Lamp positioning method and device and lamp

Abstract

The invention relates to a lamp positioning method and device and a lamp. The method comprises the steps that a first reading of a first sensor is obtained, the first sensor is used for measuring the rotation angle of a first belt wheel included in a transmission assembly in the lamp, a head shaking assembly is used for driving the lamp to rotate, the transmission assembly comprises the first belt wheel, a differential wheel and a second belt wheel, and the first belt wheel is connected with a motor and connected with the second belt wheel through a synchronous belt; the second belt wheel is connected with the head shaking assembly, the differential wheel is connected with at least one of the first belt wheel, the second belt wheel and the synchronous belt, the tooth number of the differential wheel and the tooth number of the first belt wheel are different and meet the preset relation, and a second reading of a second sensor is obtained, and the second sensor is used for measuring the rotation angle of the differential wheel. And determining the actual rotation angle of the first belt wheel according to the first reading and the second reading, and determining the position of the head shaking assembly according to the actual rotation angle of the first belt wheel. By adopting the method, the lamp positioning time can be saved.

Description

Technical Field

[0001] The present application relates to the technical field of lamp control, and in particular to a lamp positioning method, device, and lamp. Background Art

[0002] The shaking head assembly of the stage lighting fixture can be rotated under the drive of the motor, thereby driving the rotation of the stage lighting fixture. In order to realize the control of the stage lighting fixture, the shaking head assembly of the stage lighting fixture needs to be positioned to determine the position of the shaking head assembly.

[0003] Currently, the positioning method for the oscillating head assembly of the stage lighting fixture is to set a rotary encoder on the motor lead-out shaft to determine the position of the oscillating head assembly according to the corresponding relationship between the rotation angle value of the rotary encoder and the driven wheel connected to the oscillating head assembly.

[0004] However, since the angular range of the moving head assembly exceeds 360°, there is a multi-value correspondence between the angular value of the rotary encoder and the driven wheel, making it difficult to achieve absolute positioning. The actual position of the moving head assembly cannot be determined after the stage lighting fixture is powered off and restarted, and rotation detection is required to determine the position of the moving head assembly when the stage lighting fixture is turned on, which is time-consuming. Summary of the invention

[0005] Based on this, it is necessary to provide a lamp positioning method, device, and lamp that can save lamp positioning time in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a lamp positioning method, comprising:

[0007] Obtain a first reading of a first sensor, the first sensor is used to measure the rotation angle of a first pulley included in a transmission assembly in the lamp, the transmission assembly is arranged between the motor and the shaking head assembly of the lamp, and is used to drive the shaking head assembly to move under the drive of the motor, the shaking head assembly is used to drive the lamp to rotate, the transmission assembly includes a first pulley, a differential wheel and a second pulley, the first pulley is connected to the motor and is connected to the second pulley through a synchronous belt, the second pulley is connected to the shaking head assembly, the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and satisfies a preset relationship; obtain a second reading of a second sensor, the second sensor is used to measure the rotation angle of the differential wheel; determine the actual rotation angle of the first pulley according to the first reading and the second reading, and determine the position of the shaking head assembly according to the actual rotation angle of the first pulley.

[0008] In one embodiment, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

[0009] In one embodiment, the preset relationship includes: the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, the preset threshold is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0010] In one embodiment, determining the actual rotation angle of the first pulley according to the first reading and the second reading includes:

[0011] Determine the actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading; and determine the actual rotation angle of the first pulley according to the actual rotation angle difference.

[0012] In one embodiment, determining the actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading includes:

[0013] Determine an initial reading difference between the rotation angle of the first pulley and the rotation angle of the differential wheel according to the difference between the first reading and the second reading; obtain a reset reading difference, which is the difference between the reading of the first sensor and the reading of the second sensor after the lamp performs a reset operation; perform a modulo operation on 360° according to the difference between the initial reading difference and the reset reading difference, and determine the actual rotation angle difference between the first pulley and the differential wheel according to the result of the modulo operation.

[0014] In one embodiment, the method further comprises:

[0015] A reset process is performed to rotate the transmission component to a preset initial position; after the reset, a third reading of the first sensor and a fourth reading of the second sensor are obtained; and a reset reading difference is determined according to a reading difference between the third reading and the fourth reading.

[0016] In one embodiment, determining the actual rotation angle of the first pulley according to the actual rotation angle difference includes:

[0017] Obtain the number of teeth of the first pulley and the number of teeth of the differential wheel; determine the second parameter according to the ratio of the number of teeth of the differential wheel to the first parameter, the first parameter being the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the first pulley; determine the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference.

[0018] In one embodiment, determining the position of the shaking head assembly according to the actual rotation angle of the first pulley includes:

[0019] The transmission ratio of the transmission assembly is determined according to the number of teeth of the first pulley and the number of teeth of the second pulley; the actual rotation angle of the shaking head assembly is determined according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the shaking head assembly according to the actual rotation angle of the shaking head assembly.

[0020] In a second aspect, the present application also provides a lamp positioning device, comprising:

[0021] A first acquisition module is used to obtain a first reading of a first sensor, the first sensor is used to measure the rotation angle of a first pulley included in a transmission assembly in the lamp, the transmission assembly is arranged between the motor and the oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, the oscillating assembly is used to drive the lamp to rotate, the transmission assembly includes a first pulley, a differential wheel and a second pulley, the first pulley is connected to the motor, and is connected to the second pulley through a synchronous belt, the second pulley is connected to the oscillating assembly, the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and a preset relationship is satisfied;

[0022] A second acquisition module, used for acquiring a second reading of a second sensor, where the second sensor is used for measuring a rotation angle of a differential wheel;

[0023] The determination module is used to determine the actual rotation angle of the first pulley according to the first reading and the second reading, and to determine the position of the shaking head assembly according to the actual rotation angle of the first pulley.

