setting signal of the first position and the second position input by the user;

位置设定模块40，用于根据设定信号设定机头的第一位置和第二位置a position setting module 40, configured to set the first position and the second position of the handpiece according to the setting signal

本发明还提供一种摇头***，包括机头，其还包括前述摇头***防抖动装置。当然，摇头***还包括其他的必要部件，例如扇叶、电机以及控制模块等，在此不一一列举。本发明摇头***由于具有前述摇头***防抖动装置，可以使得机头始终处于一个固定的位置，能够提升用户体验并且避免机头部件损坏。第一位置和第二位置可以通过控制界面由用户设置，例如，可在控制界面上设定第一位置和第二位置所处机头的位置，选择第一位置和第二位置与最大限位点的角度或距离。或者通过一键设置的方式设置第一和第二位置，具体的设置多个一键按钮，每个按钮对应不同的一键设置的第一和第二位置的值，或者通过一个按钮进入一键设置模式，再根据选择键或者下拉菜单进行一键设置。The present invention also provides a oscillating head system, including a handpiece, which further includes the aforementioned oscillating system anti-shake device. Of course, the shaking head system also includes other necessary components, such as fan blades, motors, and control modules, which are not enumerated here. The rocking head system of the present invention has the aforementioned anti-shake device of the moving head system, so that the handpiece can always be in a fixed position, which can improve the user experience and avoid damage of the machine head components. The first position and the second position may be set by the user through the control interface. For example, the position of the head position where the first position and the second position are located may be set on the control interface, and the first position and the second position and the maximum limit are selected. The angle or distance of the point. Or setting the first and second positions by a one-button setting, specifically setting a plurality of one-key buttons, each button corresponding to the value of the first and second positions of different one-key settings, or entering a button through a button Set the mode, and then make one-click settings according to the selection button or drop-down menu.

本发明还提供一种摇头***，包括机头，其还包括前述摇头***防抖动装置。当然，摇头***还包括其他的必要部件，例如立柱、摇头驱动电机以及控制模块等，在此不一一列举。本发明摇头***由于具有前述摇头***防抖动装置，在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。The present invention also provides a oscillating head system, including a handpiece, which further includes the aforementioned oscillating system anti-shake device. Of course, the shaking head system also includes other necessary components, such as a column, a moving head drive motor, and a control module, which are not enumerated here. Since the shaking head system of the invention has the anti-shake device of the foregoing shaking head system, during the whole shaking process, there is no case that the machine head still rotates at the maximum limit position, and the damage of the components is reduced.

本发明还提供一种风扇，包括前述摇头***。当然，还包括其他的必要部件，例如，扇叶、扇叶罩、底座等。本发明风扇由于具有前述摇头***及摇头防抖动的装置，在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。The present invention also provides a fan comprising the aforementioned moving head system. Of course, other necessary components are also included, such as fan blades, fan blades, bases, and the like. The fan of the present invention has the above-mentioned moving head system and the anti-shake device of the moving head, throughout During the shaking process, there is no possibility that the machine head will still rotate at the maximum limit point, which reduces the damage of parts.

本发明还提供一种暖风机，包括前述摇头***。当然，还包括其他的必要部件，例如，扇叶、扇叶罩、底座等。本发明暖风机由于具有前述摇头***及摇头防抖动的装置，在整个摇头过程中，不会存在机头在最大限位点依然转动的情况，减少了零部件的损坏。The present invention also provides a heater, including the aforementioned moving head system. Of course, other necessary components are also included, such as fan blades, fan blades, bases, and the like. Since the heater of the present invention has the above-mentioned moving head system and the anti-shake device of the shaking head, during the entire shaking process, there is no situation that the head is still rotating at the maximum limit point, and the damage of the parts is reduced.

以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。 The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structural transformations made by the present invention and the contents of the drawings, or directly/indirectly The relevant technical fields are all included in the scope of patent protection of the present invention.

