Driving device, camera device and electronic equipment

Abstract

The present application relates to a driving device, a camera device and an electronic device, wherein the driving device includes a stator, a rotor and a circuit board, and a chip system for collecting information of the Hall element of the circuit board, the magnetic component includes a plurality of magnetic segments, the magnetic poles of adjacent magnetic segments are opposite, the Hall element includes a first Hall element and a second Hall element, in the projection range of the driving device along its height direction, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic component is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic component is L2, and there is a preset angle between L1 and L2, and the degree of the angle is 90 / P+(360 / P)*n. Such a design can reduce the components required for the driving device, reduce costs, and better meet actual usage requirements.

Description

Technical Field

[0001] The present application relates to the technical field of drive devices, and in particular to a drive device, a camera device and an electronic device. Background Art

[0002] With the development of science and technology, the application of cameras is becoming more and more extensive. Cameras can rotate to monitor different areas. In the process of controlling the movement of the camera, the processor needs to obtain the current position of the camera in order to control the movement of the camera so that the camera can move to the specified position. Usually, in order to obtain the current position of the camera, the camera is usually equipped with accelerometers, gyroscopes, attitude angle sensors and other detection components. These components can cooperate with each other to form a data feedback chain. After obtaining the data of each detection component, the processor calculates the current position of the camera through a specified algorithm. This method requires the setting of multiple different detection components, which makes the structure of the camera complicated. Therefore, it is necessary to provide a new driving device. Summary of the invention

[0003] The present application provides a driving device, a camera device and an electronic device, which are used to provide a new driving device.

[0004] An embodiment of the present application provides a driving device, which includes a stator installed on a shell, a rotor and a circuit board installed on a connecting component, and a chip system for collecting information of a Hall element of the circuit board. The magnetic component includes a plurality of magnetic segments, and the magnetic poles of adjacent magnetic segments are opposite. The Hall element includes a first Hall element and a second Hall element. In the projection range of the driving device along its height direction, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic component is L1, and the direction from the projection range of the second Hall element to the center of the projection range of the magnetic component is L2. There is a preset angle between L1 and L2, and the degree of the angle is 90 / P+(360 / P)*n.

[0005] The chip system can collect information from the first Hall element and the second Hall element and process the collected information to calculate the rotation angle of the driving device, thereby knowing the rotation angle of the object to be driven by the driving device. Such a design has the advantages of simple structure and low cost.

[0006] In a possible implementation manner, the stator is an annular magnetic component, the rotor is a metal component, and the stator is sleeved on the outer side of the rotor.

[0007] With such a design, the rotor can be driven to rotate relative to the stator by electromagnetic drive, which can reduce the friction between the rotor and the stator, reduce the resistance encountered by the rotor during movement, and improve the driving force of the drive device.

[0008] In a possible implementation, the rotor has a gear tooth structure, and the winding is arranged on the rotor through the gear tooth structure.

[0009] Such a design makes it easy to set the winding on the rotor.

[0010] In a possible implementation manner, the gear tooth structure is a gear tooth structure with equal tooth width.

[0011] Such a design can make the arrangement of the windings more uniform, so that the drive device can output the driving force more stably.

[0012] In a possible implementation manner, the windings may be arranged in parallel or in series.

[0013] The specific setting method of the winding can be selected according to actual needs.

[0014] In a possible implementation, the connecting component may be a hollow structure, and the cable passes through a through hole of the connecting portion to be connected to the circuit board and can rotate with the circuit board.

[0015] Such a design can reduce the possibility of the cable getting tangled during the movement of the drive device.

[0016] In a possible implementation, when the rotation speed of the driving device is less than 10% of its maximum rotation speed, the chip system calculates the rotation angle of the driving device using an inverse tangent method, specifically: θ arc =arc(V a / V b ).

[0017] In a possible implementation, when the rotation speed of the driving device is greater than 50% of its maximum rotation speed, the chip system calculates the rotation angle of the driving device using an orthogonal phase-locked loop method.

[0018] In a possible implementation, when the speed of the driving device is greater than or equal to 10% of its maximum speed and less than or equal to 50% of its maximum speed, the chip system calculates the rotation angle of the driving device by angular velocity fusion, specifically: θ = f(ω)θ arc +(1-f(ω))θ pll .

[0019] This design can improve the chip system's accuracy in detecting the rotor rotation angle of the drive device, so that the chip system can more accurately know the current position of the rotor and further obtain the current position of the object to be driven.

[0020] In a possible implementation, the chip system also includes an offline correction program, and the offline correction program of the chip system includes: the driving device drives the driven component to rotate for one circle, and during the movement of the driving component, the chip system enters the Hall signal correction mode and obtains the DC offset value of the Hall signal. During the normal operation of the driving device, within the pulse width modulation carrier cycle, the chip system re-samples the Hall signal and determines whether the new sampled signal exceeds the limit value, that is, whether the sampled Hall signal is located in the interval formed by the maximum value and the minimum value of the Hall signal within an electrical cycle. If the sampled signal exceeds the interval, the chip system performs amplitude correction on the sampled signal (when the sampled signal is greater than the maximum value, the maximum value of the interval is taken, and when the sampled signal is less than the minimum value, the minimum value of the interval is taken). After the correction, the chip system corrects the DC offset value and the phase difference. If the sampled signal does not exceed the limit value, the chip system directly enters the step of correcting the DC offset value and the phase difference of the Hall signal. After the chip system completes the DC offset value and phase difference correction steps of the Hall signal, the chip system performs position resolution on the rotor. After the chip system completes the step of calculating the position of the rotor, when the working time of the drive device has not ended, after the chip system receives the stop command (that is, the camera component reaches the specified position), the chip system ends the offline correction program. When the working time of the drive device has not ended, and the chip system has not received the stop command, the chip system controls the program to return to the step of sampling the Hall signal within the pulse width modulation carrier cycle, and the chip system continues to run the program. At this time, the camera component is in motion until the chip system receives the stop command (that is, the camera component reaches the specified position). When the working time of the drive device ends and the chip system does not receive the stop command, the camera component has not yet reached the specified position. The chip system controls the program to return to the starting stage, and the drive device performs open-loop operation again. The chip system enters the Hall signal correction mode until the chip system receives the stop command (that is, the camera component reaches the specified position). When the chip system finishes running the offline correction program (that is, the chip system receives the stop command), the chip system saves the offline correction parameters.

