Magnetic suspension camera system and control method thereof

Abstract

The invention provides a magnetic suspension camera system and a control method thereof, and the system comprises a pedestal which comprises a first magnetic suspension permanent magnet; the camera shooting assembly comprises a second magnetic suspension permanent magnet, a shell, a vertical rotating mechanism and a camera; the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet are always kept relatively parallel, and the camera assembly is suspended above the base through the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet; wherein the shell has a motion stroke of vertically rotating relative to the second magnetic suspension permanent magnet under the action of the vertical rotating mechanism, and the camera is fixedly connected with the shell. According to the invention, vertical rotation of the magnetic suspension camera can be realized, and the rotation angle and the image capture range of the magnetic suspension camera are increased.

Description

Technical Field

[0001] The present invention relates to the field of cameras, and in particular to a magnetic levitation camera system and a control method thereof. Background Art

[0002] The magnetic levitation camera is a camera device that uses magnetic levitation technology for stabilization and control. It uses the principle of magnetic levitation to enable the camera to float in the air without physical contact, thereby achieving frictionless and smooth movement. This design can reduce the vibration, wear and noise problems caused by traditional mechanical structures, while increasing the rotation speed and improving the stability and quality of image capture. The magnetic levitation camera has a wide range of application scenarios, especially in fields that require high-precision image stabilization, such as aerospace, industrial automation, and virtual reality.

[0003] However, existing magnetic levitation cameras can only rotate in the horizontal direction but not in the vertical direction, which greatly limits the rotation angle and image capture range of the magnetic levitation camera.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] In view of this, the present invention provides a magnetic levitation camera system and a control method thereof, which can solve the problem that the existing magnetic levitation camera cannot rotate in the vertical direction.

[0006] In one aspect, an embodiment of the present invention provides a magnetic levitation camera system, comprising:

[0007] A base, the base comprising a first magnetic suspension permanent magnet;

[0008] The camera assembly includes a second magnetic suspension permanent magnet, a housing, a vertical rotation mechanism and a camera; the camera assembly is suspended above the base by the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet, and the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet always remain relatively parallel; the camera is fixedly connected to the housing;

[0009] Wherein, the shell has a motion stroke of vertical rotation relative to the second magnetic suspension permanent magnet under the action of the vertical rotation mechanism.

[0010] In some embodiments, the vertical rotation mechanism includes a first fixed end and a second fixed end, the first fixed end is fixedly connected to the housing, and the second fixed end is fixedly connected to the second magnetic suspension permanent magnet;

[0011] The relative movement between the first fixed end and the second fixed end drives the relative vertical rotation of the housing and the second magnetic suspension permanent magnet.

[0012] In some embodiments, the vertical rotation mechanism is a reduction motor, the first fixed end is a first stator of the reduction motor, and the second fixed end is a first rotor of the reduction motor.

[0013] In some embodiments, the vertical rotation mechanism is an ultrasonic motor, the first fixed end is a second stator of the ultrasonic motor, and the second fixed end is a second rotor of the ultrasonic motor.

[0014] In some embodiments, the ultrasonic motor has two second stators and one second rotor, and the second rotor is located between the two second stators.

[0015] In some embodiments, the camera assembly further includes: a nine-axis sensor, which is used to detect and control the vertical rotation of the camera assembly.

[0016] In some embodiments, the camera assembly further includes: two support rods, the support rods being fixedly connected to the second magnetic suspension permanent magnet, and the support rods being rotatably connected to the housing;

[0017] The connection line between the two support links is perpendicular to the vertical rotation direction of the shell.

[0018] In some embodiments, the camera assembly further includes: an infrared sensor, which is fixed to the housing, and the infrared sensor and the camera together realize panoramic detection.

[0019] In some embodiments, the base further comprises: a horizontal rotation coil, a magnetic levitation balance coil, and a first wireless charging mechanism;

[0020] The camera assembly also includes: a horizontally rotating permanent magnet and a second wireless charging mechanism;

[0021] The horizontal rotating coil and the horizontal rotating permanent magnet jointly control the horizontal rotating motion stroke of the camera assembly relative to the base;

[0022] The magnetic suspension balance coil is used to keep the camera assembly balanced during the movement of the camera assembly;

[0023] The first wireless charging mechanism and the second wireless charging mechanism jointly complete the wireless charging from the base to the camera assembly.

[0024] In some embodiments, during the vertical rotation movement, the downward distance of the bottom of the camera assembly is less than the suspension height of the camera assembly and the base in the initial state.

[0025] In some embodiments, the magnetic levitation camera system further includes:

[0026] The control terminal, the base and the camera assembly are wirelessly connected in pairs.