Claims

一种摇头***防抖动方法，其特征在于，包括以下步骤：A method for preventing shaking of a shaking head system, comprising the steps of:

实时侦测摇头***机头的转动位置；Real-time detection of the rotational position of the head of the shaking head system;

在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速或者变速减速，至机头到达预设的第二位置时停转；所述第二位置与最大限位点间隔预置值。When detecting that the nose is rotated to the preset first position, controlling the moving head driving motor to decelerate at a constant speed or decelerating the speed, and stopping until the head reaches the preset second position; the second position and the maximum limit point Interval preset value.
如权利要求1所述的摇头***防抖动方法，其特征在于，所述第一位置位于机头中点与最大限位点之间；所述第二位置位于所述第一位置与所述最大限位点之间；或者，所述第二位置为所述最大限位点。The method according to claim 1, wherein the first position is between a midpoint of the handpiece and a maximum limit point; the second position is located at the first position and the Between the maximum limit points; or, the second position is the maximum limit point.
如权利要求1或2所述的摇头***防抖动方法，其特征在于，所述第一位置与最大限位点之间的角度为1-5度。The anti-shake method for a moving head system according to claim 1 or 2, wherein an angle between the first position and the maximum limit point is 1-5 degrees.
如权利要求1至3任一项所述的摇头***防抖动方法，其特征在于，所述控制摇头驱动电机开始匀速减速，至机头到达第二位置时停转的步骤包括：The anti-shake method for a moving head system according to any one of claims 1 to 3, wherein the step of controlling the shaking head driving motor to start to decelerate at a constant speed and stopping when the head reaches the second position comprises:

根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动电机匀速减速的转速；Calculating a rotational speed of the uniform driving speed of the moving head driving motor according to the distance between the first position and the second position and the preset head rotation time;

驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。The moving head driving motor is driven to rotate at a constant speed according to the rotating speed, and stops when the head reaches the second position.
如权利要求1所述的摇头***防抖动方法，其特征在于，所述控制摇头驱动电机变速减速的步骤包括：The anti-shake method for a moving head system according to claim 1, wherein the step of controlling the speed reduction of the moving head driving motor comprises:

获取在第一位置与第二位置间设置的变速位置；Obtaining a shift position set between the first position and the second position;

在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。Each time a shift position is reached, the moving head drive motor is controlled to operate at a speed corresponding to the shift position.
如权利要求1所述的摇头***防抖动方法，其特征在于，所述变速减速为先快后慢。The anti-shake method for a moving head system according to claim 1, wherein said shifting deceleration is first fast and then slow.
如权利要求1至6任一项所述的摇头***防抖动方法，其特征在于，所述在摇头***摇头时实时侦测机头的转动位置的步骤包括：The anti-shake method for the moving head system according to any one of claims 1 to 6, wherein the step of detecting the rotational position of the handpiece in real time when the shaking head system shakes the head comprises:

驱动所述摇头驱动电机实时侦测机头的转动位置。 The moving head driving motor is driven to detect the rotational position of the handpiece in real time.
如权利要求7所述的摇头***防抖动方法，其特征在于，所述摇头驱动电机为步进电机；所述实时侦测机头的转动位置的步骤包括：The anti-shake method of the moving head system according to claim 7, wherein the moving head driving motor is a stepping motor; and the step of detecting the rotating position of the head in real time comprises:

驱动所述步进电机实时侦测机头的转动位置。The stepping motor is driven to detect the rotational position of the handpiece in real time.
如权利要求1至8任一项所述的摇头***防抖动方法，其特征在于，所述实时侦测机头的转动角度的步骤包括：The anti-shake method of the moving head system according to any one of claims 1 to 8, wherein the step of real-time detecting the rotation angle of the handpiece comprises:

侦测摇头***的摇头模式；Detecting the shaking mode of the shaking head system;

根据所述摇头模式，启动预置的传感器，以实时侦测所述机头的转动位置。According to the moving head mode, the preset sensor is activated to detect the rotational position of the handpiece in real time.
如权利要求1至9任一项所述的摇头***防抖动方法，其特征在于，所述控制摇头驱动电机开始匀速减速，至机头到达第二位置时停转之后，还包括以下步骤：The anti-shake method for a moving head system according to any one of claims 1 to 9, wherein the control of the moving head driving motor starts to decelerate at a constant speed, and after the machine head stops at the second position, the following steps are further included:

控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。The drive moving head motor is controlled to rotate in reverse to drive the moving head system to perform a shaking operation.
一种摇头***防抖动装置，其特征在于，包括：An anti-shake device for a shaking head system, comprising:

侦测模块，用于实时侦测摇头***机头的转动位置；a detection module for detecting the rotational position of the head of the moving head system in real time;