[0021] In this way, the accuracy of the chip system in detecting the rotor position can be improved.

[0022] In a possible implementation, the chip system also includes an online correction program. The online correction program includes: after completing the offline correction, the driving device drives the object to be driven to move to a preset position, or moves at a preset speed for a preset time. In the process of the driving device driving the object to be driven to move, the driving device enters a closed-loop drive mode and performs sampling within the pulse width modulation carrier cycle. The control time reaches the correction cycle. When the control time does not reach the correction cycle or the driving device does not rotate a complete mechanical cycle, the online correction program re-controls the driving device to enter the closed-loop drive mode; when the control time reaches the correction cycle and the driving device rotates to complete a complete mechanical cycle, the chip system performs DC offset value and phase deviation correction, and updates the correction parameters. At this time, if a shutdown command is received, the online correction program is terminated. If a shutdown command is not received, the chip system re-controls the driving device to enter the closed-loop drive mode.

[0023] The online calibration program can update the parameters of the chip system in real time, reduce the impact of external factors on the detection, and thus improve the accuracy of the detection results.

[0024] The second aspect of the present application provides a driving device, the driving device includes a stator mounted on a housing, a rotor and a circuit board mounted on a connecting component, and a chip system for collecting information of a Hall element of the circuit board, the magnetic component includes 19 N-pole magnetic segments and 19 S-pole magnetic segments, the magnetic poles of adjacent magnetic segments are opposite, the Hall element includes a first Hall element and a second Hall element, in the projection along the height direction of the driving device, the direction from the first Hall element to the center of the magnetic component and the direction from the second Hall element to the center of the magnetic component have a preset angle, the degree of the angle is 4.737°, and the winding is set on the rotor through the gear structure of the rotor. The chip system includes an online correction program and an offline correction program.

[0025] A third aspect of the present application provides a camera device, which includes a camera assembly and a driving device for driving the camera assembly to rotate, wherein the driving device can be the driving device involved in any of the above items.

[0026] Such a design can improve the movement accuracy of the camera component, facilitate the detection of the position of the camera component, and at the same time reduce costs, which is more in line with actual usage needs.

[0027] In a possible implementation, the camera device includes a plurality of driving devices, each driving device being used to drive the camera assembly to rotate in a different direction.

[0028] This design allows the camera assembly to be rotated to different positions and shoot at different angles, which is more in line with actual usage needs.

[0029] In a possible implementation, the camera device includes a first driving device for driving the camera assembly to move in a vertical direction and a second driving device for driving the camera assembly to move in a horizontal direction.

[0030] Such a design enables the camera assembly to be rotated to different positions, providing a wider shooting angle.

[0031] A fourth aspect of the present application provides an electronic device, wherein the electronic device may be a spherical camera or a panoramic camera, etc.

[0032] The electronic device provided in the present application has the advantages of faster rotation speed and lower noise, and is more in line with actual usage requirements.

[0033] The present application relates to a driving device, a camera device and an electronic device, wherein the driving device includes a stator, a rotor and a circuit board, and a chip system for collecting information of the Hall element of the circuit board, the magnetic component includes a plurality of magnetic segments, the magnetic poles of adjacent magnetic segments are opposite, the Hall element includes a first Hall element and a second Hall element, in the projection range of the driving device along its height direction, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic component is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic component is L2, and there is a preset angle between L1 and L2, and the degree of the angle is 90 / P+(360 / P)*n. Such a design can reduce the components required for the driving device, reduce costs, and better meet actual usage requirements.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the structure of a camera device provided in an embodiment of the present application;

[0036] Figure 2 An exploded diagram of a driving device provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the projection positions of the stator and the Hall element provided in the embodiment of the present application;

[0038] Figure 4 The rotation speed ω function provided in the embodiment of the present application;

[0039] Figure 5 A flowchart of offline correction provided in an embodiment of the present application;

[0040] Figure 6 A waveform diagram of a Hall element signal provided in an embodiment of the present application;

[0041] Figure 7 A flow chart of rotor position calculation provided in an embodiment of the present application;

[0042] Figure 8 The orthogonal signal calculation formula provided in the embodiment of the present application;

[0043] Fig. 9 A flowchart of online correction provided by an embodiment of the present application;

[0044] Fig.10 A schematic diagram of the structure of a driving device provided in an embodiment of the present application;

[0045] Fig.11 An angle simulation schematic diagram of a driving device provided in an embodiment of the present application;

[0046] Fig.12 A schematic diagram of the rotation speed simulation of the driving device provided in the embodiment of the present application;

[0047] Fig.13 A schematic diagram of the structure of a first driving device provided in an embodiment of the present application;

[0048] Fig.14 A schematic diagram of the internal structure of a camera device provided in an embodiment of the present application;

[0049] Fig.15 A schematic diagram of the structure of the second driving device provided in an embodiment of the present application.

[0050] Reference numerals:

[0051] 1- housing;

[0052] 2-driving device, 21-stator, 211-magnetic segment, 22-rotor, 221-tooth structure, 23-circuit board, 24-Hall element, 25-rotating component, 26-connecting component;

[0053] 3-first driving device, 31-first stator, 32-first rotor, 33-first circuit board, 34-third Hall element, 35-fourth Hall element;

[0054] 4-second driving device, 41-second stator, 42-second rotor, 43-second circuit board, 44-fifth Hall element, 45-sixth Hall element;

[0055] 5- Cables.

[0056] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0057] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0058] In a specific embodiment, the present application is further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0059] With the development of science and technology, cameras have become a commonly used monitoring equipment. As the application scope of cameras becomes wider and wider, the fixed cameras can no longer meet people's needs because of their single angle coverage. Therefore, cameras that can move to change the illumination angle, such as rotating spherical cameras, have gradually replaced fixed cameras.