[0027] On the other hand, an embodiment of the present invention further provides a control method of a magnetic levitation camera system, using the above-mentioned magnetic levitation camera system, comprising:

[0028] In response to receiving the vertical rotation request, the base sends a vertical rotation instruction to the camera assembly;

[0029] In response to receiving the vertical rotation instruction, the camera assembly drives the vertical rotation mechanism;

[0030] Based on the action of the vertical rotation mechanism, the housing rotates vertically relative to the second magnetic levitation permanent magnet.

[0031] In some embodiments, the control method of the magnetic levitation camera system further includes:

[0032] In response to receiving the horizontal rotation request, the base drives the horizontal rotation coil to generate a horizontal rotation magnetic field;

[0033] Based on the effect of the horizontal rotating magnetic field, the camera assembly rotates horizontally relative to the base.

[0034] In some embodiments, the control method of the magnetic levitation camera system further includes:

[0035] Turn on the camera and infrared sensor, and point the camera towards the preset direction;

[0036] Based on the camera identifying the tracking object, driving the housing to rotate horizontally and / or vertically so that the tracking object is located in the center of the camera shooting screen;

[0037] Based on the fact that the camera does not recognize the tracking object and the infrared sensor recognizes the tracking object, the housing is driven to rotate horizontally and / or vertically so that the tracking object enters the shooting picture of the camera and is located at the center of the shooting picture;

[0038] Based on the movement of the tracked object, the housing is driven to rotate horizontally and / or vertically so that the tracked object is always located in the center of the camera's shooting screen.

[0039] In some embodiments, the control method of the magnetic levitation camera system further includes:

[0040] Based on the fact that the camera does not recognize the tracking object and the infrared sensor recognizes the tracking object, driving the housing to rotate horizontally and / or vertically so that the camera faces the direction indicated by the infrared sensor;

[0041] Based on the fact that the camera does not recognize the tracking object, the housing is driven to rotate horizontally and / or vertically so that the camera faces the preset direction again.

[0042] The magnetic levitation camera system and control method thereof of the present invention provide a vertical rotation mechanism inside the shell of the camera assembly so that the shell can vertically rotate relative to the second magnetic levitation permanent magnet under the action of the vertical rotation mechanism, while the second magnetic levitation permanent magnet remains parallel to the first magnetic levitation permanent magnet of the base, and the camera is fixedly connected to the shell, thereby realizing the vertical rotation of the magnetic levitation camera and increasing the rotation angle and image capture range of the magnetic levitation camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0044] Figure 1 is a module schematic diagram of a magnetic levitation camera system provided by an embodiment of the present invention;

[0045] Figure 2 yes Figure 1 A structural schematic diagram of a magnetic levitation camera system;

[0046] Figure 3 yes Figure 1 Another structural schematic diagram of the magnetic levitation camera system;

[0047] Figure 4 is a module schematic diagram of another magnetic levitation camera system provided by an embodiment of the present invention;

[0048] Figure 5 yes Figure 4 A structural schematic diagram of a magnetic levitation camera system;

[0049] Figure 6 yes Figure 4 A structural schematic diagram of a camera assembly;

[0050] Figure 7 It is a partial step flow chart of a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0051] Figure 8 It is a flow chart of the working steps of the base when the camera assembly rotates horizontally in a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0052] Fig. 9 is a flow chart of steps of another part of a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0053] Fig.10It is a flow chart of working steps when a camera assembly rotates in a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0054] Fig.11 This is a flowchart of another part of a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0055] Fig.12 yes Fig.11 A schematic diagram of the execution of the control method of the magnetic levitation camera system;

[0056] Fig.13 This is a flowchart of another part of a control method of a magnetic levitation camera system provided by an embodiment of the present invention;

[0057] Fig.14 It is a flow chart of the steps of the visual tracking function of the camera component in the control method of the magnetic levitation camera system provided by an embodiment of the present invention.

[0058] Reference numerals:

[0059] 10. Base;

[0060] 11. A first magnetic levitation permanent magnet;

[0061] 12. Horizontal rotating coil;

[0062] 13. A first wireless charging mechanism;

[0063] 20. Camera assembly;

[0064] 21. A second magnetic levitation permanent magnet;

[0065] 22. Shell;

[0066] 23. Vertical rotation mechanism;

[0067] 231, second stator;

[0068] 232, second rotor;

[0069] 24. Camera;

[0070] 25. Support rod;

[0071] 26. Infrared sensor;

[0072] 27. Horizontally rotating permanent magnet;

[0073] 28. A second wireless charging mechanism;

[0074] 30. Control terminal. DETAILED DESCRIPTION

[0075] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated description will be omitted.

[0076] The words "first", "second" and the like used in the specific description do not indicate any order, quantity or importance, but are only used to distinguish different components. In addition, in the description of the present invention, the orientation or position relationship indicated by the terms "upper" and "lower" are based on the orientation or position relationship shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0077] It should be noted that, in the absence of conflict, the embodiments of the present invention and features in different embodiments may be combined with each other.