[0024] In one embodiment, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

[0025] In one embodiment, the preset relationship includes:

[0026] The absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, which is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0027] In one embodiment, the determination module is specifically configured to determine an actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading; and determine an actual rotation angle of the first pulley according to the actual rotation angle difference.

[0028] In one embodiment, the determination module is specifically used to determine the initial reading difference between the rotation angle of the first pulley and the rotation angle of the differential wheel according to the difference between the first reading and the second reading; obtain the reset reading difference, which is the difference between the reading of the first sensor and the reading of the second sensor after the lamp performs the reset operation; perform a modulo operation on 360° according to the difference between the initial reading difference and the reset reading difference, and determine the actual rotation angle difference between the first pulley and the differential wheel according to the result of the modulo operation.

[0029] In one embodiment, the device also includes a reset module, which is used to perform a reset process to rotate the transmission component to a preset initial position; after resetting, obtain a third reading of the first sensor and a fourth reading of the second sensor; and determine a reset reading difference based on a reading difference between the third reading and the fourth reading.

[0030] In one embodiment, the determination module is specifically used to obtain the number of teeth of the first pulley and the number of teeth of the differential wheel; determine the second parameter according to the ratio of the number of teeth of the differential wheel to the first parameter, the first parameter being the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the first pulley; determine the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference.

[0031] In one of the embodiments, the determination module is specifically used to determine the transmission ratio of the transmission assembly according to the number of teeth of the first pulley and the number of teeth of the second pulley; determine the actual rotation angle of the shaking head assembly according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the shaking head assembly according to the actual rotation angle of the shaking head assembly.

[0032] In a third aspect, the present application further provides a lamp, comprising:

[0033] A transmission assembly, the transmission assembly is arranged between the motor and the shaking assembly of the lamp, and is used to drive the shaking assembly to move under the drive of the motor. The transmission assembly includes a first pulley, a differential wheel and a second pulley. The first pulley is connected to the second pulley through a synchronous belt. The differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt. The number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied. A second sensor is arranged on the differential wheel, and the second sensor is used to measure the rotation angle of the differential wheel.

[0034] A motor, the motor is connected to the first pulley, a first sensor is arranged on the first pulley or the lead-out shaft of the motor, and the first sensor is used to measure the rotation angle of the first pulley;

[0035] A shaking head assembly, which is connected to the second pulley and is used to drive the shaking head assembly of the lamp to rotate;

[0036] A controller is connected to the motor, the first sensor and the second sensor, and is used to execute the method of any one of claims 1 to 8.

[0037] In one embodiment, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

[0038] In one embodiment, the preset relationship includes:

[0039] The absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, which is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the lamp positioning method described in any one of the first aspects above is implemented.

[0041] In a fifth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements any of the lamp positioning methods described in the first aspect.

[0042] The above-mentioned lamp positioning method, device, and lamp obtain a first reading of a first sensor, the first sensor is used to measure the rotation angle of a first pulley included in a transmission assembly in the lamp, the transmission assembly is arranged between the motor and the shaking head assembly of the lamp, and is used to drive the shaking head assembly to move under the drive of the motor, the shaking head assembly is used to drive the lamp to rotate, the transmission assembly includes a first pulley, a differential wheel and a second pulley, the first pulley is connected to the motor and is connected to the second pulley through a synchronous belt, the second pulley is connected to the shaking head assembly, the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and satisfies a preset relationship, and then, obtains a second reading of the second sensor, the second sensor is used to measure the rotation angle of the differential wheel, and finally, determines the actual rotation angle of the first pulley according to the first reading and the second reading, and determines the position of the shaking head assembly according to the actual rotation angle of the first pulley. In this way, when the position of the lamp needs to be determined after it is turned on, the actual rotation angle of the first pulley can be determined by the first reading of the first sensor and the second reading of the second sensor, and then the actual position of the shaking head assembly can be determined. There is no need to perform rotation detection on the shaking head assembly, which can save time in positioning the lamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] FIG1 is a diagram showing an application environment of a lamp positioning method according to an embodiment;

[0045] FIG2 is a schematic diagram of a flow chart of a lamp positioning method in one embodiment;

[0046] FIG3 is a schematic flow chart of a step of determining an actual rotation angle of a first pulley in one embodiment;

[0047] FIG4 is a schematic flow chart of a step of determining an actual rotation angle difference between a first pulley and a differential wheel in one embodiment;

[0048] FIG5 is a schematic flow chart of a step of obtaining a reset reading difference in one embodiment;

[0049] FIG6 is a schematic flow chart of the step of determining the actual rotation angle of the first pulley in another embodiment;

[0050] FIG7 is a schematic diagram of a flow chart of steps for determining the position of an oscillating head assembly in one embodiment;

[0051] FIG8 is a schematic flow chart of a lamp positioning method in another embodiment;

[0052] FIG9 is a structural block diagram of a lamp positioning device in one embodiment;

[0053] FIG10 is a schematic front view of a structure of a lamp rotating structure in one embodiment;

