A positioning self-calibration method of a mobile luminaire and a mobile luminaire

Abstract

The application relates to a positioning self-calibration method of a mobile lamp and the mobile lamp, which comprises an absolute encoder for indicating the rotation angle of the mobile lamp and a driving device for driving the rotation of the mobile lamp; and the method comprises the following steps: S1. multiple preset positioning reference points are arranged in a circumferential range; before delivery, the driving device drives the rotation of the mobile lamp, and meanwhile, the first output values of the absolute encoder corresponding to all the preset positioning reference points are acquired; S2. after delivery, the driving device drives the rotation of the mobile lamp, and meanwhile, the second output values of the absolute encoder are acquired; when the second output values are equal to the first output values corresponding to the preset positioning reference points before delivery, the preset positioning reference points are taken as the calibrated positioning reference points; and S3. based on the calibrated positioning reference points, the positioning of the mobile lamp is performed. The reset process of the application does not need to rotate to the limit in a certain direction to stop by collision, so as to find the initial position, the positioning is fast, the situation that a larger noise is emitted by collision is avoided, and the use experience is improved.

Description

Technical Field

[0001] This invention relates to the field of mobile lighting technology, and more specifically, to a positioning self-calibration method for mobile lighting and a mobile lighting fixture. Background Technology

[0002] Absolute encoders can directly read absolute angle encoding positions. Currently, some mobile lighting fixtures, such as stage lighting, are already using lamp head positioning systems with absolute encoders. Absolute encoders output absolute angle values, eliminating the need to find a starting reference point after power-on, significantly reducing reset time and greatly increasing the ease of use of stage lighting. However, absolute encoders are susceptible to non-linear position distortion, such as… Figure 1 As shown, the degree of data distortion is related to the relative installation positions of the magnet and the sensing chip (specific factors include: the coaxiality and distance between the magnet and the sensor, and the magnetic field strength of the magnet). The distortion data from the absolute encoder causes deviations in the positioning accuracy of the stage lighting fixtures, and the degree of deviation is much greater than that of traditional photoelectric encoders. Therefore, it is necessary to calibrate the absolute encoder to address the distortion.

[0003] In existing technologies, the calibration and reset process requires rotating to the limit in a certain direction and stopping to find the initial position. This process is time-consuming and produces significant noise, affecting the user experience. Summary of the Invention

[0004] To overcome at least one of the defects described in the prior art, this invention provides a self-calibration method for positioning mobile lamps. The reset process does not require rotating to the limit in a certain direction and stopping to find the initial position as in the prior art. This method is faster, avoids the situation of stopping and generating large noise, and improves the user experience.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A positioning self-calibration method for a mobile lamp is provided, comprising an absolute encoder for indicating the rotation angle of the mobile lamp, and a drive device for driving the rotation of the mobile lamp; comprising the following steps:

[0006] S1. Set multiple preset positioning reference points according to the circumference range; before leaving the factory, the drive device drives the moving lamp to rotate, and at the same time obtains the first output value of the absolute encoder corresponding to all preset positioning reference points;

[0007] S2. After leaving the factory, the drive device drives the moving lamp to rotate and at the same time obtains the second output value of the absolute encoder. When the second output value is equal to the first output value corresponding to the preset positioning reference point before leaving the factory, the preset positioning reference point is used as the calibrated positioning reference point.

[0008] S3. Perform positioning of the moving lamps based on the calibrated positioning reference points.

[0009] The invention also includes a controller, which is connected to a drive device and an absolute encoder. The controller controls the rotation of the moving lamp through the drive device. The controller can obtain the output value of the absolute encoder and compare the second output value with the first output value corresponding to the preset positioning reference point before leaving the factory.

[0010] By setting multiple preset positioning reference points, after the mobile lamp is powered on at the factory and enters a reset state, the drive device drives the mobile lamp to rotate and search for the preset positioning reference points. When the second output value is equal to the first output value corresponding to the preset positioning reference point before leaving the factory, this preset positioning reference point is used as the found calibrated positioning reference point. The mobile lamp is then positioned starting from this calibrated positioning reference point. This invention provides a short positioning time, no noise, and a good user experience when positioning the mobile lamp.

[0011] Furthermore, multiple preset positioning reference points are evenly set along the circumference. This setup facilitates the quick locating of calibrated positioning reference points during positioning, further reducing positioning time.