[0078] The inventor of this case has provided a solution to the problems existing in the prior art through careful and in-depth research. The present invention provides a magnetic levitation camera system and a control method thereof, wherein the magnetic levitation camera system comprises: a base, the base comprises a first magnetic levitation permanent magnet; a camera assembly, the camera assembly comprises a second magnetic levitation permanent magnet, a shell, a vertical rotation mechanism and a camera; the first magnetic levitation permanent magnet and the second magnetic levitation permanent magnet are always kept relatively parallel, and the camera assembly is suspended above the base through the first magnetic levitation permanent magnet and the second magnetic levitation permanent magnet; wherein the shell has a motion stroke of vertical rotation relative to the second magnetic levitation permanent magnet under the action of the vertical rotation mechanism, and the camera is fixedly connected to the shell. The magnetic levitation camera system and the control method of the present invention, by arranging a vertical rotation mechanism inside the shell of the camera assembly, enables the shell to rotate vertically relative to the second magnetic levitation permanent magnet under the action of the vertical rotation mechanism, while the second magnetic levitation permanent magnet remains parallel to the first magnetic levitation permanent magnet of the base, and the camera is fixedly connected to the shell, so that the vertical rotation of the magnetic levitation camera can be realized, and the rotation angle and image capture range of the magnetic levitation camera are increased.

[0079] like Figure 1 As shown, on the one hand, an embodiment of the present invention provides a magnetic levitation camera system, including: a base 10 and a camera assembly 20. The base 10 includes a first magnetic levitation permanent magnet 11. The camera assembly 20 includes a second magnetic levitation permanent magnet 21, a housing 22, a vertical rotation mechanism 23 and a camera 24.

[0080] Specifically, the camera assembly 20 is suspended above the base 10 by the first magnetic levitation permanent magnet 11 and the second magnetic levitation permanent magnet 21. When the magnetic levitation camera system is working, the first magnetic levitation permanent magnet 11 and the second magnetic levitation permanent magnet 21 generate a repulsive force, so that the camera assembly 20 is suspended above the base 10. During the horizontal or vertical rotation of the camera assembly 20 relative to the base 10, the first magnetic levitation permanent magnet 11 and the second magnetic levitation permanent magnet 21 always remain relatively parallel. In addition, the camera 24 is fixedly connected to the housing 22 so that the housing 22 drives the camera 24 to rotate horizontally or vertically relative to the base 10.

[0081] Furthermore, the housing 22 has a motion stroke of vertical rotation relative to the second magnetic levitation permanent magnet 21 under the action of the vertical rotation mechanism 23. The vertical rotation mechanism 23 is fixedly connected to the housing 22 and the second magnetic levitation permanent magnet 21 respectively. The vertical rotation mechanism 23 drives the housing 22 to rotate horizontally or vertically relative to the base 10 based on the relative movement between its own components, and further drives the camera 24 to rotate horizontally or vertically relative to the base 10, thereby increasing the rotation angle and image capture range of the magnetic levitation camera 24.

[0082] In some embodiments, during the vertical rotation movement, the downward distance of the bottom of the camera assembly 20 is less than the suspension height of the camera assembly 20 and the base 10 in the initial state. Specifically, the overall shape of the housing 22 can be a sphere with a horizontal bottom. During the vertical rotation of the housing 22, the bottom of the camera assembly 20 will be lower than that in the initial state or in the horizontal rotation state, thereby forming a certain downward distance. The downward distance of the bottom of the camera assembly 20 is less than the suspension height of the camera assembly 20 and the base 10 in the initial state, which can ensure that the camera assembly 20 does not contact the base 10 during the vertical rotation of the camera assembly 20, thereby avoiding the mutual influence between the camera assembly 20 and the base 10 during the vertical rotation.

[0083] In some embodiments, the vertical rotation mechanism 23 includes a first fixed end and a second fixed end. The first fixed end is fixedly connected to the housing 22, and the second fixed end is fixedly connected to the second magnetic levitation permanent magnet 21. The relative movement of the first fixed end and the second fixed end drives the relative vertical rotation of the housing 22 and the second magnetic levitation permanent magnet 21, and further drives the camera 24 to rotate horizontally or vertically relative to the base 10, thereby increasing the rotation angle and image capture range of the magnetic levitation camera 24.