[0054] FIG. 11 is a schematic top view of the structure of the lamp rotation structure in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] The lamp positioning method provided in the embodiment of the present application can be applied in the application environment as shown in FIG1 . The lamp 10 includes a transmission component 11, a motor 12, an oscillating component 13, a controller 14, a first sensor 15, and a second sensor 16. The transmission component 11 is arranged between the motor 12 and the oscillating component 13 of the lamp 10, and is used to drive the oscillating component 13 to move under the drive of the motor 12. The transmission component 11 includes a first pulley 110, a differential wheel 111, and a second pulley 112. The first pulley 110 is connected to the second pulley 112 through a synchronous belt. The differential wheel is connected to at least one of the first pulley, the second pulley, and the synchronous belt. The number of teeth of the differential wheel 111 is different from the number of teeth of the first pulley 110, and the pre-set Assume that the differential wheel 111 is provided with a second sensor 16, and the second sensor 16 is used to measure the rotation angle of the differential wheel; the motor 12 is connected to the first pulley 110, and the first sensor 15 is provided on the lead-out shaft of the first pulley 110 or the motor 12, and the first sensor 15 is used to measure the rotation angle of the first pulley; the oscillating head assembly 13, the oscillating head assembly 13 is connected to the second pulley 112, and is used to drive the lamp 10 to rotate; the controller 14 is connected to the motor 12, the first sensor 15 and the second sensor 16, and can obtain the data collected by the first sensor 15 and the second sensor 16, and can provide a driving signal to the motor 12. In Figure 1, a possible connection method of the differential wheel is shown, that is, the differential wheel can be connected to the first pulley through a synchronous belt.

[0057] In an exemplary embodiment, as shown in FIG2 , a method for locating a lamp is provided, which is described by taking the method applied to the lamp in FIG1 as an example, and includes the following steps 201 to 203. Among them:

[0058] S201, obtaining a first reading of a first sensor.

[0059] Among them, the first sensor is used to measure the rotation angle of the first pulley included in the transmission assembly in the lamp. The transmission assembly is arranged between the motor and the shaking head assembly of the lamp, and is used to drive the shaking head assembly to move under the drive of the motor. The shaking head assembly is used to drive the lamp to rotate. The transmission assembly includes a first pulley, a differential wheel and a second pulley. The first pulley is connected to the motor and connected to the second pulley through a synchronous belt. The second pulley is connected to the shaking head assembly. The differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt. The number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied.

[0060] Optionally, the first sensor may be a sensor capable of measuring an angle, such as an angle encoder, a resistive angle sensor, a radio angle sensor, a Hall angle sensor, and the like.

[0061] Optionally, the first pulley and the motor can be rigidly connected, the first pulley can rotate under the drive of the motor, and transmit the rotational torque to the differential wheel and the second pulley through the synchronous belt, the second pulley and the oscillating head assembly can be rigidly connected, and the oscillating head assembly can move driven by the second pulley.

[0062] Optionally, the transmission assembly may be a reduction mechanism, the number of teeth of the first pulley is smaller than the number of teeth of the second pulley, the transmission ratio of the transmission assembly may range from 1 to 8, the measuring range of the first sensor and the second sensor is from 0° to 360°, and during the actual operation of the lamp, the X-axis rotation angle of the shaking head assembly often exceeds 360°. For example, the rotation angle of the shaking head assembly may be from 0° to 540°, that is, the rotation angle of the second pulley is from 0° to 540°. Taking the transmission ratio of 8 as an example, the rotation angle of the first pulley is from 0° to 4320°. In this way, when the reading of the first sensor is 120°, the actual rotation angle of the first pulley may be 120°, or the first sensor may have rotated one circle and then a second circle, that is, the actual rotation angle of the first pulley may be 480° or more. In other words, when determining the actual rotation angle of the first pulley based on the reading of the first sensor, there may be multiple possible values, and the actual rotation angle of the first pulley cannot be uniquely determined based on the reading of the first sensor alone.

[0063] Optionally, the differential wheel can be realized by ordinary gears, and has a different angular velocity with the first pulley.

[0064] Optionally, at least one of the first pulley, the second pulley and the synchronous belt is directly or indirectly connected to the differential wheel. The embodiment of the present application is not limited to this. It can be understood that no matter which of the first pulley, the second pulley or the synchronous belt the differential wheel is connected to, the linear speed of the meshing point of the differential wheel, the first pulley and the second pulley is the same.

[0065] Optionally, as shown in FIG. 1 , the differential wheel may be connected to the first pulley via a synchronous belt, and at the same time, the differential wheel may serve to tension the synchronous belt.

[0066] S202, obtaining a second reading of a second sensor, where the second sensor is used to measure the rotation angle of the differential wheel.

[0067] Optionally, the second sensor may also be a sensor capable of measuring an angle, of the same type as the first sensor.

[0068] Optionally, since the first pulley and the differential wheel are driven by a synchronous belt, the rotation angle of the first pulley and the rotation angle of the differential wheel change according to the transmission ratio of the two. When the number of teeth of the differential wheel and the first pulley are different, the rotation angle of the first pulley and the rotation angle of the differential wheel are also different.

[0069] S203, determining an actual rotation angle of the first pulley according to the first reading and the second reading, and determining a position of the oscillating head assembly according to the actual rotation angle of the first pulley.

[0070] Optionally, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°. In this way, the difference in the actual rotation angles of the first pulley and the differential wheel can be uniquely determined based on the difference between the first reading and the second reading. Furthermore, the actual rotation angle of the first pulley and the difference between the first reading and the second reading are in a one-to-one correspondence, and the actual rotation angle of the first pulley can be uniquely determined based on the first reading and the second reading.

