Pan-tilt limiting circuit, limiting control method of pan-tilt motor and pan-tilt system

Abstract

The invention relates to a cradle head limiting circuit, a limiting control method of a cradle head motor and a cradle head system.The cradle head limiting circuit comprises a position triggering module, a switch switching module and an energy consumption module; the position triggering module is connected with the switch switching module; the first end of the switch switching module is connected with the negative electrode of the motor driving module; the second end of the switch switching module is connected with the energy consumption module; the third end of the switch switching module is connected with the holder motor; the switch switching module is used for communicating the pan-tilt motor with the motor driving module to form a driving loop when the pan-tilt motor is powered on; and the switch switching module is also used for cutting off the connection between the pan-tilt motor and the motor driving module and communicating the pan-tilt motor with the energy consumption module during power failure or when the position triggering module detects that the rotation state is a preset limiting state. On the basis of limiting detection of the position triggering module and loop switching of the switch switching module, non-contact limiting triggering and braking are achieved, and therefore structural limiting collision is reduced.

Description

Technical Field

[0001] The present application relates to the field of pan / tilt monitoring, and in particular to a pan / tilt limit circuit, a pan / tilt motor limit control method, and a pan / tilt system. Background Art

[0002] In the application scenarios of pan-tilt monitoring equipment, in order to prevent damage to the internal structure due to excessive rotation when the pan-tilt continues to rotate, and to control the monitoring range, it is necessary to perform rotation limit control on the pan-tilt.

[0003] At present, the pan / tilt position limit control is often implemented by structural limit and driver software logic limit. When the pan / tilt position loses control and loses power due to driver and encoder abnormalities or design defects, it is easy to cause the monitoring equipment to collide with the limit structure at high speed, thus causing damage to the monitoring equipment.

[0004] With regard to the problem of structural limit collision when the gimbal is powered off in the related technology, no effective solution has been proposed so far. Summary of the invention

[0005] In this embodiment, a pan / tilt limit circuit, a pan / tilt motor limit control method and a pan / tilt system are provided to solve the problem of structural limit collision when the pan / tilt is powered off in the related art.

[0006] In the first aspect, a pan / tilt position limiting circuit is provided in this embodiment, including a position trigger module, a switch switching module, and an energy consumption module; wherein:

[0007] The position trigger module is connected to the switch switching module;

[0008] The first end of the switch module is connected to the negative pole of the associated motor drive module;

[0009] The second end of the switch module is connected to the energy consumption module;

[0010] The third end of the switch module is connected to the associated pan / tilt motor;

[0011] The position trigger module is used to detect the rotation state of the pan / tilt motor;

[0012] The switch switching module is used to connect the pan / tilt motor with the motor driving module to form a driving circuit when powered on, so as to drive the pan / tilt motor to rotate;

[0013] The switch switching module is also used to cut off the connection between the pan-tilt motor and the motor driving module and connect the pan-tilt motor with the energy consumption module to brake the pan-tilt motor when power is off or when the position trigger module detects that the rotation state is a preset limit state.

[0014] In some embodiments, the position trigger module includes a first position trigger and a second position trigger; the switch switching module includes a first switch switching submodule and a second switch switching submodule; the energy consumption module includes a first energy consumption submodule and a second energy consumption submodule; wherein:

[0015] The first position trigger is connected to the first switch switching submodule;

[0016] The second position trigger is connected to the second switch switching submodule;

[0017] The first end of the first switch switching submodule is connected to the negative electrode of the motor driving module;

[0018] The second end of the first switch switching submodule is connected to the first energy consumption submodule;

[0019] The third end of the first switch switching submodule is connected to the first end of the second switch switching submodule;

[0020] The second end of the second switch switching submodule is connected to the second energy consumption submodule;

[0021] The third end of the second switch switching submodule is connected to the pan / tilt motor;

[0022] The first switch switching submodule is used to connect the pan / tilt motor and the motor driving module to form a reverse driving loop when powered on;

[0023] The second switch switching submodule is used to connect the pan / tilt motor and the motor driving module to form a forward driving loop when powered on.