[0060] During the rotation of the camera, the current position of the camera needs to be obtained. Usually, the camera is equipped with multiple position detection components such as accelerometers, gyroscopes, and attitude angle sensors. During the operation of the camera, the accelerometers, gyroscopes, attitude angle sensors and other position detection components detect the position data of the camera to form a data feedback chain. The processor collects the detection data of each position detection component and calculates the current position of the camera through the internal calculation program.

[0061] However, this method requires the data of each position detection component to be integrated when calculating the position of the camera. When any one or more of the position detection components fails, the data feedback chain cannot work properly, resulting in the processor being unable to calculate the current position of the camera. In addition, this method requires the installation of multiple position detection components on the camera, which occupies the internal space of the camera and increases the size of the camera. At the same time, the cost of position detection devices such as gyroscopes is high, which greatly increases the overall cost of the camera.

[0062] In view of this, an embodiment of the present application provides a camera device for providing a new solution for detecting the position of a camera, which can not only improve the position detection accuracy of the camera device, but also improve the movement accuracy of the camera, simplify the structure of the camera, and reduce costs.

[0063] like Figure 1 As shown, an embodiment of the present application provides a camera device, which includes a housing 1, a camera assembly for collecting video information, and a driving device 2 for driving the camera assembly to rotate relative to the housing 1. The camera device may include a plurality of driving devices 2, each driving device 2 drives the camera assembly to move in different directions, so as to drive the camera assembly to rotate to different positions, thereby enabling the camera assembly to collect video information from different positions.

[0064] like Figure 2As shown, in a possible implementation, the driving device 2 includes a stator 21, a rotor 22 and a circuit board 23. Either one of the stator 21 and the rotor 22 is a magnetic component, and the other is a current-carrying conductor. In a specific implementation, the stator 21 is a magnetic component, the rotor 22 can be a metal component, and the rotor 22 is provided with a winding. When a current passes through the winding, the winding is acted upon by the Ampere force under the action of the magnetic field of the magnetic component. Driven by the Ampere force, the rotor 22 can rotate relative to the stator 21, so that the rotor can drive the object to be driven to rotate. Specifically, the circuit board 23 can rotate relative to the stator 21 with the rotor 22. The circuit board 23 can be provided with at least two Hall elements 24. Since a Hall element 24 is required as a reference in the process of the processor calculating the position of the camera assembly, at least two Hall elements 24 are required to calculate the current position of the camera. The Hall element 24 can be used to collect the position information of the circuit board 23 and send the data to the processor. The processor can be installed on the driving device 2 or on a device having the driving device 2. The processor processes the information collected by the Hall element 24 to obtain the rotation angle of the circuit board 23, and then the rotation angle of the rotor 22 can be known. According to the rotation angle of the rotor 22, the rotation angle of the object to be driven can be calculated, and then the current position of the object to be driven can be known.

[0065] like Figure 2 As shown, in a possible implementation, when the driving device 2 is applied to the camera device, for the convenience of installation, the driving device 2 can generally further include a connecting component 26 and a rotating component 25, and the rotating component 25 can be a rotating member such as a bearing. Specifically, the driving device 2 can be relatively fixedly connected to the housing 1 through the connecting component 26, and the rotating component 25 can enable at least part of the driving device 2 (rotor 22, circuit board 23, etc.) to rotate relative to the housing 1, so that it is more convenient for the driving device 2 to drive the camera assembly to rotate relative to the housing 1, so that the camera assembly can reach a preset position.

[0066] like Figure 3 As shown, in a possible implementation, the stator 21 is a magnetic ring, which is sleeved on the outer side of the rotor 22. The magnetic ring includes a plurality of magnetic segments 211, which are connected to form a magnetic ring, and the magnetic poles of each magnetic segment 211 are the magnetic poles on the side of each magnetic segment 211 facing the rotor 22. Figure 3 As shown, in a possible implementation, the direction indicated by the arrow is the direction of the magnetic flux lines of the corresponding magnetic segment 211, the side of the magnetic segment 211 facing the rotor 22 (i.e., the inner side of the magnetic ring) is the S pole, and the side away from the rotor 22 (i.e., the outer side of the magnetic ring) is the N pole, then the magnetic pole of the magnetic segment 211 in the magnetic ring can be defined as the S pole. Figure 3As shown, the magnetic poles of adjacent magnetic segments 211 are opposite. Usually, the number of magnetic segments 211 at the S pole is equal to the number of magnetic segments 211 at the N pole, so that the magnetic poles of adjacent magnetic segments 211 in the magnetic ring can be opposite. The Hall element 24 includes a first Hall element and a second Hall element. In the projection along the height direction of the camera device, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic ring is L1, and the direction from the projection range of the second Hall element to the center of the projection range of the magnetic ring is L2. The angle between L1 and L2 is α, where α=90 / P+(360 / P)*n, where P is the number of magnetic segments 211 at the S pole or the number of magnetic segments 211 at the N pole. n can be 0 or a positive integer, and * represents a multiplication sign.

[0067] The closer the output angle of the drive device 2 and the actual rotation angle of the drive device 2 are to form a linear relationship, the higher the accuracy of the drive device 2. When the angle between L1 and L2 satisfies α=90 / P+(360 / P)*n, the output angle of the drive device 2 and the actual rotation angle of the drive device 2 approach a linear relationship.

[0068] like Figure 3 As shown, in a possible implementation, the magnetic ring includes 19 pairs of magnetic segments 211, that is, the magnetic ring is surrounded by 19 N-pole magnetic segments 211 and 19 S-pole magnetic segments 211, and the position of one of the Hall elements 24 is preset, P is 19, n is 0, then the angle α=90 / 19+(360 / 19)*0≈4.737°, during processing, the staff can determine the setting position of another Hall element 24 according to the size of the angle α. The processor can select and detect the information of two Hall elements 24 that meet the conditions (in this embodiment, two Hall elements 24 with an angle of 4.737°) and calculate through the program of the processor to obtain the current position of the camera assembly.

[0069] When the two Hall elements 24 are arranged on the circuit board 23 in the above manner, the processor can calculate the position of the rotor according to the information of the Hall elements 24, and then the processor can calculate the current position of the object to be driven.