[0071] In one possible implementation, the actual rotation angle of the first pulley is determined by the first reading corresponding to the first pulley and the number of rotations of the first pulley, and the actual rotation angle of the differential wheel is determined by the second reading corresponding to the differential wheel and the number of rotations of the differential wheel. Since the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°, it indicates that the number of rotations of the first pulley and the number of rotations of the differential wheel are the same, and the number of rotations can be determined according to the transmission ratio of the first pulley and the differential wheel in the synchronous belt, and then the actual rotation angle of the first pulley can be determined based on the number of rotations.

[0072] In another possible implementation, since there is a one-to-one correspondence between the actual rotation angle of the first pulley and the difference between the first reading and the second reading, a preset correspondence table can be queried based on the difference between the first reading and the second reading to determine the actual rotation angle of the first pulley. The correspondence table stores the correspondence between the difference between the first reading and the second reading and the actual rotation angle of the first pulley.

[0073] Optionally, after determining the actual rotation angle of the first pulley, the actual rotation angle of the shaking head assembly can be determined according to a preset rotation angle set list, wherein the rotation angle set list stores the actual rotation angles of the shaking head assembly and the actual rotation angle of the first pulley corresponding to the angle. For example, when the actual rotation angle of the shaking head assembly is 120°, the actual rotation angle of the first pulley can be (120°, 240°, 360°, 480°...); when the actual rotation angle of the shaking head assembly is 540°, the actual rotation angle of the first pulley can be (540°, 1080°, 1620°...); in this way, after determining the actual rotation angle of the first pulley, the preset rotation angle set list can be queried to determine the actual rotation angle of the shaking head assembly.

[0074] The above-mentioned lamp positioning method obtains the first reading of the first sensor, the first sensor is used to measure the rotation angle of the first pulley included in the transmission assembly in the lamp, the transmission assembly is arranged between the motor and the oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, the oscillating assembly is used to drive the lamp to rotate, the transmission assembly includes a first pulley, a differential wheel and a second pulley, the first pulley is connected to the motor, and is connected to the second pulley through a synchronous belt, the second pulley is connected to the oscillating assembly, the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied, then, the second reading of the second sensor is obtained, the second sensor is used to measure the rotation angle of the differential wheel, and finally, the actual rotation angle of the first pulley is determined according to the first reading and the second reading, and the position of the oscillating assembly is determined according to the actual rotation angle of the first pulley. In this way, when the position of the lamp needs to be determined after the lamp is turned on, the actual rotation angle of the first pulley can be determined by the first reading of the first sensor and the second reading of the second sensor, and then the actual position of the oscillating assembly can be determined, and there is no need to perform rotation detection on the oscillating assembly, which can save the time of lamp positioning.

[0075] In an exemplary embodiment, optionally, the preset relationship includes: the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, the preset threshold is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0076] Optionally, the preset relationship between the number of teeth of the differential wheel and the number of teeth of the first pulley can be expressed by the following formula:

[0077]

[0078] in, is the number of teeth of the first pulley, is the number of teeth of the differential wheel, and M is the total number of rotations of the first pulley.

[0079] Optionally, since the difference between the actual rotation angles of the first pulley and the differential wheel is less than 360° when the preset relationship is satisfied, it can be understood that the circumferential angle corresponding to one tooth in the first pulley is , after the first pulley rotates M times, when the number of teeth of the first pulley is greater than the number of teeth of the differential wheel, the angular difference between the first pulley and the differential wheel can be , when the number of teeth of the first pulley is less than the number of teeth of the differential wheel, the angular difference between the first pulley and the differential wheel can be ,right and The above preset relationship can be obtained by simplification.

[0080] For example, the number of teeth of the first pulley is usually between 14 and 20, the transmission ratio of the transmission assembly is 8, the rotation angle of the oscillating assembly is between 0° and 540°, the rotation angle of the first pulley is between 0° and 4320°, the total number of rotations M of the first pulley is 12, and the number of teeth of the first pulley is When it is 14, the above parameters are substituted into the expression of the preset relationship to obtain the number of teeth of the differential wheel. Greater than 12.8333 and less than 15.1666. Since the number of teeth on the first pulley is different from that on the differential, and the number of teeth cannot be a decimal, the number of teeth on the differential is 15 or 13; the number of teeth on the first pulley When the differential gear is 20, the number of teeth on the differential gear is Greater than 18.8333 and less than 21.1666, so the number of teeth on the differential is is 19 or 21; the difference between the number of teeth of the differential wheel and the number of teeth of the first pulley is usually 1. After the first pulley rotates one circle, the difference between the actual rotation angles of the first pulley and the differential wheel is the circumferential angle of one tooth. Within 14 circles of rotation of the first pulley, the first pulley and the differential wheel will not produce a 360° rotation angle difference. After 14 circles of rotation, the actual rotation angle of the first pulley is 5040°, which is much larger than the actual rotation angle of the first pulley in actual applications; therefore, when the preset relationship is met, the rotation angle difference between the first pulley and the differential wheel can be made less than 360°.

[0081] The number of teeth of the first pulley and the number of teeth of the differential wheel satisfy the above-mentioned preset relationship, and the difference in actual rotation angle between the first pulley and the differential wheel can be uniquely determined based on the difference between the first reading and the second reading. In this way, the actual rotation angle of the first pulley can be uniquely determined based on the first reading and the second reading, and then the position of the lamp can be determined, which can save time in positioning the lamp.

[0082] In an exemplary embodiment, as shown in FIG3 , optionally, determining the actual rotation angle of the first pulley according to the first reading and the second reading includes the following steps 301 to 302 . Among them:

[0083] S301, determining an actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading.