[0024] In some of the embodiments, the first position trigger is used to detect the reverse rotation state of the pan / tilt motor;

[0025] The first switch switching submodule is used for cutting off the reverse driving circuit between the pan-tilt motor and the motor driving module and connecting the pan-tilt motor with the first energy consumption submodule to reversely brake the pan-tilt motor when the first position trigger detects that the pan-tilt motor rotates to the first limit state;

[0026] The forward drive circuit between the pan / tilt motor and the motor drive module remains connected.

[0027] In some of the embodiments: the second position trigger is used to detect the forward rotation state of the pan / tilt motor;

[0028] The second switch switching submodule is used to cut off the forward drive circuit between the pan-tilt motor and the motor driving module and connect the pan-tilt motor with the second energy consumption submodule to brake the pan-tilt motor in the forward direction when the second position trigger detects that the pan-tilt motor rotates to the second limit state;

[0029] The reverse drive circuit between the pan / tilt motor and the motor drive module remains connected.

[0030] In some embodiments, the first switch switching submodule is used to cut off the reverse drive circuit between the pan-tilt motor and the motor driving module when the power is off, and connect the pan-tilt motor with the first energy consumption submodule to reversely brake the pan-tilt motor;

[0031] The second switch switching submodule is used to cut off the forward drive circuit between the pan-tilt motor and the motor drive module when the power is off, and connect the pan-tilt motor with the second energy consumption submodule to achieve forward braking of the pan-tilt motor.

[0032] In some of the embodiments, the pan / tilt position limiting circuit further includes a first diode, a second diode, a third diode and a fourth diode;

[0033] The second end of the first switch switching submodule is connected to the first energy consumption submodule through the first diode; wherein the anode of the first diode is connected to the second end of the first switch switching submodule;

[0034] The second diode is connected between the first energy consuming submodule and the second energy consuming submodule, and the anode of the second diode is connected to the second end of the second switch switching submodule;

[0035] The third diode is connected across the first end and the third end of the first switch switching submodule, and the anode of the third diode is connected to the third end of the first switch switching submodule;

[0036] The fourth diode is connected across the first end and the third end of the second switch switching submodule, and an anode of the fourth diode is connected to the first end of the second switch switching submodule.

[0037] In some of the embodiments, the energy consumption module includes an energy consumption device and a diode.

[0038] In some embodiments, the position trigger module is a photoelectric coupler; and the switch switching module is a relay.

[0039] In a second aspect, a limit control method for a pan / tilt motor is provided in this embodiment, which is used in the pan / tilt limit circuit described in the first aspect. The method includes:

[0040] When the pan / tilt motor is powered on, the pan / tilt motor is connected to the motor drive module through the switch switching module to form a drive circuit to drive the motor to rotate;

[0041] When the gimbal motor is powered off, or when the position trigger module detects that the rotation state is a preset limit state, the switch switching module cuts off the connection between the gimbal motor and the motor driving module, and connects the motor and the energy consumption module to brake the gimbal motor.

[0042] In a third aspect, a pan-tilt system is provided in this embodiment, including a pan-tilt, a pan-tilt motor, a motor drive module, and the pan-tilt limit circuit described in the first aspect.

[0043] Compared with the related art, the present embodiment provides a pan-tilt limit circuit, a pan-tilt motor limit control method and a pan-tilt system. The pan-tilt limit circuit includes a position trigger module, a switch switching module and an energy consumption module; wherein: the position trigger module is connected to the switch switching module; the first end of the switch switching module is connected to the negative pole of the associated motor drive module; the second end of the switch switching module is connected to the energy consumption module; the third end of the switch switching module is connected to the associated pan-tilt motor; the position trigger module is used to detect the rotation state of the pan-tilt motor; the switch switching module is used to connect the pan-tilt motor with the motor drive module to form a drive circuit when powered on to drive the pan-tilt motor to rotate; the switch switching module is also used to cut off the connection between the pan-tilt motor and the motor drive module when the power is off, or when the position trigger module detects that the rotation state is a preset limit state, and connect the pan-tilt motor with the energy consumption module to brake the pan-tilt motor. It realizes a limit braking circuit independent of the drive system, based on the limit detection of the position trigger module and the circuit switching of the switch switching module, realizes contactless limit triggering and braking, thereby reducing structural limit collision.