控制模块，用于在侦测到机头转动至预设的第一位置时，控制摇头驱动电机匀速减速或者变速减速，至机头到达第二位置时停转；所述第二位置与最大限位点间隔预置值。a control module, configured to control the moving head of the moving head motor to decelerate or decelerate when the head is detected to rotate to a preset first position, and stop when the head reaches the second position; the second position and the maximum limit The position interval preset value.
如权利要求11所述的摇头***防抖动装置，其特征在于，所述第一位置位于机头中点与最大限位点之间；所述第二位置位于所述第一位置与所述最大限位点之间；或者，所述第二位置为所述最大限位点。The anti-shake device for a moving head system according to claim 11, wherein said first position is between a midpoint of the nose and a maximum limit point; said second position is located at said first position and said Between the maximum limit points; or, the second position is the maximum limit point.
如权利要求11或12所述的摇头***防抖动装置，其特征在于，所述第一位置与最大限位点之间的角度为1-5度。The anti-shake device for a moving head system according to claim 11 or 12, wherein the angle between the first position and the maximum limit point is 1-5 degrees.
如权利要求11至13任一项所述的摇头***防抖动装置，其特征在于，所述控制模块包括：The anti-shake device of the moving head system according to any one of claims 11 to 13, wherein the control module comprises:

计算单元，用于根据第一位置与第二位置之间的距离和预设的机头转动时间计算摇头驱动机头匀速减速的转速；a calculating unit, configured to calculate a rotating speed of the uniform driving speed of the moving head driving head according to the distance between the first position and the second position and the preset head rotation time;

第一控制单元，用于驱动所述摇头驱动电机按所述转速匀速转动，至机头到达第二位置时停转。 The first control unit is configured to drive the moving head driving motor to rotate at a constant speed according to the rotating speed, and stop when the moving head reaches the second position.
如权利要求11所述的摇头***防抖动方法，其特征在于，所述控制模块包括：The anti-shake method of the oscillating system according to claim 11, wherein the control module comprises:

获取单元，用于获取在第一位置与第二位置间设置的变速位置；An acquiring unit, configured to acquire a shifting position set between the first position and the second position;

第二控制单元，用于在每到达一个变速位置时，控制摇头驱动电机按照所述变速位置对应的转速运转。The second control unit is configured to control the moving head driving motor to operate according to the rotating speed corresponding to the shifting position every time a shifting position is reached.
如权利要求11所述的摇头***防抖动方法，其特征在于，所述变速减速为先快后慢。The anti-shake method for a moving head system according to claim 11, wherein said shifting speed is first fast and then slow.
如权利要求11至16任一项所述的摇头***防抖动装置，其特征在于，所述控制单元，还用于控制所述驱动摇头电机反向转动，以驱动所述摇头***进行摇头操作。The anti-shake device of the moving head system according to any one of claims 11 to 16, wherein the control unit is further configured to control the reverse rotation of the driving moving head motor to drive the shaking head system to perform the shaking operation. .
如权利要求11至17任一项所述的摇头***防抖动装置，其特征在于，所述侦测模块，用于通过驱动所述摇头驱动电机实时侦测机头的转动位置。The anti-shake device of the moving head system according to any one of claims 11 to 17, wherein the detecting module is configured to detect the rotational position of the handpiece in real time by driving the moving head driving motor.
如权利要求18所述的摇头***防抖动装置，其特征在于，所述摇头驱动电机为步进电机，所述侦测模块，用于驱动所述步进电机实时侦测机头的转动位置。The anti-shake device of the oscillating head system according to claim 18, wherein the moving head driving motor is a stepping motor, and the detecting module is configured to drive the stepping motor to detect the rotating position of the head in real time. .
如权利要求11至19任一项所述的摇头***防抖动装置，其特征在于，所述侦测模块包括：The anti-shake device of the oscillating system according to any one of claims 11 to 19, wherein the detecting module comprises:

传感器；sensor;

摇头模式检测单元，用于侦测摇头***的摇头模式；a shaking head mode detecting unit for detecting a moving head mode of the moving head system;

传感器启动单元，用于根据所述摇头模式，启动预置的传感器，以实时侦测所述机头的转动位置。The sensor activation unit is configured to activate a preset sensor according to the moving head mode to detect a rotational position of the handpiece in real time.
一种摇头***，包括机头，其特征在于，还包括如权利要求11-20中任一项所述的摇头***防抖动装置。A oscillating head system, comprising a handpiece, characterized by further comprising an anti-shake device of the oscillating head system according to any one of claims 11-20.
一种风扇，其特征在于，包括如权利要求21所述的摇头***。A fan characterized by comprising the moving head system of claim 21.
一种暖风机，其特征在于，包括如权利要求21所述的摇头***。 A heater according to claim 21, comprising the moving head system.