[0070] The embodiment of the present application also provides a chip system, which can be set in the processor of the driving device 2. The chip system is used to collect data of the Hall element 24 and process the data of the Hall element 24 through a program pre-entered into the chip system, so that the processor can obtain the position of the object to be driven.

[0071] When the speed of the drive device 2 is lower than 10% of its maximum speed, the chip system uses arc tangent calculation to obtain the rotation angle of the circuit board 23. When the speed of the drive device 2 is higher than 50% of its maximum speed, the chip system uses an orthogonal phase-locked loop calculation to obtain the rotation angle of the circuit board 23.

[0072] The fusion formula of angular velocity is: θ=f(ω)θ arc +(1-f(ω))θ pll .

[0073] Where f(ω) is a function of the rotational speed ω, and the specific function is as follows: Figure 4 As shown, θ arc is the angle obtained by the processor through the inverse tangent calculation, θ pll is the angle calculated by the processor through the orthogonal phase-locked loop, and θ is the angle after fusion using the above formula.

[0074] When the rotation speed of the driving device 2 is between 10% and 50% of its maximum rotation speed, the processor fuses the angle calculated by the inverse tangent and the angle calculated by the orthogonal phase-locked loop through the above-mentioned angle fusion formula to obtain the rotation angle of the circuit board 23 at the current rotation speed, thereby knowing the angle of the rotor 22 based on the rotation angle of the circuit board 23, and enabling the processor to obtain the current position of the camera assembly.

[0075] When the rotation speed of the driving device 2 is between 10% and 50% of its maximum rotation speed, the processor can calculate the angle of the circuit board 23 using the above formula, and thus can know the rotation angle of the object to be driven and obtain its current position.

[0076] The processor can perform offline and online correction on the Hall signal, such as Figure 5 As shown, the specific steps of offline correction of the processor are as follows:

[0077] The user controls the system to power on and enables the drive device 2 to work. The processor issues instructions so that the drive device 2 drives the camera assembly to rotate one circle. The drive device 2 runs in an open loop, and the processor enters the Hall signal correction mode. The user can preset the working time of the drive device 2.

[0078] The Hall signal is sampled by the processor, and the waveform of the Hall signal is as follows: Figure 6 As shown, the ordinate is the voltage value and the abscissa is the sampling point. For example, 1 can be understood as the first sampling point and 19 can be understood as the 19th sampling point. The user can pre-set multiple sampling points within a period of a sine wave signal, and the processor can measure the voltage value of each sampling point respectively. That is, during the rotation of the drive device 2, the processor measures the voltage value when the Hall element 24 is located at different positions, and the processor obtains the waveform diagram of the Hall signal. CH1 represents channel 1 of the oscilloscope, that is, Figure 6The waveform diagram shown is a waveform diagram of one of the Hall elements 24 of the driving device 2 (the waveform diagrams of other Hall elements 24 are displayed by other channels and are not shown in the figure). The processor obtains the maximum and minimum values ​​of the Hall signal of Hall element A and the maximum and minimum values ​​of the Hall signal of Hall element B by comparing the Hall signals of each electrical cycle.

[0079] During the rotation of the camera assembly, the data calculated by the processor include the DC offset values ​​OffsetA and OffsetB of the Hall signal, the amplitude conversion coefficient K of the Hall signal, and the phase difference φ in each electrical cycle. After obtaining the above data, the driving device 2 can drive the camera assembly to move to a preset position, or the driving device 2 can drive the camera assembly to rotate at a preset speed for a preset time, so that the camera assembly reaches the specified position, that is, the camera device enters a normal working state, and the user can drive the camera assembly to the specified position through the driving device 2 according to the needs.

[0080] During the normal operation of the camera device, within the pulse width modulation (PWM) carrier cycle, the processor resamples the Hall signal to determine whether the new sampled signal exceeds the limit value, that is, whether the sampled Hall signal is within the interval formed by the maximum and minimum values ​​of the Hall signal within one electrical cycle. If the sampled signal exceeds the interval, the processor performs amplitude correction on the sampled signal (when the sampled signal is greater than the maximum value, the maximum value of the interval is taken, and when the sampled signal is less than the minimum value, the minimum value of the interval is taken). After the correction, the processor corrects the DC offset value and the phase difference. If the sampled signal does not exceed the limit value, the processor directly enters the step of correcting the DC offset value and the phase difference of the Hall signal.

[0081] After the processor completes the DC offset value and phase difference correction steps of the Hall signal, the processor performs position resolution on the rotor 22. After the processor completes the position resolution step of the rotor 22, when the working time of the drive device 2 has not ended, after the processor receives the shutdown command (that is, the camera assembly reaches the specified position), the processor ends the offline correction program. When the working time of the drive device 2 has not ended and the processor has not received the shutdown command, the processor controls the program to return to the step of sampling the Hall signal within the PWM carrier cycle, and the processor continues to run the program. At this time, the camera assembly is in motion until the processor receives the shutdown command (that is, the camera assembly reaches the specified position). When the working time of the drive device 2 ends and the processor does not receive the shutdown command, the camera assembly has not yet reached the specified position, the processor controls the program to return to the starting stage, the drive device 2 performs open-loop operation again, and the processor enters the Hall signal correction mode until the processor receives the shutdown command (that is, the camera assembly reaches the specified position). When the processor finishes running the offline correction program (that is, the processor receives the shutdown command), the processor saves the offline correction parameters.

[0082] During the normal operation of the drive device 2, after the processor completes the sampling of the Hall signal and the correction of the DC offset value and phase difference of the Hall signal, the processor performs position resolution on the rotor 22 so that the processor obtains the current position of the rotor 22, thereby enabling the processor to obtain the rotation angle of the drive device 2.

[0083] When the camera device is working normally, the processor performs the step of calculating the position of the rotor 22. The process of calculating the position of the rotor is as follows: Figure 7 As shown, Figure 7 As shown in the left part of the Hall signal correction, the online correction parameter search step performed by the processor includes the process of the processor calculating the DC offset value, the Hall signal amplitude, the amplitude conversion coefficient K and the phase difference φ. Taking Hall element A as an example, the online correction parameter calculation formula is as follows:

[0084] During the movement of the camera assembly, the processor obtains the maximum value HallRawAMax and the minimum value HallRawAMin of the Hall signal of the Hall element A through the waveform diagram of the Hall signal.