[0044] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 is a schematic diagram of the structure of the pan / tilt limit circuit of this embodiment;

[0047] Figure 2a is a schematic diagram of a pan / tilt position limiting circuit in some of the embodiments;

[0048] Figure 2b is a schematic diagram of circuit connections in some embodiments when power is supplied;

[0049] Figure 2c is a schematic diagram of circuit connections for triggering reverse braking in some embodiments;

[0050] Figure 2d is a schematic diagram of circuit connections for triggering forward braking in some embodiments;

[0051] Figure 3 is a flow chart of the limit control method of the pan / tilt motor of this embodiment;

[0052] Figure 4 Schematic diagram of the structure of the pan / tilt system of this embodiment. DETAILED DESCRIPTION

[0053] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0054] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0055] In this embodiment, a pan / tilt position limiting circuit is provided. Figure 1 Schematic diagram of the structure of the pan / tilt limit circuit 10 of this embodiment, as shown in Figure 1 As shown, the pan / tilt position limiting circuit 10 includes: a position trigger module 12, a switch switching module 14, and an energy consumption module 16; wherein:

[0056] The position trigger module 12 is connected to the switch switching module 14; the first end of the switch switching module 14 is connected to the negative pole of the associated motor drive module; the second end of the switch switching module 14 is connected to the energy consumption module 16; the third end of the switch switching module 14 is connected to the associated pan-tilt motor; the position trigger module 12 is used to detect the rotation state of the pan-tilt motor; the switch switching module 14 is used to connect the pan-tilt motor with the motor drive module to form a drive circuit when power is on, so as to drive the pan-tilt motor to rotate; the switch switching module 14 is also used to cut off the connection between the pan-tilt motor and the motor drive module when power is off, or when the position trigger module 12 detects that the rotation state is a preset limit state, and connect the pan-tilt motor with the energy consumption module 16 to brake the pan-tilt motor.

[0057] First, the pan / tilt, pan / tilt motor and motor drive module associated with the pan / tilt limit circuit of the present embodiment are described. Among them, the pan / tilt can be a steering shaft used to connect the bottom and fixed bracket of photographic equipment, telescopes and other optical measuring instruments (such as levels). The pan / tilt enables these devices to move smoothly in the horizontal and vertical directions, so as to better capture the pictures or scenes that need to be recorded. The pan / tilt motor can be a built-in motor of the pan / tilt, which converts electrical energy into mechanical energy to drive the pan / tilt to rotate and tilt. The pan / tilt motor achieves precise positioning and smooth movement of equipment such as cameras by receiving control signals. The motor drive module can be a key component for driving and controlling the movement of the pan / tilt motor. The motor drive module receives instructions from the control system and converts them into electrical signals that the pan / tilt motor can understand, thereby driving the pan / tilt motor to perform corresponding movements.

[0058] The above-mentioned position trigger module 12 is a contactless rotation position detection module. Exemplarily, the position trigger module 12 can be a device that can convert optical signals into electrical signals, such as a photoelectric coupler, a light sensor, and a photoelectric switch. A patch can be set on the edge of the pan-tilt motor to indicate the rotation state of the pan-tilt motor. When the pan-tilt motor rotates and drives the patch to rotate into the detection range of the position trigger module 12, the position trigger module 12 is blocked. The position trigger module 12 detects the change in the optical signal and converts it into an electrical signal, thereby determining that the pan-tilt motor rotates to a preset limit state. It can be understood that the limit state can be that the rotation angle of the pan-tilt motor reaches the maximum angle allowed in a certain direction.

[0059] The switch module 14 can be a circuit structure that controls the connection or disconnection between the pan / tilt motor and the motor drive module. Specifically, the switch module 14 can be used as an electrical switch, with the drive circuit formed between the pan / tilt motor and the motor drive module as the controlled circuit, and the on / off of the controlled circuit is controlled by the signal transmitted by the position trigger module. Exemplarily, the switch module 14 can be a relay or a contactor.

[0060] The energy consumption module 16 is a module that forms a connection loop with the pan / tilt motor when the pan / tilt motor is disconnected from the motor drive module. The energy consumption module 16 may include energy consumption components such as inductors and resistors.

