CN101169574A - Double PAN drive high speed ball-shaped cloud platform - Google Patents
Double PAN drive high speed ball-shaped cloud platform Download PDFInfo
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- CN101169574A CN101169574A CNA2006100163184A CN200610016318A CN101169574A CN 101169574 A CN101169574 A CN 101169574A CN A2006100163184 A CNA2006100163184 A CN A2006100163184A CN 200610016318 A CN200610016318 A CN 200610016318A CN 101169574 A CN101169574 A CN 101169574A
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- pan
- drive motor
- auxilliary
- gear train
- high speed
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Abstract
The invention relates to a high-speed spherical tripod head driven by two PANs. The invention has the technical proposal that an auxiliary PAN drive electric motor and an auxiliary PAN transmission mechanism are arranged on a fixing disk. A middle disk is fixed and arranged on the lower part of the fixing disk parallel to the fixing disk. A main PAN drive electric motor, a main PAN transmission mechanism, the auxiliary PAN drive electric motor and the auxiliary PAN transmission mechanism all can drive the middle disk. An integrative video camera and a TILT transmission system are arranged on the fixing disk of a rotating shaft through a bracket. The invention starts rapidly, can work normally in the operating state of an ultra high speed and an ultra low speed, and can realize a speedy stop at a high speed, which overcomes the defects performed when a single electric motor (particularly a stepping electric motor) operates at a low speed and at a high speed, and has obvious innovativeness. The invention has an effect on the technology development of the prior high-speed spherical tripod head.
Description
Technical field
The invention belongs to the The Cloud Terrace kind equipment in the safety precaution supervisory system, particularly a kind of pair of high speed ball-shaped cloud platform that PAN drives.
Background technology
The high speed ball-shaped cloud platform video camera is the important front-end equipment in the video monitoring system.So-called " at a high speed ", be meant that this equipment should have higher acceleration PAN/TILT (horizontal/vertical) exercise performance, acceleration is a vector physically, clipping the ball can rise to maximum with movement velocity rapidly under the control of program when initial velocity is zero, and can change direction of motion rapidly, it is also finally static that its movement velocity is descended; Also require it accurately to revert to the predefined monitoring position of program (call and give set) from any one current location in the shortest time, some monitoring occasion also requires this equipment to have extremely low stable movement velocity.
The drive mechanism of the PAN of traditional ball-shaped cloud platform all adopts the driving (other type of drive identical, repeat no more) of micro-step motor as PAN/TILT.The PAN motion of this ball-shaped cloud platform is driven by gear train by a micro-step motor.Because be subjected to the restriction (other microminiature motor also has similar characteristic) of characteristic frequently of the square of stepper motor own, its rotational speed and rotary acceleration all must be limited.In conjunction with ripe stepper motor subdivide technology, its stable operation speed is generally between 0.05 °/s-300 °/s.But, this velocity range is had higher requirement in some particular application.
This mode of motion of high speed ball-shaped cloud platform video camera is finished jointly by PAN kinetic system and TILT kinetic system, the power of these two kinetic systems is mostly from micro-step motor or dc brushless motor, this motor forms the angle displacement of PAN and TILT respectively by driving-chain, and said here speed, acceleration that is to say angular velocity, the angular acceleration of PAN and TILT.Wherein the absolute displacement of TILT motion and motion load are all low than the PAN motion, and it can not become the bottleneck of PAN/TILT resultant motion speed, is the key point of raising speed so promote the power performance of PAN motion.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of priming speed fast, can be under hypervelocity and Ultra-Low Speed running status operate as normal, and can under high speed, realize the high speed ball-shaped cloud platform of static fast two PAN drivings.
The present invention is achieved by the following technical solutions:
A kind of pair of high speed ball-shaped cloud platform that PAN drives, comprise integrated camera, the TILT power train, main PAN drive motor, main PAN gear train, rotation axis and shaft collar, shaft collar is packed on the The Cloud Terrace housing, main PAN drive motor and gear train thereof are packed in the mounting disc of rotation axis, the drive motor of TILT power train also is packed in the mounting disc of this rotation axis, shaft collar and mounting disc all by Bearing Installation on rotation axis, it is characterized in that: an auxilliary PAN drive motor and an auxilliary PAN gear train thereof is installed on shaft collar, the parallel telophragma that is fixed with of rotation axis below shaft collar with shaft collar, main PAN drive motor and gear train thereof, auxilliary PAN drive motor and auxilliary PAN gear train thereof all can drag this telophragma, and integrated camera and TILT power train are installed in the mounting disc of rotation axis by support.
And described main PAN drive motor and auxilliary PAN drive motor can adopt small-sized DC brushless electric machine, perhaps small type stepping motor.
And, described main PAN gear train and auxilliary PAN gear train are common reduction gearing mechanism, can select synchromesh gear, synchronous cog belt or gear reduction and worm gear, worm mechanism for use, preferably have good worm gear, worm mechanism from the locking performance.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the circuit block diagram of the embodiment of the invention;
Fig. 3 is another circuit block diagram of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are further described, but are not limited to the concrete structure that present embodiment is narrated.