[0084] like Figure 2As shown, in some embodiments, the vertical rotation mechanism 23 can be a reduction motor, specifically a micro reduction motor. A micro reduction motor is a small mechanical device that integrates a reducer and an electric motor, and is mainly used to reduce the speed of the motor output and increase the output torque. This device converts the high-speed rotation of the motor into a lower speed through a gear reduction system to meet the different requirements for speed and torque in practical applications. The micro reduction motor is small in size, light in weight, has high transmission efficiency and high stability, and is very suitable for a magnetic levitation camera system. Among them, the first fixed end is the first stator of the reduction motor, and the second fixed end is the first rotor of the reduction motor. That is, the first stator is fixedly connected to the housing 22, and the first rotor is fixedly connected to the second magnetic levitation permanent magnet 21. The relative movement of the first stator and the first rotor drives the relative vertical rotation of the housing 22 and the second magnetic levitation permanent magnet 21, and further drives the camera 24 to rotate horizontally or vertically relative to the base 10, increasing the rotation angle and image capture range of the magnetic levitation camera 24. Specifically, the axis of the first rotor and the first stator can be perpendicular to the vertical rotation direction of the housing 22. The rotation direction of the first rotor relative to the first stator may be the same as the vertical rotation direction of the housing 22 , so that the reduction motor controls the vertical rotation of the housing 22 .

[0085] like Figure 3 As shown, in some embodiments, the vertical rotation mechanism 23 is an ultrasonic motor. An ultrasonic motor is a special motor driven by ultrasonic vibration, which generates motion by converting electrical energy into mechanical vibration energy. Unlike traditional motors, ultrasonic motors do not rely on electromagnetic force, but rely on the vibration of piezoelectric materials at ultrasonic frequencies to drive the rotor or slider. Ultrasonic motors have high positioning accuracy, small size, light weight, low noise and rapid response, and are very suitable for magnetic levitation camera systems. Among them, the first fixed end is the second stator 231 of the ultrasonic motor, and the second fixed end is the second rotor 232 of the ultrasonic motor. That is, the second stator 231 is fixedly connected to the housing 22, and the second rotor 232 is fixedly connected to the second magnetic levitation permanent magnet 21. The relative movement of the second stator 231 and the second rotor 232 drives the relative vertical rotation of the housing 22 and the second magnetic levitation permanent magnet 21, and further drives the camera 24 to rotate horizontally or vertically relative to the base 10, increasing the rotation angle and image capture range of the magnetic levitation camera 24.

[0086] Continue to refer Figure 3 In some embodiments, the ultrasonic motor has two second stators 231 and a second rotor 232 , and the second rotor 232 is located between the two second stators 231 to ensure balanced weight distribution within the housing 22 and improve the accuracy of horizontal or vertical rotation of the camera assembly 20 .

[0087] like Figure 4As shown, in some embodiments, the camera assembly 20 further includes: a nine-axis sensor. The nine-axis sensor is used to detect and control the vertical rotation of the camera assembly 20. The nine-axis sensor is a device that integrates multiple sensor modules and can simultaneously detect and measure information on three-axis acceleration, three-axis angular velocity (gyroscope), and three-axis magnetic field strength (electronic compass). The nine-axis sensor is used to provide a comprehensive motion and direction perception capability for the camera assembly 20 in the magnetic levitation camera system, so as to accurately control the horizontal and vertical rotation of the camera assembly 20.

[0088] like Figure 4 and Figure 5 As shown, in some embodiments, the camera assembly 20 further includes: two support rods 25. The support rods 25 are fixedly connected to the second magnetic suspension permanent magnet 21 to ensure that the housing 22 supports the second magnetic suspension permanent magnet 21. At the same time, the support rods 25 are rotatably connected to the housing 22 to ensure that the second magnetic suspension permanent magnet 21 always remains relatively parallel to the first magnetic suspension permanent magnet 11 during the vertical or horizontal rotation of the housing 22 relative to the second magnetic suspension permanent magnet 21. The connecting line of the two support rods is perpendicular to the vertical rotation direction of the housing 22, so as to control and realize the vertical rotation of the housing 22 relative to the second magnetic suspension permanent magnet 21.

[0089] like Figure 6 As shown, in some embodiments, the camera assembly 20 also includes: an infrared sensor 26. The infrared sensor 26 is a device that uses infrared rays (IR) for detection and sensing, and can sense the thermal radiation or reflected infrared light of an object, thereby realizing functions such as distance measurement, temperature detection, and motion sensing. Specifically, the infrared sensor 26 is fixed to the housing 22, and the infrared sensor 26 and the camera 24 jointly realize panoramic detection. The camera 24 usually has a limited camera angle of view and cannot realize image capture without blind spots in the spatial range at the same time. In response to the above problems, the infrared sensor 26 is matched with the camera 24 in the present invention to realize image capture without blind spots in the spatial range at the same time, that is, panoramic detection. The number of infrared sensors 26 and their positions in the spherical housing 22 can be adjusted according to the detection range of the camera 24 and the infrared sensor 26, and the present invention does not limit this.

