Methods, devices and equipment for controlling the swing range of the head

Abstract

This application relates to a method, apparatus, and device for controlling the swing range of a oscillating head, and relates to the field of motor technology. The method includes: monitoring the swing angle of the oscillating head during the oscillation process of the oscillating head device; determining first control information when the swing angle is within a first angle range; performing positioning processing on the oscillating head based on the first control information to obtain first limit information of the oscillating head within the first angle range; determining second control information when the swing angle is within a second angle range, wherein the first angle range and the second angle range do not coincide; performing positioning processing on the oscillating head based on the second control information to obtain second limit information of the oscillating head within the second angle range; and controlling the swing angle range of the oscillating head based on the first limit information and the second limit information, thereby achieving control of the oscillation range of the oscillating head without the need for additional position sensors.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a method, device and equipment for controlling the swing range of a oscillating head. Background Technology

[0002] Many mechanical transmission mechanisms require forward, up, down, left, and right oscillations; for example, fans and stage lights need to achieve three-dimensional oscillation, thus requiring the design of oscillating head devices. These oscillating head devices are driven by motors to control the oscillation angle. During operation, the oscillation range of the head often needs to be controlled around the zero position. Existing methods for controlling the oscillation range involve adding position sensors to control the oscillation angle. However, this inevitably increases the size of the oscillating head device, raising manufacturing costs. Furthermore, the larger size of the oscillating head device also reduces portability, requiring more installation space on the equipment to mount it. Therefore, existing methods for controlling the oscillation range suffer from high costs and poor portability. Summary of the Invention

[0003] This application provides a method, device, and equipment for controlling the swing range of a oscillating head, thereby enabling the oscillation range of the oscillating head to be set at any time without a position sensor, thus achieving the purpose of controlling the oscillation of the oscillating head.

[0004] In a first aspect, this application provides a method for controlling the swing range of a head, including:

[0005] During the oscillation of the oscillating head device, the oscillation angle of the oscillating head is monitored;

[0006] When the swing angle is within the first angle range, first control information is determined;

[0007] Based on the first control information, the oscillating head is positioned to obtain the first limit information of the oscillating head within the first angle range;

[0008] When the swing angle is within the second angle range, second control information is determined, wherein the first angle range and the second angle range do not overlap;

[0009] The oscillating head is positioned based on the second control information to obtain the second limit information of the oscillating head within the second angle range;

[0010] Based on the first limit information and the second limit information, the swing angle range of the swing head is controlled.

[0011] Optionally, determining the first control information when the swing angle is within the first angle range includes:

[0012] When the swing angle is within the first angle range, the first positioning operation of the swing head is received, and the first positioning information is extracted from the first positioning operation;

[0013] Receive the first reversing operation corresponding to the first positioning information, and extract the first reversing information from the first reversing operation;

[0014] Based on the first positioning information and the first reversing information, the first control information is determined.

[0015] Optionally, the step of performing positioning processing on the swing head based on the first control information to obtain the first limit information of the swing head within the first angle range includes:

[0016] Based on the first positioning information, head positioning is performed to obtain the first angle information of the head within the first angle range;

[0017] The first limiting information is obtained by limiting the position based on the first angle information.

[0018] Optionally, after obtaining the first limiting information, the method further includes:

[0019] Based on the first reversal information, the second angle range is determined;

[0020] Control the swing head to swing within the second angle range.

[0021] Optionally, before determining the second angle range, the method further includes:

[0022] Determine the secondary limit control information of the swing head;

[0023] The secondary limit information is determined based on the secondary limit control information;

[0024] The first limit information is updated based on the secondary limit information.

[0025] Optionally, the step of positioning the swing head based on the second control information to obtain the second limit information of the swing head within the second angle range includes:

[0026] Obtain the zero-position information of the oscillating head;

[0027] Based on the second control information and combined with the zero-position information of the oscillating head, the second limit information is determined.

[0028] Optionally, the step of positioning the swing head based on the second control information to obtain the second limit information of the swing head within the second angle range includes:

[0029] Based on the second control information, the head is positioned to obtain the second positioning information of the head within the second range of motion.