[0084] Optionally, if during the installation of the lamp, there is no deviation between the first pulley and the first sensor, the differential wheel and the second sensor, that is, in the initial state, when the readings of the first sensor and the second sensor are 0, the difference between the first reading and the second reading can be used as the actual rotation angle difference; if there is a deviation, it is necessary to determine the actual rotation angle of the first pulley based on the first reading and the second reading and the corresponding readings of the first sensor and the second sensor in the initial state.

[0085] S302: Determine the actual rotation angle of the first pulley according to the actual rotation angle difference.

[0086] Optionally, since the actual rotation angles of the first pulley and the differential wheel vary according to the transmission ratio of the two, the actual rotation angles of the first pulley and the actual rotation angles of the differential wheel satisfy the following formula:

[0087]

[0088] Among them, AngMaster is the actual rotation angle of the first pulley, and AngDiff is the actual rotation angle of the differential wheel.

[0089] Optionally, the actual rotation angle difference between the first pulley and the differential wheel is AngDelta= , convert the above formula, we can get AngDelta= .

[0090] Optionally, the actual rotation angle of the first pulley may be determined based on a linear relationship between the actual rotation angle difference and the actual rotation angle of the first pulley.

[0091] Optionally, a preset angle difference list can be queried based on the actual rotation angle difference, and the actual rotation angle of the first pulley corresponding to the actual rotation angle difference can be determined from the angle difference list, wherein the preset angle difference list can be a one-to-one correspondence between different actual rotation angle differences and the actual rotation angle of the first pulley determined in advance according to the above formula, and pre-set in the storage unit of the lighting controller.

[0092] The above method determines the actual rotation angle difference between the first pulley and the differential wheel based on the first reading and the second reading, and determines the actual rotation angle of the first pulley based on the actual rotation angle difference. The unique actual rotation angle of the first pulley can be determined, and then the actual rotation angle of the lamp moving head assembly can be determined, which can improve the efficiency of lamp positioning and save time for lamp positioning.

[0093] In an exemplary embodiment, as shown in FIG4 , optionally, determining the actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading includes the following steps 401 to 403 . Among them:

[0094] S401, determining an initial reading difference between a rotation angle of the first pulley and a rotation angle of the differential wheel according to a difference between the first reading and the second reading.

[0095] Optionally, the difference between the first reading and the second reading is used as the initial reading difference.

[0096] S402, obtaining a reset reading difference.

[0097] The reset reading difference is the difference between the reading of the first sensor and the reading of the second sensor after the lamp performs a reset operation.

[0098] Optionally, during the installation of the lamp, there may be deviations between the first pulley and the first sensor, the differential wheel and the second sensor. A reset operation can be performed after the lamp is installed to determine the reading of the first sensor and the reading of the second sensor after the reset operation, and determine the difference between the two readings as the reset reading difference, and store the reset reading difference.

[0099] Optionally, the reset reading difference of the lamp can be obtained from a preset storage location. If the reset reading difference is not obtained, the lamp is reset to determine the reset reading difference. It is understandable that a reset operation needs to be performed after the lamp is first installed or disassembled.

[0100] Optionally, as shown in FIG5 , performing a reset operation to obtain a reset reading difference may include the following steps 501 to 503. Among them:

[0101] S501, executing a reset process to move the transmission component to a preset initial position.

[0102] Optionally, after performing the reset process, the position of the lamp can be turned to the starting position.

[0103] S502 , after resetting, obtaining a third reading of the first sensor and a fourth reading of the second sensor.

[0104] Optionally, after performing the reset, the motor is locked, and the readings of the first sensor and the second sensor at this time are read.

[0105] S503: Determine a reset reading difference according to a reading difference between the third reading and the fourth reading.

[0106] Optionally, the difference between the third reading and the fourth reading may be used as a reset reading difference, and the reset reading difference may be stored in a storage unit of the lamp controller for use after subsequent power-on.

[0107] S403, performing a modulo operation on 360° according to the difference between the initial reading difference and the reset reading difference, and determining the actual rotation angle difference between the first pulley and the differential wheel according to the result of the modulo operation.

[0108] Optionally, the first sensor and the second sensor can be a ring-type counter, that is, when the first reading or the second reading is the maximum value of the measuring range, the reading will become 0 when it is increased by 1. For example, when the value is 359, the value will become 0 when it is increased by 1. When 0 is subtracted from 359, the result is -359. It is necessary to perform a modulo operation, that is, -359 MOD 360=1, so that the real incremental data can be obtained. Therefore, a modulo operation needs to be performed when determining the actual rotation angle difference.

[0109] In an exemplary embodiment, as shown in FIG6 , optionally, determining the actual rotation angle of the first pulley according to the actual rotation angle difference includes the following steps 601 to 603 . Among them:

[0110] S601, obtaining the number of teeth of the first pulley and the number of teeth of the differential wheel.

[0111] Optionally, the number of teeth of the first pulley and the number of teeth of the differential wheel have been determined after the lamp is installed and can be obtained from a storage unit of the lamp controller.

[0112] S602: Determine a second parameter according to a ratio of the number of teeth of the second pulley to a first parameter, where the first parameter is an absolute value of a difference between the number of teeth of the first pulley and the number of teeth of the differential wheel.

[0113] S603: Determine the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference.

[0114] Optionally, according to the formula for the actual rotation angle difference between the first pulley and the differential wheel in step 302, ,in, is the first parameter, is the second parameter. After determining each parameter, the actual rotation angle of the first pulley is calculated in real time by substituting it into the above formula.