[0090] like Figure 4 and Figure 5As shown, in some embodiments, the base 10 further includes: a horizontal rotating coil 12. The camera assembly 20 further includes: a horizontal rotating permanent magnet 27. The horizontal rotating coil 12 and the horizontal rotating permanent magnet 27 jointly control the movement stroke of the camera assembly 20 in horizontal rotation relative to the base 10. Specifically, when the camera assembly 20 does not rotate, the horizontal rotating coil 12 generates a fixed magnetic field to stabilize the camera assembly 20; when the camera assembly 20 needs to rotate horizontally, the horizontal rotating coil 12 generates a horizontal rotating magnetic field, and the horizontal rotating permanent magnet 27 moves horizontally under the action of the horizontal rotating magnetic field, driving the camera assembly 20 to rotate horizontally.

[0091] like Figure 4 and Figure 5 As shown, in some embodiments, the base 10 further includes: a first wireless charging mechanism 13. The camera assembly 20 further includes: a second wireless charging mechanism 28. Specifically, the first wireless charging mechanism 13 and the second wireless charging mechanism 28 jointly complete the wireless charging from the base 10 to the camera assembly 20.

[0092] like Figure 4 As shown, in some embodiments, the base 10 further includes: a magnetic suspension balance coil. Specifically, when the camera assembly 20 rotates horizontally or vertically, the magnetic suspension balance coil generates a balance magnetic field to keep the camera assembly 20 balanced during movement.

[0093] like Figure 4 As shown, in some embodiments, the base 10 further includes: a first Bluetooth. The camera assembly 20 further includes: a second Bluetooth. Specifically, the base 10 and the camera assembly 20 achieve wireless communication through the first Bluetooth and the second Bluetooth, but the present invention is not limited to this.

[0094] like Figure 4 As shown, in some embodiments, the base 10 further includes: a rotation sensor. Specifically, the rotation sensor can be a Hall sensor. The Hall sensor is a sensor based on the Hall effect, which is used to detect the presence and strength of a magnetic field and convert it into an electrical signal. The Hall effect refers to the phenomenon that when an electric current passes through a semiconductor material, a magnetic field perpendicular to the direction of the current will produce a voltage difference on both sides of the material. This phenomenon is used to sense the magnetic field. In the present invention, the camera 24 is equipped with an induction magnet, and the Hall sensor is used to sense the horizontal or vertical rotation orientation of the induction magnet, so as to further sense the horizontal or vertical rotation orientation of the camera 24.

[0095] like Figure 4 As shown, in some embodiments, the base 10 further includes: a control circuit board. The camera assembly 20 further includes: a control circuit. Specifically, the base 10 controls various components in the base 10 through the control circuit board. The camera assembly 20 controls various components in the camera assembly 20 through the control circuit.

[0096] like Figure 4 As shown, in some embodiments, the magnetic levitation camera system further includes: a control terminal 30. The control terminal 30, the base 10 and the camera assembly 20 are wirelessly connected in pairs. Specifically, the control terminal 30 can be a device such as a smart phone or a computer controlled by a user. The wireless communication connection between the control terminal 30, the base 10 and the camera assembly 20 can be achieved through WiFi, 4G or 5G, and the present invention is not limited to this.

[0097] The magnetic levitation camera system of the present invention, by arranging a vertical rotation mechanism 23 inside the shell 22 of the camera assembly 20, allows the shell 22 to vertically rotate relative to the second magnetic levitation permanent magnet 21 under the action of the vertical rotation mechanism 23, while the second magnetic levitation permanent magnet 21 remains parallel to the first magnetic levitation permanent magnet 11 of the base 10, and the camera 24 is fixedly connected to the shell 22, thereby realizing the vertical rotation of the magnetic levitation camera 24 and increasing the rotation angle and image capture range of the magnetic levitation camera 24.

[0098] like Figure 7 As shown, on the other hand, an embodiment of the present invention further provides a control method of a magnetic levitation camera system, using the above-mentioned magnetic levitation camera system, comprising:

[0099] S101, in response to receiving a vertical rotation request, the base 10 sends a vertical rotation instruction to the camera assembly 20;

[0100] S102, in response to receiving the vertical rotation instruction, the camera assembly 20 drives the vertical rotation mechanism 23;

[0101] S103 , based on the action of the vertical rotation mechanism 23 , the housing 22 rotates vertically relative to the second magnetic levitation permanent magnet 21 .

[0102] It is worth noting that S101 to S103 are merely step numbers, which are used to facilitate reference and avoid text duplication, rather than to limit the order of implementation of the various steps of the method. In other embodiments, the above steps of the method can also be written in an interchangeable order, and are not limited thereto. The subsequent step numbers in the present invention all have the same meaning, and the repeated parts are not repeated.