[0030] Based on the second positioning information, the second limit information is determined.

[0031] Optionally, controlling the swing angle range of the oscillating head based on the first limit information and the second limit information includes:

[0032] A first control angle is determined based on the first limit information, and a second control angle is determined based on the second limit information;

[0033] The control range of the swing head is determined based on the first control angle and the second control angle.

[0034] Secondly, this application provides a device for controlling the swing range of a head, comprising:

[0035] A monitoring module is used to monitor the swing angle of the swing head during the swinging process of the swing head device;

[0036] The first control information determination module is used to determine first control information when the swing angle is within the first angle range;

[0037] The first limit information determination module is used to perform positioning processing on the swing head based on the first control information to obtain the first limit information of the swing head within the first angle range;

[0038] The second control information determination module is used to determine second control information when the swing angle is within the second angle range, wherein the first angle range and the second angle range do not overlap;

[0039] The second limit information determination module is used to perform positioning processing on the swing head based on the second control information to obtain the second limit information of the swing head within the second angle range;

[0040] The control module is used to control the swing angle range of the swing head based on the first limit information and the second limit information.

[0041] Thirdly, this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0042] Memory, used to store computer programs;

[0043] When a processor executes a program stored in a memory, it implements the steps of the head swing range control method as described in any embodiment of the first aspect.

[0044] In summary, the embodiments of this application monitor the swing angle of the swing head during the swinging process of the swing head device. When the swing angle is within a first angle range, first control information is determined. Based on the first control information, the swing head is positioned to obtain first limit information of the swing head within the first angle range. When the swing angle is within a second angle range, second control information is determined, wherein the first angle range and the second angle range do not overlap. Based on the second control information, the swing head is positioned to obtain second limit information of the swing head within the second angle range. Based on the first limit information and the second limit information, the swing angle range of the swing head is controlled. Therefore, the swing range of the swing head can be set at any time without the need to add a position sensor, thereby achieving the control of the swing range of the swing head and thus achieving the purpose of controlling the swing of the swing head. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a method for controlling the swing range of a head according to an embodiment of this application;

[0048] Figure 2 This is a flowchart illustrating the steps of a method for controlling the swing range of a head according to an optional embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the swing range setting of a head-swinging device provided in an optional embodiment of this application. Figure 1 ;

[0050] Figure 4 This is a schematic diagram of the swing range setting of a head-swinging device provided in an optional embodiment of this application. Figure 2 ;

[0051] Figure 5 This is a schematic diagram of the swing range setting of a head-swinging device provided in an optional embodiment of this application. Figure 3 ;

[0052] Figure 6 A structural block diagram of a head swing range control device provided in an embodiment of this application;

[0053] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] To facilitate understanding of the embodiments of this application, further explanations and descriptions will be provided below in conjunction with the accompanying drawings and specific embodiments. These embodiments do not constitute a limitation on the embodiments of this application.

[0056] Figure 1 This is a flowchart illustrating a method for controlling the swing range of a head according to an embodiment of this application. Figure 1 As shown, the method for controlling the swing range of the oscillating head provided in this application embodiment may specifically include the following steps:

[0057] Step 110: During the swinging process of the swinging head device, monitor the swing angle of the swinging head.

[0058] Specifically, the oscillating head device may be equipped with modules such as motors, which drive the oscillating head to swing. For example, the oscillating head may be driven to swing from left to right or from right to left, or from top to bottom or from bottom to top. This application embodiment does not limit this.

[0059] In practical implementation, the oscillating head can be set to a zero position, i.e., the oscillating head zero position. This zero position can be set at the exact center of the oscillating head device, or it can be freely adjusted. This embodiment does not restrict the position of the oscillating head zero position. During the oscillation process, the oscillating head can have a certain angle with the oscillating head zero position; this angle is the oscillation angle. Specifically, this embodiment can monitor the position of the oscillating head in real time during the oscillation process and determine the oscillation angle based on the oscillating head zero position combined with the oscillating head position.

[0060] Step 120: When the swing angle is within the first angle range, determine the first control information.