[0115] The above method obtains the number of teeth of the first pulley and the number of teeth of the differential wheel, and determines the second parameter according to the ratio of the number of teeth of the second pulley to the first parameter, the first parameter is the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel, and then determines the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference. In this way, after determining the actual rotation angle difference, the actual rotation angle of the first pulley can be uniquely determined according to the linear relationship between the actual rotation angle difference and the actual rotation angle of the first pulley.

[0116] In an exemplary embodiment, as shown in FIG7 , optionally, determining the position of the shaking head assembly according to the actual rotation angle of the first pulley includes the following steps 701 to 702 . Among them:

[0117] S701, determining a transmission ratio of the transmission assembly according to the number of teeth of the first pulley and the number of teeth of the second pulley.

[0118] Optionally, the number of teeth of the second pulley has also been determined after the lamp is installed, and similarly, can be obtained from a storage unit in the lamp controller.

[0119] Optionally, the transmission ratio of the transmission assembly can be determined based on the ratio of the number of teeth of the second pulley to the number of teeth of the first pulley. It can be understood that the first pulley is connected to the motor and is the driving pulley, and the second pulley is connected to the shaking head assembly and is the driven pulley.

[0120] S702, determining the actual rotation angle of the oscillating head assembly according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the oscillating head assembly according to the actual rotation angle of the oscillating head assembly.

[0121] Optionally, there is a ratio relationship between the actual rotation angle of the first pulley and the actual rotation angle of the second pulley, and the ratio relationship depends on the transmission ratio of the transmission assembly.

[0122] Optionally, the actual rotation angle of the second pulley can be determined by the following formula:

[0123]

[0124] in, is the actual rotation angle of the second pulley, is the number of teeth of the second pulley, It is the reciprocal of the transmission ratio of the transmission component.

[0125] Optionally, the actual rotation angle of the first pulley and the inverse of the transmission ratio can be substituted into the above formula to calculate the actual rotation angle of the second pulley. It can be understood that the second pulley is rigidly connected to the shaking head assembly, and the actual rotation angle of the second pulley is the same as the actual rotation angle of the shaking head assembly. The position of the shaking head assembly can be determined based on the actual rotation angle of the shaking head assembly to position the lamp.

[0126] In the above method, the transmission ratio of the transmission assembly is determined according to the number of teeth of the first pulley and the number of teeth of the second pulley, the actual rotation angle of the shaking head assembly is determined according to the actual rotation angle of the first pulley and the transmission ratio, and the position of the shaking head assembly is determined according to the actual rotation angle of the shaking head assembly. The lamp can be absolutely positioned by the rotation angle of the unique first pulley. Compared with the existing master and driven wheel encoder scheme, the problem of position judgment failure caused by structural component deviation or rotation encoder deviation is avoided, and the winding problem of the driven wheel with a rotation angle exceeding 360° and the problem that the transmission ratio of the transmission assembly cannot be an integer are avoided.

[0127] As an optional implementation, as shown in FIG8 , the lamp positioning method provided in the embodiment of the present application may include the following specific steps:

[0128] S801, determining whether a reset reading difference is stored.

[0129] S802, if not, executing a reset process to move the transmission assembly to a preset initial position;

[0130] S803, after resetting, obtaining a third reading of the first sensor and a fourth reading of the second sensor;

[0131] S804: Determine a reset reading difference according to the reading difference between the third reading and the fourth reading, and save the reset reading difference.

[0132] S805: If yes, obtain the reset reading difference.

[0133] The reset reading difference is the difference between the reading of the first sensor and the reading of the second sensor after the lamp performs a reset operation.

[0134] S806, obtaining a first reading of the first sensor.

[0135] Among them, the first sensor is used to measure the rotation angle of the first pulley included in the transmission assembly in the lamp. The transmission assembly is arranged between the motor and the shaking head assembly of the lamp, and is used to drive the shaking head assembly to move under the drive of the motor. The shaking head assembly is used to drive the lamp to rotate. The transmission assembly includes a first pulley, a differential wheel and a second pulley. The first pulley is connected to the motor and connected to the second pulley through a synchronous belt. The second pulley is connected to the shaking head assembly. The differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt. The number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied.

[0136] When the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°. The preset relationship includes: the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold value, the preset threshold value is determined according to the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined according to the maximum rotation angle of the oscillating assembly.

[0137] S807, obtaining a second reading of the second sensor.

[0138] The second sensor is used to measure the rotation angle of the differential wheel.

[0139] S808: Determine an initial reading difference between the rotation angle of the first pulley and the rotation angle of the differential wheel according to the difference between the first reading and the second reading.

[0140] S809, performing a modulo operation on 360° according to the difference between the initial reading difference and the reset reading difference, and determining the actual rotation angle difference between the first pulley and the differential wheel according to the result of the modulo operation.

[0141] S810: Obtain the number of teeth of the first pulley and the number of teeth of the differential wheel.

[0142] S811, determining a second parameter according to a ratio of the number of teeth of the differential wheel to the first parameter.

[0143] The first parameter is the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the second pulley.

[0144] S812: Determine the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference.

[0145] S813: Determine a transmission ratio of the transmission assembly according to the number of teeth of the first pulley and the number of teeth of the second pulley.

[0146] S814, determining the actual rotation angle of the oscillating head assembly according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the oscillating head assembly according to the actual rotation angle of the oscillating head assembly.