[0085] The calculation steps of the DC offset value OffsetA of Hall element A are:

[0086] OffsetA=(HallRawAMax+HallRawAMin) / 2.

[0087] The calculation steps of the Hall signal amplitude HallAAmp of Hall element A are as follows:

[0088] HallAAmp=HallRawAMax–HallRawAMin.

[0089] Similarly, the processor can calculate the DC offset value OffsetB of the Hall element B and the Hall signal amplitude HallBAmp.

[0090] The calculation formula of the amplitude conversion coefficient HallK is: HallK=HallAAmp / HallBAmp.

[0091] The calculation formula of the phase difference is: φ=t / T0*2π, where T0 is the period of the Hall signal, and t is the time that the Hall signal of Hall element A leads the Hall signal of Hall element B.

[0092] HallRawA and HallRawB are the sampling values ​​of the Hall signal. The calculation formulas of the orthogonal signals HallA and HallB are as follows: Figure 8 shown.

[0093] like Figure 7 (right side of Hall signal correction) as shown, when the processor calculates the angle value of the orthogonal phase-locked loop, the user can pre-set the initial angle value θ pll , the processor compares hallB with cosθ pll The product of hallA and sinθ is subtracted pll The processor then adds Δω to the initial value ω0 of the Hall signal angular velocity to obtain the real-time Hall signal angular velocity value ω'. The processor integrates ω' to obtain the new θ pll , that is, the angle value of the orthogonal phase-locked loop. When the processor performs the next calculation, the θ used in the calculation process pll is the θ obtained in the previous calculation pll .

[0094] The calculation process of the processor inverse tangent angle value is arc(V a / V b ), where V a is the voltage value of Hall element A, V b is the voltage value of Hall element B.

[0095] Through the above calculation, the processor can obtain θ pll and θ arc, bringing the two into the aforementioned angular velocity fusion formula, the processor can obtain the fused angle θ, that is, the angle at which the driving device 2 rotates when the rotation speed of the driving device 2 is between 10% and 50% of its maximum rotation speed, thereby enabling the processor to obtain the rotation angle of the camera assembly driven by the driving device 2, thereby enabling the processor to obtain the current position of the camera assembly.

[0096] like Fig. 9 As shown, the specific steps of the online correction of the processor are: the user controls the system to power on, the processor runs the offline correction step, and after the processor completes the offline correction step, the drive device 2 enters the closed-loop drive mode. At this time, the camera device is in a normal working state, that is, the drive device 2 can drive the camera component to a specified position, or the drive device 2 drives the camera component to move at a preset speed for a preset time.

[0097] When the driving device 2 drives the camera assembly to move, the processor samples the Hall signal within the PWM carrier cycle.

[0098] The correction period T can be preset by the user, for example, T can be one hour, two hours, etc. The user can select the specific value of T according to the actual situation. When the control time reaches the correction period T and the drive device 2 rotates through a complete mechanical cycle (usually 360°), the processor corrects the DC offset value and phase difference of the Hall signal. If the control time does not reach the correction period and / or the drive device 2 does not rotate through a complete mechanical cycle, the processor control program returns to the starting stage, and the drive device 2 re-enters the closed-loop drive mode. If the control time reaches the correction period and the drive device 2 rotates through a complete mechanical cycle, the processor control program enters the next step.

[0099] The processor performs DC offset value and phase difference correction and updates the correction parameters. After the processor updates the correction parameters, if the processor does not receive a shutdown command, the processor controls the program to return to the start stage, and the drive device 2 re-enters the closed-loop drive mode. If the processor receives a shutdown command, the processor ends the program, and the drive device 2 stops driving the camera assembly.

[0100] In this way, the processor can update the correction parameters of the drive device 2. The drive device 2 provided in the embodiment of the present application can be corrected offline and online by the processor. The processor can improve the correction accuracy of the drive device 2 through online correction, thereby improving the position accuracy of the drive device 2. At the same time, the online correction of the processor can also compensate the correction parameters of the drive device 2 from time to time, reducing the influence of external factors on the motion accuracy of the drive device 2. For example, when the temperature of the outside world changes, the temperature is likely to affect the motion accuracy of the drive device 2. At this time, the drive device 2 can be corrected from time to time through the online correction program of the processor to reduce the influence of temperature on the motion accuracy of the drive device 2 and improve the motion accuracy of the drive device 2.

[0101] like Fig.10 As shown, in a possible implementation manner, the stator 21 is a magnetic ring, the rotor 22 is a metal component, and the rotor 22 is provided with a gear tooth structure 221 . By providing the gear tooth structure 221 on the rotor 22 , it is convenient to install windings on the rotor 22 .

[0102] In a possible implementation manner, the gear tooth structure 221 of the rotor 22 is a gear tooth structure 221 with equal tooth width.

[0103] Such a design can make the distribution of the winding more uniform, and improve the stability of the winding in driving the rotor 22 when the winding is subjected to the Ampere force.

[0104] The windings may be wound on the rotor 22 in parallel or in series, and the specific winding method may be selected according to actual conditions.

[0105] like Fig.10 As shown, in a possible implementation, the camera device may have a connecting component 26. Specifically, the connecting component 26 may be a connecting shaft. The connecting shaft may be arranged along the height direction of the camera assembly. The rotating component 25 is sleeved on the outside of the connecting shaft. The rotor 22 and the circuit board 23 are respectively connected to the connecting shaft through the rotating component 25. The rotating component 25 may be a bearing. The rotor 22 and the circuit board 23 may rotate around the connecting shaft.

[0106] Such a design facilitates the rotation of the rotor 22 and the circuit board 23 relative to the housing 1 . The rotor 22 and the circuit board 23 are installed on the connecting shaft via bearings, which can reduce the wear of the rotor 22 and the circuit board 23 during rotation and extend the service life of the rotor 22 and the circuit board 23 .

[0107] The driving device 2 provided in the embodiment of the present application is driven by electromagnetic means, which can reduce the mutual contact between the stator 21 and the rotor 22, so as to reduce the friction between the stator 21 and the rotor 22 during the movement of the driving device 2, reduce the wear of the stator 21 and the rotor 22 during the working process, and extend the service life of the motor.