[0061] Specifically, the first control information may include first positioning information and first reversing information, and this application embodiment does not limit this. The first positioning information can be used to fix the swing head, achieve head positioning, and determine the current position of the swing head; the first reversing information can be used to achieve reversing motion of the swing head. For example, if the original direction of the swing head movement was from left to right, the first reversing information can control the swing head to change its direction from left to right to right to left. This application embodiment does not limit this.

[0062] In practical processing, this embodiment can divide the swing area of ​​the oscillating head based on the zero position of the oscillating head. For example, when the oscillating head moves left and right, the swing area can be divided into a left region and a right region based on the zero position of the oscillating head, each corresponding to two angular ranges. For example, if the left region corresponds to the first angular range, the right region can correspond to the second angular range, or vice versa. This embodiment does not impose any limitations on this. Specifically, when the oscillating head moves within the first angular range, the swing angle is within the first angular range, and the first control information can be determined when the oscillating head swings to the target position.

[0063] For example, a preset program can be established for operation buttons or swing range settings. Taking the operation buttons as an example, when the swing angle is within the first angle range, the operation buttons can be used to control the swing head to stop moving, achieving swing head positioning. At this time, the first positioning information of the swing head can be determined based on the current position of the swing head and the zero position of the swing head. Subsequently, the operation buttons can be used again to control the swing head to change direction, achieving swing head reversal. At this time, the first reversal information of the swing head can be determined. Then, the first control information of the swing head can be determined by combining the first positioning information and the first reversal information.

[0064] Step 130: Based on the first control information, perform positioning processing on the swing head to obtain the first limit information of the swing head within the first angle range.

[0065] Specifically, the first limit information may include the maximum swing position of the swing head within the first angle range, such as the maximum swing angle between the swing head and its zero position. This embodiment does not limit this. In particular, this embodiment can position the swing head based on the first control information, thereby determining the maximum swing angle of the swing head within the first angle range, obtaining the first limit information, and realizing the limit setting of the swing head within the first angle range.

[0066] Step 140: When the swing angle is within the second angle range, determine the second control information.

[0067] The first angle range does not overlap with the second angle range.

[0068] Specifically, the second control information may include second positioning information and second reversing information, but this application embodiment does not limit this.

[0069] In a specific implementation, after the limit setting of the first angle range is completed, the swing head can be controlled to move to the second angle range through the first reversing information in the first control information. When the swing angle of the swing head is within the second angle range and swings to the target position, the second control information is determined.

[0070] Step 150: Position the swing head according to the second control information to obtain the second limit information of the swing head within the second angle range.

[0071] Specifically, the second limit information may include the maximum swing position of the swing head within the second angle range, and this embodiment does not limit this. In specific implementation, this embodiment can perform positioning processing on the swing head based on the second control information, that is, use the second control information to determine the angle between the swing head and the zero position of the swing head within the second angle range, obtain the second limit information, and realize the limit setting of the swing head within the second angle range.

[0072] Step 160: Based on the first limit information and the second limit information, control the swing angle range of the swing head.

[0073] In a specific implementation, this embodiment can set the maximum swing angle of the oscillating head in the first angle range based on the first limit information, and can set the maximum swing angle of the oscillating head in the second angle range based on the second limit information. By setting the corresponding maximum swing angle in the two angle ranges respectively, the oscillating head can swing within the two angle ranges without exceeding the angle range, thus achieving the purpose of setting the swing range of the oscillating head without the need for a position sensor, and solving the problems existing in the current method of setting the swing range of the oscillating head.

[0074] As can be seen, in the embodiments of this application, during the swinging process of the swinging head device, the swing angle of the swing head is monitored. When the swing angle is within a first angle range, first control information is determined. Based on the first control information, the swing head is positioned to obtain first limit information of the swing head within the first angle range. When the swing angle is within a second angle range, second control information is determined. The first angle range and the second angle range do not coincide. Based on the second control information, the swing head is positioned to obtain second limit information of the swing head within the second angle range. Based on the first limit information and the second limit information, the swing angle range of the swing head is controlled. Therefore, the swing range of the swing head can be set at any time without the need to add a position sensor. The position range of the swing head can be adjusted according to actual needs to achieve control of the swing range of the swing head, thereby achieving the purpose of controlling the swing of the swing head and solving the problems existing in the existing swing range setting methods.