[0147] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0148] Based on the same inventive concept, the embodiment of the present application also provides a lamp positioning device for implementing the lamp positioning method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more lamp positioning device embodiments provided below can refer to the limitations of the lamp positioning method above, and will not be repeated here.

[0149] In an exemplary embodiment, as shown in FIG9 , a lamp positioning device 900 is provided, comprising: a first acquisition module 901 , a second acquisition module 902 and a determination module 903 , wherein:

[0150] The first acquisition module 901 is used to obtain a first reading of a first sensor, the first sensor is used to measure the rotation angle of a first pulley included in a transmission assembly in the lamp, the transmission assembly is arranged between the motor and the oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, the oscillating assembly is used to drive the lamp to rotate, the transmission assembly includes a first pulley, a differential wheel and a second pulley, the first pulley is connected to the motor, and is connected to the second pulley through a synchronous belt, the second pulley is connected to the oscillating assembly, the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied;

[0151] A second acquisition module 902, used to acquire a second reading of a second sensor, where the second sensor is used to measure the rotation angle of the differential wheel;

[0152] The determination module 903 is used to determine the actual rotation angle of the first pulley according to the first reading and the second reading, and determine the position of the oscillating assembly according to the actual rotation angle of the first pulley.

[0153] In an exemplary embodiment, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

[0154] In an exemplary embodiment, the preset relationship includes:

[0155] The absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, which is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0156] In an exemplary embodiment, the determination module 903 is specifically configured to determine the actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading; and determine the actual rotation angle of the first pulley according to the actual rotation angle difference.

[0157] In an exemplary embodiment, the determination module 903 is specifically used to determine the initial reading difference between the rotation angle of the first pulley and the rotation angle of the differential wheel according to the difference between the first reading and the second reading; obtain the reset reading difference, the reset reading difference is the difference between the reading of the first sensor and the reading of the second sensor after the lamp performs the reset operation; perform a modulo operation on 360° according to the difference between the initial reading difference and the reset reading difference, and determine the actual rotation angle difference between the first pulley and the differential wheel according to the result of the modulo operation.

[0158] In an exemplary embodiment, the device also includes a reset module, which is used to perform a reset process to rotate the transmission component to a preset initial position; after resetting, obtain a third reading of the first sensor and a fourth reading of the second sensor; and determine a reset reading difference based on a reading difference between the third reading and the fourth reading.

[0159] In an exemplary embodiment, the determination module 903 is specifically used to obtain the number of teeth of the first pulley and the number of teeth of the differential wheel; determine the second parameter according to the ratio of the number of teeth of the differential wheel to the first parameter, and the first parameter is the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the first pulley; determine the actual rotation angle of the first pulley according to the second parameter and the actual rotation angle difference.

[0160] In an exemplary embodiment, the determination module 903 is specifically used to determine the transmission ratio of the transmission assembly according to the number of teeth of the first pulley and the number of teeth of the second pulley; determine the actual rotation angle of the shaking head assembly according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the shaking head assembly according to the actual rotation angle of the shaking head assembly.

[0161] Each module in the above-mentioned lamp positioning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0162] Based on the same inventive concept, the embodiment of the present application also provides a lamp for implementing the lamp positioning method described above. The implementation solution provided by the lamp is similar to the implementation solution recorded in the above method. Therefore, the specific limitations of one or more lamp embodiments provided below can refer to the limitations of the lamp positioning method above, and will not be repeated here. The structure of the lamp can refer to Figure 1, including:

[0163] A transmission assembly, the transmission assembly is arranged between the motor and the shaking assembly of the lamp, and is used to drive the shaking assembly to move under the drive of the motor. The transmission assembly includes a first pulley, a differential wheel and a second pulley. The first pulley is connected to the second pulley through a synchronous belt. The differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt. The number of teeth of the differential wheel is different from the number of teeth of the first pulley, and the preset relationship is satisfied. A second sensor is arranged on the differential wheel, and the second sensor is used to measure the rotation angle of the differential wheel.

[0164] A motor, the motor is connected to the first pulley, a first sensor is arranged on the first pulley or the lead-out shaft of the motor, and the first sensor is used to measure the rotation angle of the first pulley;

[0165] A shaking head assembly, which is connected to the second pulley and is used to drive the shaking head assembly of the lamp to rotate;

[0166] A controller is connected to the motor, the first sensor and the second sensor, and is used to execute the steps of any of the above method embodiments.

[0167] Optionally, when the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy a preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

[0168] Optionally, the preset relationship includes: the absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, the preset threshold is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

[0169] Optionally, absolute positioning of the shaking head assembly can be achieved by adding a first sensor, a second sensor and a differential wheel. When modifying an existing lamp, the differential wheel is small in size, easy to design and install, convenient to modify, and has strong compatibility. A front view of the rotating structure in the lamp is shown in Figure 10. Taking the first sensor setting and the lead-out shaft of the motor as an example, a top view of the rotating structure in the lamp is shown in Figure 11. In the rotating structures shown in Figures 10 and 11, a connection method of the differential wheel is given, that is, the differential wheel is indirectly connected to the first pulley and the second pulley through a synchronous belt.

[0170] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps described in any of the above method embodiments are implemented.

[0171] In one embodiment, a computer program product is provided, including a computer program, which implements the steps described in any of the above method embodiments when executed by a processor.