[0012] Furthermore, 30-40 preset positioning reference points are evenly set around the circumference. An appropriate number of preset positioning reference points helps to speed up the process of finding the calibrated positioning reference points, thereby improving the positioning speed of the moving lamps.

[0013] Furthermore, multiple preset positioning reference points are evenly set at intervals of 5°-15°, with the point where the vertically upward radial direction intersects the circumference as the starting point (0°), the counterclockwise rotation direction as the negative degree, and the clockwise rotation direction as the positive degree.

[0014] Furthermore, the driving device includes a stepper motor for driving the rotation of the mobile lamp. The stepper motor can precisely control the angle and speed of the rotation of the mobile lamp.

[0015] Furthermore, the drive unit also includes a drive gear and a driven gear, with the absolute encoder mounted on the driven gear; a stepper motor drives the drive gear to rotate, the drive gear drives the driven gear to rotate, and the driven gear is connected to the mobile lamp. This arrangement facilitates improved stability and accuracy of the rotation angle when the mobile lamp rotates.

[0016] Furthermore, the drive unit also includes a belt; the drive gear and the driven gear are connected via belt drive. This arrangement helps to improve the stability of the moving lamp when it rotates.

[0017] Furthermore, it also includes an optical encoder connected to the stepper motor, which is used to detect whether the stepper motor is overloaded and loses steps. The stepper motor can be completely controlled in an open-loop manner and has the characteristic of very high positioning accuracy. Therefore, under normal use, it does not need to rely on the optical encoder and can be positioned directly and accurately without losing steps. However, if the optical encoder detects that the stepper motor has lost steps during the positioning process, it will use the optical encoder as a reference to correct the stepper motor's lost steps and position it to the correct position.

[0018] Furthermore, the absolute encoder is an absolute magnetic encoder. Absolute magnetic encoders use the direction of the magnetic field to determine the rotation angle, and are inexpensive and highly accurate.

[0019] The present invention also provides a mobile lamp using the above-described positioning self-calibration method, comprising a lamp head, a support arm for supporting the lamp head to rotate in a first dimension, and a housing for supporting the support arm to rotate in a second dimension, wherein a light source is disposed inside the lamp head; and a driving device is used to drive the lamp head and / or the support arm to rotate.

[0020] Specifically, when the drive device is used to drive the lamp head to rotate, the drive device is connected to the lamp head, and the absolute encoder is used to indicate the rotation angle of the lamp head; when the drive device is used to drive the support arm to rotate, the drive device is connected to the support arm, and the absolute encoder is used to indicate the rotation angle of the support arm.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This invention discloses a self-calibration method for positioning a mobile lamp. By setting multiple preset positioning reference points, after the mobile lamp is powered on at the factory and enters a reset state, a drive device rotates the lamp to find the preset positioning reference points. When the second output value equals the first output value corresponding to the preset positioning reference point before factory installation, this preset positioning reference point is used as the calibrated positioning reference point. Positioning of the mobile lamp is then performed starting from this calibrated reference point. This invention provides a short positioning time, no noise, and a good user experience during mobile lamp positioning. Attached Figure Description

[0023] Figure 1 This is a diagram showing the data distortion of absolute encoders in existing technology; the dashed line represents the relationship between the angle and output value of the absolute encoder provided by the supplier, while the solid line represents the relationship between the angle and output value of the actual absolute encoder.

[0024] Figure 2 This is a schematic diagram showing the connection between the drive unit and the absolute encoder.

[0025] Figure 3 This is a schematic diagram of the preset positioning reference point settings.

[0026] Figure 4 This is a schematic diagram of the movable lamp of the present invention.

[0027] In the picture:

[0028] 1. Absolute encoder; 3. Preset positioning reference point; 4. Photoelectric encoder; 21. Stepper motor; 22. Drive gear; 23. Driven gear; 24. Belt; 100. Lamp head; 200. Support arm; 300. Chassis. Detailed Implementation

[0029] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0030] Example 1

[0031] like Figures 2 to 3 As shown, the present invention provides a self-calibration method for positioning a mobile lamp, including an absolute encoder 1 for indicating the rotation angle of the mobile lamp, and a drive device for driving the rotation of the mobile lamp; the method includes the following steps:

[0032] S1. Set multiple preset positioning reference points 3 according to the circumference range; before leaving the factory, the drive device drives the moving lamp to rotate, and at the same time obtains the first output value of the absolute encoder 1 corresponding to all preset positioning reference points 3;

[0033] S2. After leaving the factory, the drive device drives the moving lamp to rotate and at the same time obtains the second output value of the absolute encoder 1. When the second output value is equal to the first output value corresponding to the preset positioning reference point 3 before leaving the factory, the preset positioning reference point 3 is used as the calibrated positioning reference point.