[0075] Reference Figure 2 This illustration shows a flowchart of a method for controlling the swing range of a head according to an optional embodiment of this application. The method for controlling the swing range of the head may specifically include the following steps:

[0076] Step 210: During the swinging process of the swinging head device, monitor the swing angle of the swinging head.

[0077] In practical implementation, the head-swinging device can be equipped with a motor, as shown in the reference. Figure 3 , Figure 3 This is a schematic diagram of a head-swinging device provided in an embodiment of this application. The motor can be located at the top of the head-swinging device, or it can be located in other positions; this embodiment of the application does not impose any limitations on this. (Refer to...) Figure 3 The head swing device can be preset with a default maximum swing angle (also known as the normal head swing control angle). This default maximum swing angle is achieved by adding a limit to the mechanism. This example does not impose any restrictions on this.

[0078] As an example, after the oscillating head device is powered on, the zero position of the oscillating head can be calculated using the default maximum oscillating angle limit point. This zero position is then used to divide the oscillating head's motion range into a first angular range and a second angular range. Subsequently, the oscillating head can be driven by a motor, such as moving it from left to right or from right to left; this example does not impose any restrictions. During the oscillating head's motion, the swing angle is monitored in real time.

[0079] It should be noted that, in this embodiment, the head can not only move left and right, but also rotate and move up and down. When the head is moving up and down, the angle range of the head can be divided into an upper angle range and a lower angle range. This embodiment does not limit this.

[0080] Step 220: When the swing angle is within the first angle range, receive the first positioning operation of the swing head, and extract the first positioning information from the first positioning operation.

[0081] In practical implementation, to achieve the positioning and reversal of the swing head, this embodiment can preset a swing head control key or a swing head control program, and control the swing head movement through the swing head control key or the swing head control program. Specifically, when the swing head moves within a first angle range, a first positioning operation can be generated by operating the swing head control key. Subsequently, the current position of the swing head can be monitored, and the angle can be calculated based on the current position of the swing head and the zero position of the swing head to obtain the first positioning information.

[0082] Step 230: Receive the first reversing operation corresponding to the first positioning information, and extract the first reversing information from the first reversing operation.

[0083] In a specific implementation, after the first positioning operation is generated by operating the swing head control key, the swing head control key can be operated again to operate the swing head to change direction, thereby controlling the swing head to perform a change-of-direction movement, generating a first change-of-direction operation, and extracting the first change-of-direction information from the first change-of-direction operation.

[0084] In practical applications, taking the left and right movement of the oscillating head as an example, assuming that the oscillating head moves to the left after being powered on, the oscillating head can be stopped by pressing the oscillating head control key twice, and the oscillating head can be changed from moving to the right to change direction.

[0085] Step 240: Determine the first control information based on the first positioning information and the first reversing information.

[0086] In a specific implementation, the embodiments of this application can generate first control information based on the first positioning information and the first reversing information, so that the positioning and reversing of the swing head can be controlled through the control information, thereby limiting the solid swing head.

[0087] Step 250: Perform head positioning based on the first positioning information to obtain the first angle information of the head within the first angle range.

[0088] In a specific implementation, this embodiment can perform head positioning based on the first positioning information. For example, the first positioning information can be used to determine the position of the head within a first angle range. Then, the angle between the head and the zero position can be calculated by combining the zero position of the head to obtain the first angle information.

[0089] Step 260: Limit the position based on the first angle information to obtain the first limit information.

[0090] Specifically, embodiments of this application can use first angle information for limiting, such as using first angle information to determine the maximum limiting angle of the swing head within a first angle range, so that the swing head can move within the first angle range without exceeding the maximum limiting angle, thereby obtaining first limiting information.