[0103] The above steps S101 to S103 are intended to reflect the vertical rotation process of the magnetic levitation camera system. Specifically, when the user needs to control the camera 24 to rotate vertically, the user first sends a vertical rotation request to the base 10 through the control terminal 30, or the camera assembly 20 directly sends a vertical rotation request to the base 10, and then the base 10 sends a vertical rotation instruction to the camera assembly 20, and the camera assembly 20 drives the vertical rotation mechanism 23 to control the housing 22 to rotate vertically relative to the second magnetic levitation permanent magnet 21, and further drives the camera 24 to rotate horizontally or vertically relative to the base 10.

[0104] like Figure 8 As shown, in some embodiments, the control method of the magnetic levitation camera system further includes:

[0105] S104, in response to receiving the horizontal rotation request, the base 10 drives the horizontal rotation coil 12 to generate a horizontal rotation magnetic field;

[0106] S105 . Based on the effect of the horizontal rotating magnetic field, the camera assembly 20 rotates horizontally relative to the base 10 .

[0107] The above steps S104 to S105 are intended to reflect the horizontal rotation process of the magnetic levitation camera system. Specifically, when the user needs to control the camera 24 to rotate horizontally, the user first sends a horizontal rotation request to the base 10 through the control terminal 30, or the camera assembly 20 directly sends a horizontal rotation request to the base 10, and then the base 10 drives the horizontal rotation coil 12 to generate a horizontal rotating magnetic field, and the horizontal rotating permanent magnet 27 of the camera assembly 20 moves horizontally under the action of the horizontal rotating magnetic field, driving the camera assembly 20 to rotate horizontally.

[0108] like Fig. 9As shown, in other embodiments, the horizontal rotation process of the camera 24 can also be as follows: when the magnetic suspension camera system is in working state, when the camera assembly 20 does not rotate, the rotation sensor detects the position of the camera assembly 20 in real time, and the horizontal rotation coil 12 generates a fixed magnetic field to stabilize the camera assembly 20. When the user needs the camera assembly 20 to rotate horizontally, the user first sends a horizontal rotation request to the base 10 through the control terminal 30, or the camera assembly 20 directly sends a horizontal rotation request to the base 10, and then the first Bluetooth of the base 10 is used to determine whether a horizontal rotation request from the control terminal 30 or the camera assembly 20 is received. When the first Bluetooth receives the horizontal rotation request, the base 10 drives the horizontal rotation coil 12 to generate a horizontal rotating magnetic field to drive the camera assembly 20 to rotate horizontally; the first Bluetooth further determines whether a request to stop horizontal rotation is received from the control terminal 30 or the camera assembly 20. If a request to stop horizontal rotation is received, it returns to execute the rotation sensor to detect the position of the camera assembly 20 in real time, and the horizontal rotation coil 12 generates a fixed magnetic field to stabilize the camera assembly 20, otherwise it continues to drive the horizontal rotation coil 12 to generate a horizontal rotating magnetic field. When the first Bluetooth does not receive the horizontal rotation request, it returns to execute the rotation sensor to detect the position of the camera assembly 20 in real time, and the horizontal rotation coil 12 generates a fixed magnetic field to stabilize the camera assembly 20.

[0109] like Fig.10 As shown, in other embodiments, the horizontal or vertical rotation process of the camera 24 can also be as follows: when the magnetic suspension camera system is in working state, the camera assembly 20 determines in real time whether the control terminal 30 or the camera assembly 20 itself requests to rotate the camera 24. If so, the camera assembly 20 continues to determine whether the rotation request is a horizontal rotation request; otherwise, it returns to continue to determine whether the camera 24 is requested to rotate. When the camera assembly 20 determines that the received rotation request is a horizontal rotation request, the second Bluetooth sends a horizontal rotation request to the base 10, the base 10 executes the request and drives the camera assembly 20 to rotate horizontally, and then determines whether the received rotation request also includes a vertical rotation request; otherwise, it directly determines whether the received rotation request is a vertical rotation request. When the camera component 20 determines that the received rotation request is a vertical rotation request, the vertical rotation mechanism 23 executes the vertical rotation request to drive the shell 22 to rotate vertically relative to the second magnetic levitation permanent magnet 21, further driving the camera 24 to rotate horizontally or vertically relative to the base 10, and returns to execute the camera component 20 to determine in real time whether the control terminal 30 or the camera component 20 itself requests to rotate the camera 24; otherwise, it directly returns to execute the camera component 20 to determine in real time whether the control terminal 30 or the camera component 20 itself requests to rotate the camera 24.