[0034] S3. Perform positioning of the moving lamps based on the calibrated positioning reference points.

[0035] In this embodiment, a controller is also included. The controller is connected to the drive device and the absolute encoder 1. The controller controls the rotation of the moving lamp through the drive device. The controller can obtain the output value of the absolute encoder 1 and compare the second output value with the first output value corresponding to the preset positioning reference point before leaving the factory.

[0036] By setting multiple preset positioning reference points 3, after the mobile lamp is powered on at the factory and enters a reset state, the drive device drives the mobile lamp to rotate and search for the preset positioning reference points 3. When the second output value is equal to the first output value corresponding to the preset positioning reference point 3 before leaving the factory, the preset positioning reference point 3 is used as the found calibrated positioning reference point. The mobile lamp is then positioned starting from this calibrated positioning reference point. This invention provides a short positioning time, no noise, and a good user experience when positioning the mobile lamp.

[0037] In this embodiment, multiple preset positioning reference points 3 are evenly arranged around the circumference. This arrangement facilitates the quick locating of calibrated positioning reference points during positioning, further reducing positioning time.

[0038] Furthermore, in this embodiment, 30-40 preset positioning reference points 3 are evenly arranged around the circumference. An appropriate number of preset positioning reference points 3 helps to speed up the process of finding the calibrated positioning reference points, thereby improving the positioning speed of the moving lamp.

[0039] Of course, in this embodiment, multiple preset positioning reference points 3 can also be evenly set at intervals of 5°-15°, with the starting point being the intersection of the vertically upward radial direction with the circumference at 0°, the counterclockwise rotation direction being negative degrees, and the clockwise rotation direction being positive degrees. Specifically, 36 preset positioning reference points can be evenly set at 10° intervals.

[0040] Furthermore, the driving device includes a stepper motor 21 for driving the rotation of the mobile lamp. The stepper motor 21 can precisely control the angle and speed of the rotation of the mobile lamp.

[0041] In this embodiment, the driving device further includes a driving gear 22 and a driven gear 23. The driven gear 23 is equipped with the absolute encoder 1. The stepper motor 21 drives the driving gear 22 to rotate, and the driving gear 22 drives the driven gear 23 to rotate. The driven gear 23 is used to connect with the mobile lamp. This arrangement helps to improve the stability and accuracy of the rotation angle when the mobile lamp rotates.

[0042] In this embodiment, the drive device also includes a belt 24; the drive gear 22 and the driven gear 23 are connected by the belt 24. This arrangement helps to improve the stability of the moving lamp when it rotates.

[0043] In this embodiment, a photoelectric encoder 4 connected to the stepper motor 21 is also included. The photoelectric encoder 4 is used to detect whether the stepper motor 21 is overloaded and loses steps. The stepper motor 21 can be completely controlled in an open-loop manner and has a very high positioning accuracy. Therefore, under normal use, it does not need to rely on the photoelectric encoder 4 and can be directly and accurately positioned without losing steps. However, if the photoelectric encoder 4 detects that the stepper motor 21 has lost steps during the positioning process, it will correct the step loss of the stepper motor 21 based on the photoelectric encoder 4 and position it to the correct position.

[0044] In this embodiment, the absolute encoder 1 is an absolute magnetic encoder. Absolute magnetic encoders use the direction of the magnetic field to determine the rotation angle, and are low in price and high in accuracy.

[0045] Example 2

[0046] like Figure 4 As shown, this embodiment provides a mobile lamp that uses the positioning self-calibration method described in Embodiment 1. It includes a lamp head 100, a support arm 200 for supporting the lamp head 100 to rotate in a first dimension, and a housing 300 for supporting the support arm 200 to rotate in a second dimension. A light source is provided inside the lamp head 100. A driving device is used to drive the lamp head 100 and / or the support arm 200 to rotate.