[0091] As an example, refer to Figure 3Taking the leftward movement of the head as an example, with the left side area as the first angle range, when the maximum angle limit for the left and right areas of the head is not set, after the head-swinging device is powered on, the head can swing around the virtual head zero position within the initial head-swinging control angle range (such as the default maximum head-swinging angle). When the head moves to the left to the position of the dotted line in the left area, the head-swinging control key is pressed once to stop the head-swinging movement, thus achieving head positioning. After the head positioning is completed, the head-swinging control key is pressed once more to control the head-swinging movement to change direction, thus achieving head-swinging reversal. At this time, the head-swinging limit in the left area is adjusted to the position of the dotted line. After adjustment, the actual head-swinging angle range is the sum of the left and right areas of the dotted line of the head-swinging control angle.

[0092] Similarly, taking the head movement to the right as an example, with the right side area as the first angle range, when the head moves to the right side area, the head positioning and head direction can be achieved by pressing the head control button twice. The adjusted actual head angle range is the right side area + left side area of ​​the head control angle.

[0093] In one optional embodiment, after obtaining the first limiting information, the present application embodiment may further include: determining the second angle range based on the first reversal information; and controlling the swing head to swing towards the second angle range.

[0094] Specifically, this embodiment can use reversal information to reverse the direction of the swing head's movement, thereby achieving control of the swing head's movement direction. For example, if the swing head was originally moving from left to right, the first reversal information can be used to control the swing head to move from right to left, so that the swing head can move from the first angle range to the second angle range, thus achieving control of the swing head's movement direction without the need for a position sensor.

[0095] In an optional real-time mode, before determining the second angle range, this application embodiment may further include: determining secondary limit control information of the swing head; determining secondary limit information based on the secondary limit control information; and updating the first limit information based on the secondary limit information.

[0096] In its implementation, this embodiment can limit the swing head multiple times in the same-side region; for example, the limit of the swing head can be modified multiple times in the first angle region. (Refer to...) Figure 4 As shown, after the oscillating head reverses direction, it gradually moves from the first angular range to the second angular range. During the movement of the oscillating head within the first angular range, secondary limit control information can be generated by operating the oscillating head control key twice. This secondary limit control information is used to control the oscillating head to stop moving and to control the oscillating head to reverse direction, thus obtaining secondary limit information. This secondary limit information is then used to update the first limit information, thereby readjusting the oscillating head limit within the first angular range and achieving the purpose of repeatedly adjusting the oscillating head limit.

[0097] In practical applications, besides repeatedly limiting the swing head's movement within the same side region as it gradually moves from the first angle range to the second angle range, multiple limits can also be applied as the swing head moves back from the second angle range to the first angle range. Specifically, with a default maximum swing head angle set, when the swing head moves from the first angle range to the default maximum swing head angle within the second angle range, it can automatically reverse direction to return to the first angle range. Once the swing head angle is back within the first angle range, the maximum swing head angle within the first angle range can be repeatedly limited using the swing head control keys.

[0098] It should be noted that in this embodiment of the application, when the same-side limit is set multiple times and the swing range is less than a certain value, it can automatically exit and restore the default maximum swing angle. That is, when the same-side limit is set multiple times, there can be a certain angular distance between the currently set maximum limit and the previously set maximum limit. When the angle between the currently set maximum limit and the previously set maximum limit is less than this angular distance, the swing limit mode can be exited and the maximum swing limit of the area can be restored to the default maximum swing angle to avoid abnormal swing settings.

[0099] Step 270: When the swing angle is within the second angle range, determine the second control information.

[0100] The first angle range does not overlap with the second angle range.

[0101] Step 280: Position the swing head according to the second control information to obtain the second limit information of the swing head within the second angle range.

[0102] In practical implementation, due to the existence of the zero position of the oscillating head, after completing the limit setting of the first angle range, the symmetrical limit can be quickly set in the second angle range using the zero position of the oscillating head, thereby quickly realizing the limit setting of the second angle range and obtaining the second limit information. Of course, the oscillating head can also be positioned first based on the second control information, and then the oscillating head can be reversed to realize the limit setting of the second angle range.

[0103] Optionally, the above-mentioned positioning process of the swing head based on the second control information to obtain the second limit information of the swing head within the second angle range may specifically include the following sub-steps:

[0104] Sub-step 2801: Obtain the zero position information of the oscillating head.