[0108] Compared with traditional pulley-driven motors, the rotor 22 of the drive device 2 provided in the embodiment of the present application encounters less resistance during movement. Therefore, the drive device 2 provided in the embodiment of the present application can provide greater driving force and higher rotation speed during operation. According to actual experiments, the rotation speed of the drive device 2 provided in the embodiment of the present application can reach 800° per second.

[0109] like Fig.11 As shown, the accompanying drawing is a simulated schematic diagram of the driving device 2 provided in the embodiment of the present application. The horizontal axis of the figure is time, and the vertical axis is the rotation angle. The positioning error of the driving device 2 provided in the embodiment of the present application is less than 0.1°, and the angle steady-state fluctuation is less than 0.3°. Therefore, the positioning accuracy of the driving device 2 provided in the embodiment of the present application is higher and is more in line with actual usage requirements.

[0110] like Fig.12 As shown, the attached figure is a simulated schematic diagram of the driving device 2 provided in the embodiment of the present application. The horizontal axis of the figure is time, and the vertical axis is the rotational speed. The corresponding speed of the driving device 2 provided in the embodiment of the present application is faster than the corresponding speed of the driven pulley drive motor, and is more in line with actual usage requirements.

[0111] The embodiment of the present application provides a camera device. In a possible implementation, the driving device 2 of the camera device may include a first driving device 3 and a second driving device 4, wherein the first driving device 3 is used to drive the camera assembly to rotate around the height direction of the camera assembly, and the second driving device 4 is used to drive the camera assembly to rotate around the width direction of the camera assembly. During use, the first driving device 3 and the second driving device 4 can cooperate to enable the camera assembly to rotate, so that the camera assembly can collect video information from different angles. The rotation direction of the camera assembly driven by the driving device 2 can be set according to actual conditions, and the actual rotation direction of the camera assembly includes but is not limited to the above directions.

[0112] It should be noted here that the application field of the driving device 2 provided in the embodiment of the present application includes but is not limited to this camera device, and other equipment that needs to detect the position during movement can adopt the driving device 2 provided in the embodiment of the present application.

[0113] like Fig.13As shown, in a possible implementation, the first driving device 3 may include a first rotor 32, a first stator 31 and a first circuit board 33, wherein the first circuit board 33 is provided with a third Hall element 34 and a fourth Hall element 35. The first stator 31 is fixedly connected to the housing 1, the first rotor 32 is mounted on the housing 1 through the rotating component 25, and can rotate relative to the first stator 31, and the first circuit board 33 can rotate with the first rotor 32. Specifically, one of the first stator 31 and the first rotor 32 is a magnetic component, and the material of the other can be metal. In a possible implementation, the first stator 31 is a magnetic component, and the first rotor 32 is a metal component, and the metal component is wound with a winding. When a current passes through the winding, the magnetic field generated by the magnetic component and the current inside the winding jointly generate an Ampere force, and the Ampere force can drive the metal component (i.e., the first rotor 32) to rotate relative to the magnetic component (i.e., the first stator 31), thereby driving the camera assembly to rotate. When the current position of the camera assembly needs to be detected, data from the third Hall element 34 and the fourth Hall element 35 can be collected and sent to a processor that has a corresponding program recorded inside it to calculate the current position of the camera assembly using data from the third Hall element 34 and the fourth Hall element 35.

[0114] Since the first circuit board 33 rotates with the first rotor 32, the rotation angle of the first circuit board 33 can be detected by the third Hall element 34 and the fourth Hall element 35, and then the rotation angle of the first rotor 32 can be known. According to the rotation angle of the first rotor 32, the rotation angle of the camera assembly can be obtained, and then the processor can calculate the current position of the camera assembly. Compared with the solution of using multiple detection components such as accelerometers, gyroscopes, and attitude angle sensors to detect the position of the camera assembly, the third Hall element 34 and the fourth Hall element 35 provided in the embodiment of the present application have the advantages of lower cost and fewer components. Such a design reduces the volume of the first drive device 3, thereby saving the internal space of the camera device, which is conducive to designers optimizing the structure of the camera device to reduce the overall volume of the camera device.

[0115] Specifically, the number of the magnetic segments 211 of the magnetic ring is greater than the number of teeth of the first rotor 32 .

[0116] When the number of magnetic segments 211 of the magnetic ring is less than the number of gear teeth, the first rotor 32 can only rotate in one direction, resulting in the first driving device 3 being able to only drive the camera assembly to rotate in one direction, which is not convenient for practical use.

[0117] like Fig.14As shown, in a possible implementation, the connecting component 26 may be a connecting shaft. Specifically, the connecting shaft has a through hole, that is, the connecting shaft may be a hollow structure, and the cable of the camera device (shown by the dotted line in the figure) may pass through the hollow connecting shaft and enter the interior of the camera device. Specifically, part of the cable is relatively fixedly connected to the circuit board 23. When the driving device 2 drives the camera assembly to rotate, each cable rotates with the circuit board 23, thereby reducing the possibility of the cables being entangled with each other due to the rotation of some cables and the non-rotation of some cables during the rotation of the camera assembly. At the same time, the relative movement between the circuit board 23 and the cable can be reduced, thereby reducing the wear of the cable and reducing the possibility of the cable breaking.

[0118] like Fig.15 As shown, in a possible implementation, the second driving device 4 includes a second stator 41, a second rotor 42 and a second circuit board 43. The second stator 41 is mounted on the housing 1 (the housing 1 shown in the figure is a part of the whole housing). The second circuit board 43 and the second rotor 42 can be mounted on the housing 1 through a rotating component 25. The second circuit board 43 can rotate relative to the second stator 41 along with the second rotor 42. The second circuit board 43 is provided with a fifth Hall element 44 and a sixth Hall element 45. The fifth Hall element 44 and the sixth Hall element 45 are used to collect the position information of the second circuit board 43. The processor collects the data of the fifth Hall element 44 and the sixth Hall element 45, and can calculate the rotation angle of the second circuit board 43 through a pre-recorded algorithm, so that the processor can obtain the rotation angle of the second rotor 42 according to the rotation angle of the second circuit board 43, and obtain the rotation angle of the camera assembly driven by the second driving device 4 according to the rotation angle of the second rotor 42, and then obtain the position information of the camera assembly.