[0047] In this embodiment, there are two driving devices and two absolute encoders; the first driving device is connected to the lamp head 100 to drive the lamp head 100 to rotate, and the first absolute encoder is used to indicate the rotation angle of the lamp head 100; the second driving device is connected to the support arm 200 to drive the support arm 200 to rotate, and the second absolute encoder is used to indicate the rotation angle of the support arm 200.

[0048] In this embodiment, each driving device includes a stepper motor 21, a drive gear 22, a driven gear 23, and a belt 24; the driven gear 23 is equipped with the absolute encoder 1; the stepper motor 21 is used to drive the drive gear 22 to rotate, and the drive gear 22 drives the driven gear 23 to rotate through the belt 24.

[0049] The driven gear 23 of the first drive unit is used to connect with the lamp holder 100; the driven gear 23 of the second drive unit is used to connect with the support arm 200.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A self-calibration method for positioning a mobile lighting fixture, characterized in that, include: An absolute encoder (1) for indicating the rotation angle of a moving lamp, and a drive device for driving the rotation of the moving lamp; A controller connected to a drive unit and an absolute encoder, the controller controlling the rotation of the moving lamp via the drive unit; including the following steps: S1. Set multiple preset positioning reference points (3) according to the circumference range; before leaving the factory, the drive device drives the moving lamp to rotate, and at the same time obtains the first output value of the absolute encoder (1) corresponding to all preset positioning reference points (3); S2. After leaving the factory, power on the mobile lamp and enter the reset state. The drive device drives the mobile lamp to rotate and find the preset positioning reference. At the same time, the second output value of the absolute encoder (1) is obtained. The controller obtains the output value of the absolute encoder and compares the second output value with the first output value corresponding to the preset positioning reference point before leaving the factory. When the second output value is equal to the first output value corresponding to the preset positioning reference point (3) before leaving the factory, the preset positioning reference point (3) is used as the calibrated positioning reference point, and the calibrated positioning reference point is used as the starting point. S3. Perform positioning of the moving lamps based on the calibrated positioning reference points.

2. The self-calibration method for positioning a mobile lamp according to claim 1, characterized in that, Multiple preset positioning reference points are evenly set within the circumference (3).

3. The self-calibration method for positioning a mobile lamp according to claim 2, characterized in that, 30 to 40 preset positioning reference points are evenly set along the circumference (3).

4. The self-calibration method for positioning a mobile lamp according to claim 2, characterized in that, Starting from the point where the vertically upward radial direction intersects the circumference within the circumference (0°), the counterclockwise rotation direction is a negative degree and the clockwise rotation direction is a positive degree. Multiple preset positioning reference points are evenly set at intervals between 5° and 15° that are divisible by 360° (3).

5. The self-calibration method for positioning a mobile lamp according to claim 1, characterized in that, The drive unit includes a stepper motor (21) for driving the rotation of the moving lamp.

6. The self-calibration method for positioning a mobile lamp according to claim 5, characterized in that, The drive unit also includes a drive gear (22) and a driven gear (23), the driven gear (23) is provided with the absolute encoder (1); a stepper motor (21) is used to drive the drive gear (22) to rotate, the drive gear (22) is used to drive the driven gear (23) to rotate, and the driven gear (23) is used to connect with the mobile lamp.

7. The self-calibration method for positioning a mobile lamp according to claim 6, characterized in that, The drive unit also includes a belt (24); the drive gear (22) and the driven gear (23) are connected by the belt (24).

8. The self-calibration method for positioning a mobile lamp according to claim 5, characterized in that, It also includes a photoelectric encoder (4) connected to the stepper motor (21), which is used to detect whether the stepper motor (21) is overloaded and loses steps.

9. The self-calibration method for positioning a mobile lamp according to claim 1, characterized in that, The absolute encoder (1) is an absolute magnetic encoder.

10. A portable lighting fixture, characterized in that, The positioning self-calibration method according to claim 1 includes a lamp head (100), a support arm (200) for supporting the lamp head (100) to rotate in a first dimension, and a housing (300) for supporting the support arm (200) to rotate in a second dimension. A light source is provided inside the lamp head (100). A driving device is used to drive the lamp head (100) and / or the support arm (200) to rotate.

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