[0110] like Fig.11 and Fig.12As shown, in some embodiments, the control method of the magnetic levitation camera system further includes:

[0111] S106, turning on the camera 24 and the infrared sensor 26, and making the camera 24 face a preset direction;

[0112] S107, based on the camera 24 identifying the tracking object, driving the housing 22 to rotate horizontally and / or vertically so that the tracking object is located in the center of the shooting picture of the camera 24;

[0113] S108, based on the fact that the camera 24 does not recognize the tracking object and the infrared sensor 26 recognizes the tracking object, driving the housing 22 to rotate horizontally and / or vertically so that the tracking object enters the shooting picture of the camera 24 and is located at the center of the shooting picture;

[0114] S109 , based on the movement of the tracked object, drive the housing 22 to rotate horizontally and / or vertically, so that the tracked object is always located in the center of the picture captured by the camera 24 .

[0115] The above steps S106 to S109 are intended to reflect the detection and tracking process of the magnetic levitation camera system. Specifically, through the cooperation of the camera 24 and the infrared sensor 26, when either party detects the tracking object, the camera 24 is driven to rotate horizontally or vertically so that the tracking object is always located in the center of the shooting screen of the camera 24. The tracking object can be a human body or other moving or non-moving objects.

[0116] like Fig.13 As shown, in some embodiments, the control method of the magnetic levitation camera system further includes:

[0117] S110, based on the fact that the camera 24 does not identify the tracking object, and the infrared sensor 26 identifies the tracking object, driving the housing 22 to rotate horizontally and / or vertically, so that the camera 24 faces the direction indicated by the infrared sensor 26;

[0118] S111 : Based on the fact that the camera 24 fails to identify the tracking object, the housing 22 is driven to rotate horizontally and / or vertically, so that the camera 24 faces the preset direction again.

[0119] The above steps S106 to S109 are intended to reflect the false alarm of the infrared sensor 26 during the detection and tracking process of the magnetic levitation camera system. Specifically, when the infrared sensor 26 mistakenly detects the tracking object, the camera 24 rotates to the wrong position, but does not capture the tracking object, and the camera 24 rotates back to the preset direction.

[0120] like Fig.14As shown, in some embodiments, the detection and tracking process of the magnetic levitation camera system can also be as follows: first, the infrared sensor 26 and the camera 24 are initialized, the camera 24 is turned to a preset position, and the visual tracking function of the camera 24 is turned on. Secondly, the infrared sensor 26 determines whether the tracking object is sensed. If so, the camera 24 is turned to the position where the infrared sensor 26 is located by vertical or horizontal rotation, otherwise it returns to execute the infrared sensor 26 to determine whether the tracking object is sensed. Then, whether the visual tracking module of the camera 24 recognizes the tracking object, if so, the camera 24 uses the visual tracking module to track the tracking object, otherwise the camera 24 is turned back to the preset position, the false alarm infrared sensor 26 signal is recorded, and the infrared sensor 26 is returned to determine whether the tracking object is sensed. Finally, it is determined whether the tracking object leaves the image capture range of the camera 24. If so, it returns to execute the infrared sensor 26 to determine whether the tracking object is sensed, otherwise the camera 24 uses the visual tracking module to track the tracking object, so that the tracking object is always located in the center of the camera 24 shooting screen.

[0121] The control method of the magnetic levitation camera system of the present invention is to set a vertical rotation mechanism 23 inside the shell 22 of the camera assembly 20, so that the shell 22 can be vertically rotated relative to the second magnetic levitation permanent magnet 21 under the action of the vertical rotation mechanism 23, and at the same time, the second magnetic levitation permanent magnet 21 remains parallel to the first magnetic levitation permanent magnet 11 of the base 10, and the camera 24 is fixedly connected to the shell 22, so that the vertical rotation of the magnetic levitation camera 24 can be achieved, and the rotation angle and image capture range of the magnetic levitation camera 24 are increased; through the cooperation of the camera 24 and the infrared sensor 26, when either party detects the tracking object, the camera 24 is driven to rotate horizontally or vertically, so that the tracking object is always located in the center of the shooting screen of the camera 24, so as to achieve detection and tracking of the tracking object.

[0122] In summary, the magnetic levitation camera system and control method thereof of the present invention, by arranging a vertical rotation mechanism inside the shell of the camera assembly, allows the shell to vertically rotate relative to the second magnetic levitation permanent magnet under the action of the vertical rotation mechanism, while the second magnetic levitation permanent magnet remains parallel to the first magnetic levitation permanent magnet of the base, and the camera is fixedly connected to the shell, thereby realizing the vertical rotation of the magnetic levitation camera and increasing the rotation angle and image capture range of the magnetic levitation camera.

[0123] The above contents are further detailed descriptions of the present invention in combination with specific optional implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A magnetic levitation camera system, characterized in that: include: A base, the base comprising a first magnetic suspension permanent magnet; A camera assembly, the camera assembly comprising a second magnetic suspension permanent magnet, a housing, a vertical rotation mechanism and a camera; the camera assembly is suspended above the base by the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet, and the first magnetic suspension permanent magnet and the second magnetic suspension permanent magnet always remain relatively parallel; the camera is fixedly connected to the housing; Wherein, the shell has a motion stroke of vertical rotation relative to the second magnetic suspension permanent magnet under the action of the vertical rotation mechanism.