[0119] The camera device can be provided with a plurality of driving devices 2. For example, the camera device can be provided with a first driving device 3 and a second driving device 4. The first driving device 3 and the second driving device 4 can be used to drive the camera assembly to rotate in different directions, respectively. In a possible implementation, the first driving device 3 can be used to drive the camera assembly to rotate around a vertical direction, and the second driving device 4 can be used to drive the camera assembly to rotate around a horizontal direction. The two can cooperate with each other so that the camera assembly can shoot from different angles, which is more in line with actual use requirements. The camera device provided in the embodiment of the present application collects the position information of the camera assembly by using a Hall element 24, which can reduce the use of position detection devices such as accelerometers and gyroscopes, which not only saves the internal space of the camera device, but also saves the overall cost, which is more in line with actual use requirements.

[0120] The embodiment of the present application also provides an electronic device, which may include the camera device involved in any of the above embodiments. The electronic device may be a monitoring device or a camera device for photographing an object to be photographed. The electronic device may be a spherical camera, such as a 7-inch spherical monitoring camera, or the electronic device may be a household panoramic monitoring device placed on a desktop, next to a TV, etc. It should be noted that the electronic device provided by the embodiment of the present application includes but is not limited to the above-mentioned embodiments, and other monitoring devices or camera devices with two degrees of freedom may adopt the solution provided by the embodiment of the present application.

[0121] Note: A portion of this patent application document contains material which is subject to copyright protection. The copyright owner reserves all rights reserved except for the production of copies of the material in the patent file or patent record in the Patent Office.

Claims

1. A driving device, characterized in that: The driving device comprises: stator; a rotor, the rotor being rotatable relative to the stator; A circuit board, wherein the circuit board is provided with a first Hall element and a second Hall element; A chip system, wherein the chip system is used to collect information of the first Hall element and the second Hall element; The stator is sleeved with the rotor, and one of the stator and the rotor is a magnetic component, and the other is a conductive component, the magnetic component includes a plurality of magnetic segments, and the magnetic poles of adjacent magnetic segments are opposite; In the projection range of the driving device along its height direction, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic component is L1, and the direction from the projection range of the second Hall element to the center of the projection range of the magnetic component is L2, and there is a preset angle between L1 and L2; The degree of the angle is 90 / P+(360 / P)*n, wherein P is the number of the magnetic segments at the S pole or the number of the magnetic segments at the N pole, n is 0 or a positive integer, and * represents a multiplication sign.

2. The driving device according to claim 1, characterized in that: The stator is the magnetic component, and the rotor is a metal component; The stator is annular and is sleeved on the outer side of the rotor.

3. The driving device according to claim 2, characterized in that: The rotor has a gear tooth structure, and the gear tooth structure is used to set the winding.

4. The driving device according to claim 3, characterized in that: The gear tooth structure is a gear tooth structure with equal tooth width.

5. The driving device according to claim 3, characterized in that: The windings are arranged in series or in parallel.

6. The driving device according to any one of claims 1 to 5, characterized in that: The driving device further comprises a connecting component and a rotating component, and the rotor and the circuit board are connected to the connecting component via the rotating component.

7. The driving device according to any one of claims 1 to 5, characterized in that: The connecting component has a through hole, and the cable of the driving device is arranged along the through hole and fixedly connected to the circuit board.

8. The driving device according to any one of claims 1 to 5, characterized in that: When the speed of the driving device is less than 10% of its maximum rotation speed, the chip system calculates the rotation angle of the rotor using an inverse tangent method.

9. The driving device according to claim 8, characterized in that: The calculation formula of the inverse tangent method is: θ arc =arc(V a / V b ), where the θ arc is the rotation angle of the drive device, V a is the voltage value of the first Hall element, V b is the voltage value of the second Hall element.

10. The driving device according to any one of claims 1 to 5, characterized in that: When the speed of the driving device is greater than 50% of its maximum rotation speed, the chip system calculates the rotation angle of the driving device using an orthogonal phase-locked loop method.

11. The driving device according to claim 10, characterized in that: The orthogonal phase-locked loop method includes calculating the Hall signal angle error signal.

12. The driving device according to claim 11, characterized in that: The calculation method of the Hall signal angle error signal is: presetting an initial angle value, and subtracting the product of the orthogonal signal of the first Hall element and the sine value of the initial angle value from the product of the orthogonal signal of the second Hall element and the cosine value of the initial angle value.

13. The driving device according to claim 11, characterized in that: The orthogonal phase-locked loop method also includes calculating the Hall signal angular velocity error signal.

14. The driving device according to claim 13, characterized in that: The calculation method of the Hall signal angular velocity error signal is: bring the Hall signal angle error signal into the regulator to obtain the Hall signal angular velocity error signal, and the calculation formula is: Δω=Kp*ε(t)+Ki*∫ε(t)dt, wherein Δω is the Hall signal angular velocity error signal, ε(t) is the Hall signal angle error signal, Kp is the proportional coefficient, and Ki is the integral coefficient.

15. The driving device according to claim 13, characterized in that: The orthogonal phase-locked loop method also includes calculating the real-time Hall signal angular velocity value.

16. The driving device according to claim 15, characterized in that: The real-time Hall signal angular velocity value is calculated by adding the Hall signal angular velocity error signal to the Hall signal angular velocity initial value to obtain the real-time Hall signal angular velocity value.

17. The driving device according to claim 15, characterized in that: The orthogonal phase-locked loop method also includes integrating the real-time Hall signal angular velocity value to obtain the rotation angle of the drive device.

18. The driving device according to any one of claims 1 to 5, characterized in that: When the rotation speed of the driving device is greater than or equal to 10% of its maximum rotation speed and less than or equal to 50% of its maximum rotation speed, the chip system calculates the rotation angle of the driving device by angular velocity fusion.