[0172] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0173] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0174] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A lamp positioning method, characterized in that: The method comprises: Obtain a first reading of a first sensor, wherein the first sensor is used to measure a rotation angle of a first pulley included in a transmission assembly in a lamp, wherein the transmission assembly is disposed between a motor and an oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, and the oscillating assembly is used to drive the lamp to rotate, wherein the transmission assembly comprises the first pulley, a differential wheel, and a second pulley, wherein the first pulley is connected to the motor and is connected to the second pulley via a synchronous belt, wherein the second pulley is connected to the oscillating assembly, wherein the differential wheel is connected to at least one of the first pulley, the second pulley, and the synchronous belt, wherein the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and a preset relationship is satisfied; Obtaining a second reading of a second sensor, wherein the second sensor is used to measure the rotation angle of the differential wheel; The actual rotation angle of the first pulley is determined according to the first reading and the second reading, and the position of the oscillating head assembly is determined according to the actual rotation angle of the first pulley.

2. The method according to claim 1, characterized in that When the number of teeth of the differential wheel and the number of teeth of the first pulley satisfy the preset relationship, when the first pulley rotates to any rotation angle, the difference between the actual rotation angle of the first pulley and the actual rotation angle of the differential wheel is less than 360°.

3. The method according to claim 1 or 2, characterized in that: The preset relationship includes: The absolute value of the difference between the number of teeth of the first pulley and the number of teeth of the differential wheel is less than a preset threshold, and the preset threshold is determined based on the ratio of the number of teeth of the first pulley to the total number of rotations of the first pulley, and the total number of rotations of the first pulley is determined based on the maximum rotation angle of the shaking head assembly.

4. The method according to claim 1, characterized in that: Determining the actual rotation angle of the first pulley according to the first reading and the second reading includes: Determine an actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading; The actual rotation angle of the first pulley is determined according to the actual rotation angle difference.

5. The method according to claim 4, characterized in that The determining the actual rotation angle difference between the first pulley and the differential wheel according to the first reading and the second reading comprises: determining an initial reading difference between a rotation angle of the first pulley and a rotation angle of the differential wheel according to a difference between the first reading and the second reading; Obtaining a reset reading difference, where the reset reading difference is a difference between a reading of the first sensor and a reading of the second sensor after the lamp performs a reset operation; A modulo operation is performed on 360° according to the difference between the initial reading difference and the reset reading difference, and an actual rotation angle difference between the first pulley and the differential wheel is determined according to a result of the modulo operation.

6. The method according to claim 5, characterized in that The method further comprises: Performing a reset process to rotate the transmission assembly to a preset initial position; After resetting, obtaining a third reading of the first sensor and a fourth reading of the second sensor; The reset reading difference is determined according to a reading difference between the third reading and the fourth reading.

7. The method according to claim 4, characterized in that The determining the actual rotation angle of the first pulley according to the actual rotation angle difference comprises: Obtaining the number of teeth of the first pulley and the number of teeth of the differential wheel; Determine a second parameter according to a ratio of the number of teeth of the differential wheel to a first parameter, wherein the first parameter is an absolute value of a difference between the number of teeth of the first pulley and the number of teeth of the differential wheel; The actual rotation angle of the first pulley is determined according to the second parameter and the actual rotation angle difference.

8. The method according to claim 1, characterized in that The step of determining the position of the oscillating head assembly according to the actual rotation angle of the first pulley comprises: determining a transmission ratio of the transmission assembly according to the number of teeth of the first pulley and the number of teeth of the second pulley; The actual rotation angle of the oscillating head assembly is determined according to the actual rotation angle of the first pulley and the transmission ratio, so as to determine the position of the oscillating head assembly according to the actual rotation angle of the oscillating head assembly.

9. A lamp positioning device, characterized in that: The device comprises: A first acquisition module is used to obtain a first reading of a first sensor, wherein the first sensor is used to measure a rotation angle of a first pulley included in a transmission assembly in the lamp, wherein the transmission assembly is arranged between a motor and an oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, and the oscillating assembly is used to drive the lamp to rotate, and the transmission assembly includes the first pulley, a differential wheel, and a second pulley, wherein the first pulley is connected to the motor and is connected to the second pulley through a synchronous belt, the second pulley is connected to the oscillating assembly, the differential wheel is connected to at least one of the first pulley, the second pulley, and the synchronous belt, the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and a preset relationship is satisfied; A second acquisition module, used for acquiring a second reading of a second sensor, where the second sensor is used for measuring the rotation angle of the differential wheel; A determination module is used to determine an actual rotation angle of the first pulley according to the first reading and the second reading, and to determine a position of the oscillating head assembly according to the actual rotation angle of the first pulley.

10. A lamp, characterized in that: The lamp comprises: A transmission assembly, wherein the transmission assembly is arranged between the motor and the oscillating assembly of the lamp, and is used to drive the oscillating assembly to move under the drive of the motor, wherein the transmission assembly comprises a first pulley, a differential wheel and a second pulley, wherein the first pulley is connected to the second pulley through a synchronous belt, and the differential wheel is connected to at least one of the first pulley, the second pulley and the synchronous belt, wherein the number of teeth of the differential wheel is different from the number of teeth of the first pulley, and a preset relationship is satisfied, and a second sensor is arranged on the differential wheel, and the second sensor is used to measure the rotation angle of the differential wheel; A motor, wherein the motor is connected to the first pulley, and a first sensor is arranged on the first pulley or the lead-out shaft of the motor, and the first sensor is used to measure the rotation angle of the first pulley; An oscillating head assembly, the oscillating head assembly is connected to the second pulley and is used to drive the lamp to rotate; A controller, wherein the controller is connected to the motor, the first sensor and the second sensor, and is used to execute the method according to any one of claims 1 to 8.

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