[0061] Different ports of the switch switching module 14 are respectively connected to the motor drive module and the energy consumption module, and the position trigger module 12 is connected to the switch switching module 14. The first end of the pan / tilt motor is connected to the switch switching module 14, and the second end of the pan / tilt motor is respectively connected to the negative pole of the motor drive module and the energy consumption module 16. The pan / tilt limit circuit 10 can share a power supply with the pan / tilt. When the pan / tilt is powered off, the power supply connected to the pan / tilt limit circuit 10 has no voltage. The switch switching module 14 cuts off the connection between the pan / tilt motor and the motor drive module when the power is off, and connects the pan / tilt motor and the energy consumption module 16 to form a braking circuit to brake the pan / tilt motor. When the pan / tilt limit circuit is energized, the switch switching module 14 connects the pan / tilt motor and the motor drive module, thereby forming a drive circuit through the motor drive module, the switch switching module 14 and the pan / tilt motor to drive the pan / tilt motor to rotate.

[0062] In addition, when the pan / tilt limit circuit is powered on, when the position trigger module 12 detects that the pan / tilt motor rotates to a preset limit state, the switch switching module 14 is triggered to cut off the connection between the pan / tilt motor and the motor drive module, and connect the pan / tilt motor and the energy consumption module, thereby forming a braking circuit to brake the pan / tilt motor. In this way, the limit detection and limit control of the pan / tilt motor rotation can be achieved without contact.

[0063] In the related art, the structure is often set to limit the rotation of the gimbal motor. In this way, when the gimbal is powered off, there is a problem of hitting the structural limit and causing damage to the internal components, which will lead to higher repair or replacement costs for the gimbal.

[0064] This embodiment provides a limit circuit that is independent of the driving system of the gimbal motor. It can be based on contactless limit detection and limit control, so that the gimbal will not collide with the structural limit when the power is off or on, thereby reducing impact damage to the gimbal and saving the cost of repairing and replacing the gimbal.

[0065] Therefore, the above-mentioned pan / tilt limit circuit 10 realizes a limit braking circuit independent of the drive system, and realizes contactless limit triggering and braking based on the limit detection of the position trigger module and the circuit switching of the switch switching module, thereby reducing structural limit collision.

[0066] In one embodiment, the position trigger module 12 includes a first position trigger 122 and a second position trigger 124; the switch switching module includes a first switch switching submodule 142 and a second switch switching submodule 144; the energy consumption module includes a first energy consumption submodule 162 and a second energy consumption submodule 164; wherein:

[0067] The first position trigger 122 is connected to the first switch switching submodule 142; the second position trigger 124 is connected to the second switch switching submodule 144; the first end of the first switch switching submodule 142 is connected to the negative pole of the motor drive module; the second end of the first switch switching submodule 142 is connected to the first energy consumption submodule 162; the third end of the first switch switching submodule 142 is connected to the first end of the second switch switching submodule 144; the second end of the second switch switching submodule 144 is connected to the second energy consumption submodule 164; the third end of the second switch switching submodule 144 is connected to the pan-tilt motor; the first switch switching submodule 142 is used to connect the pan-tilt motor and the motor drive module to form a reverse drive circuit when powered on; the second switch switching submodule 144 is used to connect the pan-tilt motor and the motor drive module to form a forward drive circuit when powered on.

[0068] In this embodiment, corresponding position triggers, switch switching submodules, and energy consumption submodules are set for the forward rotation and reverse rotation of the pan-tilt motor, respectively. Among them, the pan-tilt motor is connected to the first switch switching submodule 142 and the motor driving module to form a forward drive circuit to drive the pan-tilt motor to rotate forward; the pan-tilt motor is connected to the second switch switching submodule 144 and the motor driving module to form a reverse drive circuit. Among them, the forward rotation of the pan-tilt motor corresponds to the forward drive circuit, and the reverse rotation of the pan-tilt motor corresponds to the reverse drive circuit. The forward rotation and reverse rotation of the pan-tilt motor are achieved by controlling the current direction inside the pan-tilt motor. By setting drive circuits for the forward rotation and reverse rotation of the pan-tilt motor, the bidirectional rotation of the pan-tilt motor can be controlled.