19. The driving device according to claim 18, characterized in that: The calculation formula of the angular velocity fusion is: θ = f(ω)θ arc +(1-f(ω))θ pll , where f(ω) is a function of the rotational speed ω, θ arc is the angle obtained by inverse tangent calculation, θ pll is the angle calculated by the orthogonal phase-locked loop, and θ is the rotation angle of the driving device.

20. The driving device according to any one of claims 1 to 5, characterized in that: The chip system also includes an off-line calibration procedure.

21. The driving device according to claim 20, characterized in that: The offline correction procedure includes: the driving device drives the driven object to rotate one circle, the chip system controls the driving device to enter an open-loop operation mode, the chip system enters a Hall signal correction mode, and the chip system obtains a DC offset value and a phase difference of the Hall signal.

22. The driving device according to claim 21, characterized in that After the chip system acquires the DC offset value and the phase difference of the Hall signal, the driving device enters a normal working mode, and the chip system samples the Hall signal within a pulse width modulation carrier cycle.

23. The driving device according to claim 22, characterized in that: After the chip system samples the Hall signal within the pulse width modulation carrier period, the chip system determines whether the sampled signal exceeds the limit value. If the sampled signal exceeds the limit value, the chip system corrects the sampled signal and then corrects the DC offset value and the phase difference. If the sampling signal does not exceed the limit value, the chip system corrects the DC offset value and the phase difference.

24. The driving device according to claim 23, characterized in that The chip system comprises the following steps of correcting the sampling signal: When the sampling signal is greater than the maximum value of the limit value, the sampling signal is corrected to the maximum value of the limit value; When the sampling signal is less than the minimum value of the amplitude limit, the sampling signal is corrected to the minimum value of the amplitude limit.

25. The driving device according to claim 23, characterized in that After the chip system corrects the DC offset value and the phase difference, the chip system performs rotor position resolution.

26. The driving device according to claim 25, characterized in that After the chip system performs rotor position calculation, the chip system determines whether the working time of the driving device is over; When the working time of the driving device has not ended, the chip system controls the driving device to enter open-loop operation, and the chip system returns to the step of entering the Hall signal calibration mode; When the working time of the driving device ends, the chip system detects whether it has received a shutdown command. If the chip system receives a shutdown command, the offline correction program ends. If the chip system does not receive a shutdown command, the chip system controls the offline correction program to return to the step of sampling the Hall signal within the pulse width modulation carrier period.

27. The driving device according to any one of claims 1 to 5, characterized in that The chip system includes an online calibration procedure.

28. The driving device according to claim 27, characterized in that The online correction procedure includes obtaining offline correction parameters of the Hall signal.

29. The driving device according to claim 28, characterized in that After the online correction procedure includes acquiring offline correction parameters of the Hall signal, the chip system controls the driving device to enter a closed-loop driving mode.

30. The driving device according to claim 29, characterized in that After the chip system controls the driving device to enter the closed-loop driving mode, the chip system samples the Hall signal within a pulse width modulation carrier cycle.

31. The driving device according to claim 30, characterized in that After the chip system samples the Hall signal within the pulse width modulation carrier cycle, the chip system determines whether the control time reaches the correction cycle and whether the driving device rotates a complete mechanical cycle; When the control time does not reach the calibration cycle and / or the driving device does not rotate a complete mechanical cycle, the chip system controls the online calibration program to return to the step of the driving device entering a closed-loop driving mode; When the control time reaches the correction period and the driving device rotates a complete mechanical cycle, the chip system corrects the DC offset value and the phase difference.

32. The driving device according to claim 31, characterized in that After the chip system calibrates the DC offset value and the phase difference, the chip system updates the calibration parameters.

33. According to the driving device according to claim 32, after the chip system updates the correction parameters, the chip system detects whether a shutdown command is received. If the chip system receives a shutdown command, the chip system ends the online correction program. If the chip system does not receive a shutdown command, the chip system controls the online correction program to return to the step where the chip system controls the driving device to enter a closed-loop driving mode.

34. A driving device, characterized in that: The driving device comprises: case; a stator, the stator being mounted on the housing; a rotor, the rotor being rotatable relative to the stator; A circuit board, wherein the circuit board is provided with a first Hall element and a second Hall element; A chip system, wherein the chip system is used to collect information of the first Hall element and the second Hall element; A connecting component, the connecting component is connected to the housing and is used for mounting the rotor and the circuit board, and the connecting component is connected to the housing; The stator is a magnetic component, the rotor is a metal component, the stator is an annular structure composed of 19 S-pole magnetic segments and 19 N-pole magnetic segments, the magnetic poles of adjacent magnetic segments are opposite, and the stator is sleeved on the outside of the rotor; In the projection range of the driving device along its height direction, the direction from the projection range of the first Hall element to the center of the projection range of the magnetic component is L1, the direction from the projection range of the second Hall element to the center of the projection range of the magnetic component is L2, and the angle between L1 and L2 is 4.737°; The rotor has a gear tooth structure for arranging windings; The rotor and the circuit board are mounted on the connecting component via a rotating component, the connecting component is a hollow structure, and the cable of the driving device passes through the connecting component and is fixedly connected to the circuit board; The chip system includes an off-line correction program and an on-line correction program.

35. A camera device, characterized in that: The camera device comprises a camera assembly and a driving device, wherein the driving device is used to drive the camera assembly to rotate relative to a housing of the camera device; Wherein, the driving device is the driving device described in any one of claims 1 to 34.

36. The camera device according to claim 35, characterized in that The camera assembly includes a plurality of driving devices, each of which is used to drive the camera assembly to rotate relative to the housing of the camera device in different directions.

37. The camera device according to claim 36, characterized in that: The driving device comprises a first driving device and a second driving device; The first driving device is used to drive the camera assembly to rotate around a vertical direction; The second driving device is used to drive the camera assembly to rotate around a horizontal direction.

38. An electronic device, characterized in that: The electronic device is used to photograph or monitor the object to be photographed; Wherein, the electronic device includes a camera device as described in any one of claims 35 to 37.

39. The electronic device according to claim 38, characterized in that The electronic device is a spherical camera.

40. The electronic device according to claim 38, characterized in that The electronic device is a panoramic monitoring device.

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