[0105] Specifically, in this application embodiment, the zero position information of the oscillating head can be obtained so that the oscillating head zero position can be used to quickly set the oscillating head limit within the area.

[0106] Sub-step 2802: Based on the second control information and combined with the zero position information of the swing head, symmetrical limit is performed to determine the second limit information.

[0107] In a specific implementation, after determining the second control information, the embodiments of this application can use the zero position information of the swing head and combine it with the first limit information to determine the maximum limit angle of the swing head within the first angle range. Then, with the zero position of the swing head as the axis of symmetry and combined with the maximum limit angle, the maximum limit angle can be symmetrically set within the second angle range to obtain the second limit information.

[0108] Sub-step 2803: Based on the second control information, perform head positioning to obtain the second positioning information of the head within the second motion range.

[0109] In practical processing, the second control information may include second positioning information and second reversing information, and this application embodiment does not limit this. Specifically, this application embodiment can perform head positioning of the swing head within a second angle range based on the second control information, thereby determining the second positioning information, and can extract the second reversing information from the second control information to determine whether the swing head achieves the limit setting within the second angle range.

[0110] Sub-step 2804: Based on the second positioning information, determine the second limit information.

[0111] Specifically, in this application embodiment, the second limit information can be determined based on the second positioning information.

[0112] As an example, refer to Figure 5 When the left head-swing limit has been adjusted (i.e., the head-swing limit within the first angle range has been adjusted), and the head swings from left to right to the position indicated by the dotted line, pressing the head-swing control button once stops the head-swing movement, achieving head positioning within the second angle range. After head positioning, pressing the head-swing control button again reverses the head-swing direction within the second angle range. At this point, the actual head-swing angle range is adjusted to between the dotted lines on the left and right sides (adjusting the right head-swing boundary). After adjusting the left / right or right / left head-swing limits, the next time the head-swing direction is reversed, it will automatically exit and restore the default maximum head-swing angle. After restoring the default maximum head-swing angle, head positioning, direction reversal, and head-swing range control operations can be performed again.

[0113] Step 290: Determine the first control angle based on the first limit information, and determine the second control angle based on the second limit information.

[0114] Specifically, the embodiments of this application can determine the maximum swing angle of the swing head within a first angle range based on the first limit information, and can determine the maximum swing angle of the swing head within a second angle range based on the second limit information.

[0115] Step 300: Determine the control range of the swing head based on the first control angle and the second control angle.

[0116] Specifically, the embodiments of this application can determine the maximum swing range of the oscillating head between the first and second angle ranges based on the first and second control angles, thereby obtaining the control range of the oscillating head. This enables the setting of the oscillating head control range without the need for sensors. Compared with existing oscillating head swing range control methods, the oscillating head swing range control method provided by the embodiments of this application does not require the installation of sensors at the oscillating head position, resulting in lower cost, smaller space occupation, and better portability.

[0117] In summary, the embodiments of this application monitor the swing angle of the oscillating head during the oscillation process of the oscillating head device. When the swing angle is within a first angle range, a first positioning operation of the oscillating head is received, and first positioning information is extracted from the first positioning operation. A first reversing operation corresponding to the first positioning information is received, and first reversing information is extracted from the first reversing operation. Based on the first positioning information and the first reversing information, first control information is determined. The oscillating head is positioned based on the first positioning information to obtain first angle information of the oscillating head within the first angle range. Limiting is performed based on the first angle information to obtain first limit information. When the swing angle is within a second angle range, second control information is determined. The oscillating head is positioned according to the second control information to obtain second limit information of the oscillating head within the second angle range. A first control angle is determined based on the first limit information, and a second control angle is determined based on the second limit information. Based on the first control angle and the second control angle, the control range of the oscillating head is determined, thereby realizing the setting of the oscillating head swing range. Thus, the oscillating head swing range can be set as needed without the need for sensors, resulting in low cost, small space occupation, and better portability, solving the problems existing in the current oscillating head swing range setting methods.

[0118] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should know that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps may be performed in other orders or simultaneously.