Among the present invention,, therefore no longer described owing to do not change the self structure of TILT power train and integrated camera.
Only specifically describe below improving the innovation part:
This pair of high speed ball-shaped cloud platform that PAN drives, shaft collar 1 is packed on the The Cloud Terrace housing (not shown), the parallel telophragma 2 that installs on the rotation axis below this shaft collar 5 with shaft collar, this shaft collar is installed in rotation axis top by bearing 6, one auxilliary PAN drive motor 7 and auxilliary PAN gear train 8 thereof is installed on this shaft collar, main PAN drive motor 4 and gear train 3 thereof are packed in the mounting disc (among the figure not label), this mounting disc by Bearing Installation on rotation axis; TILT power train 12 all is installed in the mounting disc by support 11 with integrated camera 13, this TILT power train receives the transmission that is packed in the TILT drive motor 9 in the mounting disc by driving belt 10, and main PAN drive motor and gear train thereof, auxilliary PAN drive motor and auxilliary PAN gear train thereof all can drag this telophragma.
Main PAN drive motor and auxilliary PAN drive motor can adopt small-sized DC brushless electric machine, perhaps small type stepping motor; Main PAN gear train and auxilliary PAN gear train are common reduction gearing mechanism, can select synchromesh gear, synchronous cog belt, gear reduction and worm gear, worm mechanism for use, preferably have good worm gear, worm mechanism from the locking performance.
The present invention can adopt the common main PAN drive motor of control of a MCU Single Chip Microcomputer (SCM) system and gear train, auxilliary PAN drive motor and auxilliary PAN gear train (control circuit block scheme as shown in Figure 2) thereof, also can adopt two MCU Single Chip Microcomputer (SCM) system to control (control circuit block scheme as shown in Figure 3) respectively, preferred control circuit mode shown in Figure 3.
The principle of work of two PAN involved in the present invention is:
So-called two PAN drives, and is meant that this high speed ball-shaped cloud platform is designed to have the hybrid power system of two cover PAN drive units.Two cover PAN drive units each have driving-chain and power independently, and their the PAN centre of gyration overlaps but is not rigidly connected.This design make the output of two PAN drive units dynamic combined action, reached speed or the synthetic purpose of acceleration.Because two motion vectors have the identical centre of gyration and their angle also is zero,, the synthetic calculating of vector simply counts and computing so here being simplified as.
Two PAN drive high speed ball-shaped cloud platforms when carrying out concrete control algolithm with relevant with following Basic Optical Formula:
Acompose=apan+aaux-pan------------------------formula 1
In the formula, the resultant acceleration of acompose---PAN.
Apan---the acceleration that main PAN drive unit produces.
Aaux-pan---the acceleration that auxilliary PAN drive unit produces.
Vcompose=Vpan+Vaux-pan------------------------formula 2
In the formula, the aggregate velocity of Vcompose---PAN.
Vpan---the movement velocity of main PAN drive unit.
Vaux-pan---the movement velocity of auxilliary PAN drive unit.
Principle of work of the present invention is:
The present invention is designed to telophragma (deciding Moving plate) with the shaft collar of traditional spheroidal The Cloud Terrace; This telophragma is then dragged by the auxilliary PAN gear train that auxilliary PAN drive motor and auxilliary PAN gear train are formed.
When shaft collar was rigidly connected on the housing of ball-shaped cloud platform, the mechanical rotation of auxilliary PAN drive motor just can drive telophragma by auxilliary gear train and rotate; If this moment, PAN drive motor and PAN gear train did not move, then the PAN motion state only depends on the motion state of auxilliary PAN drive motor and auxilliary PAN gear train; In like manner, if telophragma is assisted PAN mechanism locking, then main PAN motion of mechanism is only depended in the PAN motion; If this moment main PAN, auxilliary PAN move simultaneously, then the motion state of PAN is associated movement synthetic of the two.Both the movement velocity of PAN and acceleration had been finished stack by telophragma with the associated movement of the two.Verified, two the motion vectors and for this two motion vector count and.
The invention has the advantages that: (1) starting rapidly. PAN is from the static time of experiencing to high-speed cruising Can only be 1/2 of traditional spheroidal The Cloud Terrace. Because the starting process of PAN is an accelerator, draw With formula 1, main PAN and auxiliary PAN accelerate simultaneously, and two acceleration are synthetic, if two acceleration are equal, Then resultant acceleration is the twice of main or auxiliary PAN acceleration, and the time that reaches predetermined speed is single acceleration 1/2 of degree.
(2) the maximum speed maximum can promote one times. Formula 2 can simple proof.
(3) can be with extremely low speed operation. If main PAN is opposite with the velocity attitude of auxiliary PAN, then By formula 2, it is minimum poor that synthetic PAN speed is had, and 1 step pitch can be arranged very for stepper motor Poor to 1 micro-stepping.