2. The magnetic levitation camera system according to claim 1, characterized in that: The vertical rotation mechanism comprises a first fixed end and a second fixed end, the first fixed end is fixedly connected to the housing, and the second fixed end is fixedly connected to the second magnetic suspension permanent magnet; The relative movement between the first fixed end and the second fixed end drives the relative vertical rotation of the housing and the second magnetic suspension permanent magnet.

3. The magnetic levitation camera system according to claim 2, characterized in that: The vertical rotation mechanism is a reduction motor, the first fixed end is a first stator of the reduction motor, and the second fixed end is a first rotor of the reduction motor.

4. The magnetic levitation camera system according to claim 2, characterized in that: The vertical rotation mechanism is an ultrasonic motor, the first fixed end is a second stator of the ultrasonic motor, and the second fixed end is a second rotor of the ultrasonic motor.

5. The magnetic levitation camera system according to claim 4, characterized in that: The ultrasonic motor has two second stators and one second rotor, and the second rotor is located between the two second stators.

6. The magnetic levitation camera system according to claim 1, characterized in that: The camera assembly further includes a nine-axis sensor, which is used to detect and control the vertical rotation of the camera assembly.

7. The magnetic levitation camera system according to claim 1, characterized in that: The camera assembly further comprises: two support rods, the support rods being fixedly connected to the second magnetic suspension permanent magnet, and the support rods being rotatably connected to the housing; Wherein, a connecting line between the two support links is perpendicular to the vertical rotation direction of the housing.

8. The magnetic levitation camera system according to claim 1, characterized in that: The camera assembly further includes an infrared sensor, which is fixed to the housing and realizes panoramic detection together with the camera.

9. The magnetic levitation camera system according to claim 1, characterized in that: The base further includes: a horizontal rotating coil, a magnetic suspension balancing coil and a first wireless charging mechanism; The camera assembly further includes: a horizontally rotating permanent magnet and a second wireless charging mechanism; Wherein, the horizontal rotation coil and the horizontal rotation permanent magnet jointly control the motion stroke of the camera assembly to rotate horizontally relative to the base; The magnetic suspension balance coil is used to keep the camera assembly balanced during the movement of the camera assembly; The first wireless charging mechanism and the second wireless charging mechanism jointly complete the wireless charging from the base to the camera assembly.

10. The magnetic levitation camera system according to claim 1, characterized in that: In the vertical rotation movement, the downward distance of the bottom of the camera assembly is less than the suspension height of the camera assembly and the base in the initial state.

11. The magnetic levitation camera system according to any one of claims 1 to 10, characterized in that: Also includes: A control terminal, wherein the control terminal, the base and the camera assembly are wirelessly connected in pairs.

12. A control method for a magnetic levitation camera system, using the magnetic levitation camera system according to claim 11, characterized in that: include: In response to receiving the vertical rotation request, the base sends a vertical rotation instruction to the camera assembly; In response to receiving the vertical rotation instruction, the camera assembly drives the vertical rotation mechanism; Based on the action of the vertical rotation mechanism, the housing rotates vertically relative to the second magnetic levitation permanent magnet.

13. The control method of the magnetic levitation camera system according to claim 12, characterized in that: Also includes: In response to receiving a horizontal rotation request, the base drives the horizontal rotation coil to generate a horizontal rotation magnetic field; Based on the effect of the horizontal rotating magnetic field, the camera assembly rotates horizontally relative to the base.

14. The control method of the magnetic levitation camera system according to claim 13, characterized in that: Also includes: Turning on the camera and the infrared sensor, and directing the camera toward a preset direction; Based on the camera identifying the tracking object, driving the housing to rotate horizontally and / or vertically so that the tracking object is located at the center of the camera shooting picture; Based on the fact that the camera does not recognize the tracking object and the infrared sensor recognizes the tracking object, driving the housing to rotate horizontally and / or vertically so that the tracking object enters a shooting picture of the camera and is located at the center of the shooting picture; Based on the movement of the tracked object, the housing is driven to rotate horizontally and / or vertically so that the tracked object is always located in the center of the camera shooting picture.

15. The control method of the magnetic levitation camera system according to claim 14, characterized in that: Also includes: Based on the fact that the camera does not recognize the tracking object and the infrared sensor recognizes the tracking object, driving the housing to rotate horizontally and / or vertically so that the camera faces the direction indicated by the infrared sensor; Based on the fact that the camera fails to identify the tracking object, the housing is driven to rotate horizontally and / or vertically so that the camera faces a preset direction again.

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