[0119] like Figure 6 As shown in the figure, this application embodiment also provides a head swing range control device 600, including:

[0120] The monitoring module 610 is used to monitor the swing angle of the swing head during the swinging process of the swing head device;

[0121] The first control information determination module 620 is used to determine first control information when the swing angle is within the first angle range;

[0122] The first limit information determination module 630 is used to perform positioning processing on the swing head according to the first control information to obtain the first limit information of the swing head in the first angle range;

[0123] The second control information determination module 640 is used to determine second control information when the swing angle is within the second angle range, wherein the first angle range and the second angle range do not overlap;

[0124] The second limit information determination module 650 is used to perform positioning processing on the swing head according to the second control information to obtain the second limit information of the swing head in the second angle range;

[0125] The control module 660 is used to control the swing angle range of the swing head based on the first limit information and the second limit information.

[0126] Optionally, the first control information determining module 620 includes:

[0127] The first positioning information extraction submodule is used to receive the first positioning operation of the swing head when the swing angle is within the first angle range, and extract the first positioning information from the first positioning operation.

[0128] The first reversing information extraction submodule is used to receive the first reversing operation corresponding to the first positioning information and extract the first reversing information from the first reversing operation.

[0129] The first control information determination submodule is used to determine the first control information based on the first positioning information and the first reversing information.

[0130] Optionally, the first limit information determination module 630 includes:

[0131] The positioning submodule is used to perform head positioning based on the first positioning information to obtain the first angle information of the head within the first angle range;

[0132] The limiting submodule is used to limit the position based on the first angle information to obtain the first limiting information.

[0133] Optionally, the swing range control device 600 of the swing head further includes:

[0134] The second angle range determination module is used to determine the second angle range based on the first reversal information;

[0135] The swing control module is used to control the swing head to swing within the second angle range.

[0136] Optionally, the swing range control device 600 of the swing head further includes:

[0137] A secondary limit control information determination module is used to determine the secondary limit control information of the swing head;

[0138] A secondary limit information determination module is used to determine the secondary limit information based on the secondary limit control information;

[0139] The limit update module is used to update the first limit information based on the secondary limit information.

[0140] Optionally, the second limit information determining module 650 includes:

[0141] The head-swing zero-position information acquisition submodule is used to acquire the head-swing zero-position information of the head;

[0142] The symmetrical limit submodule is used to perform symmetrical limiting based on the second control information and the zero position information of the swing head, and to determine the second limit information.

[0143] The head-swinging positioning submodule is used to perform head-swinging positioning based on the second control information to obtain second positioning information of the head within the second range of motion.

[0144] The second limit information determination submodule is used to determine the second limit information based on the second positioning information.

[0145] Optionally, the control module 660 includes:

[0146] The control angle determination submodule is used to determine a first control angle based on the first limit information and a second control angle based on the second limit information.

[0147] The control range determination submodule is used to determine the control range of the swing head based on the first control angle and the second control angle.

[0148] It should be noted that the head swing range control device provided in the embodiments of this application can execute the head swing range control method provided in any embodiment of this application, and has the corresponding functions and beneficial effects of the execution method.

[0149] In a specific implementation, the aforementioned swing range control device for the oscillating head can be integrated into the device. This allows the device to determine first limit information when the oscillating head is within a first angle range, and second limit information when the oscillating head is within a second angle range. Furthermore, by combining the first and second limit information, the device controls the swing angle range of the oscillating head. As an electronic device, it can achieve oscillating head reversal and setting of the oscillating head range at any time without the need for a position sensor. This electronic device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the electronic device can be a personal computer (PC), a computer, a server, etc. This application embodiment does not impose specific limitations in this regard.

[0150] like Figure 7 As shown, this application provides an electronic device including a processor 111, a communication interface 112, a memory 113, and a communication bus 114. The processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114. The memory 113 is used to store computer programs. When the processor 111 executes the program stored in the memory 113, it implements the steps of the head swing range control method provided in any of the aforementioned method embodiments. For example, the steps of the method for controlling the swing range of a oscillating head may include the following steps: monitoring the swing angle of the oscillating head during the oscillation of the oscillating head device; determining first control information when the swing angle is within a first angle range; performing positioning processing on the oscillating head according to the first control information to obtain first limit information of the oscillating head within the first angle range; determining second control information when the swing angle is within a second angle range, wherein the first angle range and the second angle range do not coincide; performing positioning processing on the oscillating head according to the second control information to obtain second limit information of the oscillating head within the second angle range; and controlling the swing angle range of the oscillating head based on the first limit information and the second limit information.