(4) can when the PAN high-speed cruising, stop fast (relatively static). Quote formula 1, when During main PAN high-speed cruising, need it to stop, this moment, main PAN needed to slow down, and auxiliary PAN can be with instead Direction is accelerated, and when both absolute values of instantaneous velocity equate, quotes formula 2, although two drive dress Put and really do not stop this moment, but PAN motion is relatively static, this process is than single movement mode Can shorten in time one times.
(5) can effectively overcome single motor (especially stepper motor) low speed and high-speed cruising time institute The defective that shows.
Claims (3)
1. high speed ball-shaped cloud platform that two PAN drive, comprise integrated camera, the TILT power train, main PAN drive motor, main PAN gear train, rotation axis and shaft collar, shaft collar is packed on the The Cloud Terrace housing, main PAN drive motor and gear train thereof are packed in the mounting disc of rotation axis, the drive motor of TILT power train also is packed in the mounting disc of this rotation axis, shaft collar and mounting disc all by Bearing Installation on rotation axis, it is characterized in that: an auxilliary PAN drive motor and an auxilliary PAN gear train thereof is installed on shaft collar, the parallel telophragma that is fixed with of rotation axis below shaft collar with shaft collar, main PAN drive motor and gear train thereof, auxilliary PAN drive motor and auxilliary PAN gear train thereof all can drag this telophragma, and integrated camera and TILT power train are installed in the mounting disc of rotation axis by support.
2. the according to claim 1 pair of high speed ball-shaped cloud platform that PAN drives is characterized in that: described main PAN drive motor and auxilliary PAN drive motor can adopt small-sized DC brushless electric machine, perhaps small type stepping motor.
3. the according to claim 1 pair of high speed ball-shaped cloud platform that PAN drives, it is characterized in that: described main PAN gear train and auxilliary PAN gear train are common reduction gearing mechanism, can select synchromesh gear, synchronous cog belt or gear reduction and worm gear, worm mechanism for use, preferably have good worm gear, worm mechanism from the locking performance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610016318A CN101169574B (en) | 2006-10-27 | 2006-10-27 | Double PAN drive high speed ball-shaped cloud platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610016318A CN101169574B (en) | 2006-10-27 | 2006-10-27 | Double PAN drive high speed ball-shaped cloud platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101169574A true CN101169574A (en) | 2008-04-30 |
| CN101169574B CN101169574B (en) | 2010-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610016318A Expired - Fee Related CN101169574B (en) | 2006-10-27 | 2006-10-27 | Double PAN drive high speed ball-shaped cloud platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101782714B (en) * | 2009-12-07 | 2011-07-06 | 杨子良 | Multiaxial intelligent balance adjusting camera stabilizer |
| CN102273202A (en) * | 2009-01-12 | 2011-12-07 | 罗伯麦株式会社 | Panning and tilting apparatus |
| CN102480267A (en) * | 2010-11-25 | 2012-05-30 | 天津市天下数码视频有限公司 | Motor acceleration and deceleration control method in high speed ball and apparatus thereof |
| CN103326646A (en) * | 2013-05-17 | 2013-09-25 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2396414Y (en) * | 1999-11-23 | 2000-09-13 | 深圳市艾立克电子有限公司 | Ball-shaped camera rotary head |
| CN2676540Y (en) * | 2003-12-25 | 2005-02-02 | 周斌 | Mechanotronics rotary minitype cradle head for video conference camera |
| CN2706982Y (en) * | 2004-05-10 | 2005-06-29 | 华为技术有限公司 | Pick up head controller |
| CN2731863Y (en) * | 2004-09-20 | 2005-10-05 | 天津市亚安科技电子有限公司 | Intelligent high speed head camera |
-
2006
- 2006-10-27 CN CN200610016318A patent/CN101169574B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102273202A (en) * | 2009-01-12 | 2011-12-07 | 罗伯麦株式会社 | Panning and tilting apparatus |
| CN101782714B (en) * | 2009-12-07 | 2011-07-06 | 杨子良 | Multiaxial intelligent balance adjusting camera stabilizer |
| CN102480267A (en) * | 2010-11-25 | 2012-05-30 | 天津市天下数码视频有限公司 | Motor acceleration and deceleration control method in high speed ball and apparatus thereof |
| CN103326646A (en) * | 2013-05-17 | 2013-09-25 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
| CN103326646B (en) * | 2013-05-17 | 2015-06-17 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101169574B (en) | 2010-05-12 |
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Address after: 300384 in Tianjin Binhai Huayuan Industrial Zone (outer ring) eight Haitai Huake Road No. 6 Patentee after: TIANJIN YAAN TECHNOLOGY CO., LTD. Address before: 300384 Tianjin City Huayuan Industrial Zone Ziyuan Road No. 8 Patentee before: Tianjin Yaan Technology Co., Ltd. |
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Granted publication date: 20100512 Termination date: 20171027 |