[0151] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the head swing range control method provided in any of the foregoing method embodiments.

[0152] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0153] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for controlling the swing range of a head, characterized in that, include: During the oscillation of the oscillating head device, the oscillation angle of the oscillating head is monitored; When the swing angle is within a first angle range, first control information is determined, which includes: When the swing angle is within the first angle range, the first positioning operation of the swing head is received, and the first positioning information is extracted from the first positioning operation; Receive the first reversing operation corresponding to the first positioning information, and extract the first reversing information from the first reversing operation; Based on the first positioning information and the first reversing information, the first control information is determined; Based on the first control information, the oscillating head is positioned to obtain the first limit information of the oscillating head within the first angle range; When the swing angle is within the second angle range, second control information is determined, wherein the first angle range and the second angle range do not overlap; The positioning process of the oscillating head is performed based on the second control information to obtain the second limit information of the oscillating head within the second angle range, including: obtaining the oscillating head zero position information; and performing symmetrical limiting based on the second control information and the oscillating head zero position information to determine the second limit information. Based on the first limit information and the second limit information, the swing angle range of the swing head is controlled; After adjusting the first and second limit information, the next time the head swing direction is changed, the custom settings will be automatically exited and the default maximum head swing angle will be restored.

2. The method according to claim 1, characterized in that, The step of positioning the swing head based on the first control information to obtain the first limit information of the swing head within the first angle range includes: Based on the first positioning information, head positioning is performed to obtain the first angle information of the head within the first angle range; The first limiting information is obtained by limiting the position based on the first angle information.

3. The method according to claim 2, characterized in that, After obtaining the first limit information, the process further includes: Based on the first reversal information, the second angle range is determined; Control the swing head to swing within the second angle range.

4. The method according to claim 3, characterized in that, Before determining the second angle range, the method further includes: Determine the secondary limit control information of the swing head; The secondary limit information is determined based on the secondary limit control information; The first limit information is updated based on the secondary limit information.

5. The method according to claim 1, characterized in that, The step of positioning the swing head based on the second control information to obtain the second limit information of the swing head within the second angle range includes: Based on the second control information, the head is positioned to obtain the second positioning information of the head within the second angle range; Based on the second positioning information, the second limit information is determined.

6. The method according to any one of claims 1-5, characterized in that, The step of controlling the swing angle range of the head based on the first limit information and the second limit information includes: A first control angle is determined based on the first limit information, and a second control angle is determined based on the second limit information; The control range of the swing head is determined based on the first control angle and the second control angle.

7. A device for controlling the swing range of a head, characterized in that, include: A monitoring module is used to monitor the swing angle of the swing head during the swinging process of the swing head device; The first control information determination module is used to determine first control information when the swing angle is within a first angle range. The module includes: receiving a first positioning operation from the swing head when the swing angle is within the first angle range, and extracting first positioning information from the first positioning operation; receiving a first reversing operation corresponding to the first positioning information, and extracting first reversing information from the first reversing operation; and determining the first control information based on the first positioning information and the first reversing information. The first limit information determination module is used to perform positioning processing on the swing head based on the first control information to obtain the first limit information of the swing head within the first angle range; The second control information determination module is used to determine second control information when the swing angle is within the second angle range, wherein the first angle range and the second angle range do not overlap; The second limit information determination module is used to perform positioning processing on the swing head according to the second control information to obtain the second limit information of the swing head in the second angle range, including: obtaining the swing head zero position information of the swing head; and performing symmetrical limiting based on the second control information and the swing head zero position information to determine the second limit information; The control module is used to control the swing angle range of the swing head based on the first limit information and the second limit information; It also includes a function that, after adjusting the first limit information and the second limit information, will automatically exit the custom settings and restore the default maximum head swing angle when the head swing direction is changed again.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in a memory, implements the steps of the head swing range control method according to any one of claims 1-6.

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