[0069] In addition, in one embodiment, the first position trigger 122 is used to detect the reverse rotation state of the gimbal motor; the first switch switching submodule 142 is used to cut off the reverse drive circuit between the gimbal motor and the motor drive module when the first position trigger 122 detects that the gimbal motor has rotated to the first limit state, and connect the gimbal motor with the first energy consumption submodule 162 to reverse brake the gimbal motor; the forward drive circuit between the gimbal motor and the motor drive module remains connected.

[0070] Among them, the first position trigger 122 can be set to correspond to the maximum angle allowed for the reverse rotation of the pan-tilt motor. The first limit state can be the state when the pan-tilt motor rotates in the reverse direction to the maximum angle allowed in the reverse direction. When the angle of the pan-tilt motor's reverse rotation makes the patch on the pan-tilt motor reach the first limit point, it is determined that the pan-tilt motor is in the first limit state, and the patch will be within the detection range of the first position trigger 122. At this time, the first position trigger 122 will trigger the first switch switching submodule 142 to cut off the reverse drive circuit of the pan-tilt motor. At this time, the forward drive circuit between the pan-tilt motor and the motor drive module is still connected through the second switch switching submodule 144, so the pan-tilt motor can still achieve forward rotation. In this embodiment, reverse braking of the pan-tilt motor limit point is achieved, and the forward drive of the pan-tilt motor is maintained.

[0071] In addition, in one embodiment, the second position trigger 124 is used to detect the forward rotation state of the gimbal motor; the second switch switching submodule 144 is used to cut off the forward drive circuit between the gimbal motor and the motor drive module when the second position trigger 124 detects that the gimbal motor has rotated to the second limit state, and connect the gimbal motor with the second energy consumption submodule 164 to enable the gimbal motor to be forward braked; the reverse drive circuit between the gimbal motor and the motor drive module remains connected.

[0072] Among them, the second position trigger 124 can be set to correspond to the maximum angle allowed for the forward rotation of the pan-tilt motor. When the angle of the pan-tilt motor's forward rotation causes the patch on the pan-tilt motor to reach the second limit point, the patch will be within the detection range of the second position trigger 124. At this time, the second position trigger 124 will trigger the second switch switching submodule 144 to cut off the forward drive circuit of the pan-tilt motor. At this time, the reverse drive circuit between the pan-tilt motor and the motor drive module is still connected through the second switch switching submodule 142, so the pan-tilt motor can still achieve reverse rotation. In this embodiment, forward braking of the pan-tilt motor limit point is achieved, and the reverse drive of the pan-tilt motor is maintained.

[0073] In one embodiment, the first switch switching submodule 142 is used to cut off the reverse drive circuit between the gimbal motor and the motor driving module when the power is off, and connect the gimbal motor with the first energy consumption submodule 162 to reversely brake the gimbal motor; the second switch switching submodule 144 is used to cut off the forward drive circuit between the gimbal motor and the motor driving module when the power is off, and connect the gimbal motor with the second energy consumption submodule 164 to forward brake the gimbal motor.

[0074] That is, when the gimbal limit circuit is powered off, both the reverse drive circuit and the forward drive circuit will be cut off, thereby realizing forward and reverse braking of the gimbal motor when power is off, controlling the braking of the gimbal motor when power is off, and reducing the reverse electromotive force and limit collision caused by the external force rotating the motor when power is off.

[0075] In particular, in one embodiment, the pan / tilt limit circuit 10 further includes a first diode, a second diode, a third diode and a fourth diode; the second end of the first switch switching submodule 142 is connected to the first energy consumption submodule 162 through the first diode; wherein the anode of the first diode is connected to the second end of the first switch switching submodule 142; the second diode is connected across the first energy consumption submodule 162 and the second energy consumption submodule 164, and the anode of the second diode is connected to the second end of the second switch switching submodule 144; the third diode is connected across the first and third ends of the first switch switching submodule 142, and the anode of the third diode is connected to the third end of the first switch switching submodule 142; the fourth diode is connected across the first and third ends of the second switch switching submodule 144, and the anode of the fourth diode is connected to the first end of the second switch switching submodule 144.

[0076] Figure 2a Schematic diagram of a pan / tilt position limiting circuit in some of the embodiments, such as Figure 2a As shown, the first end of the first switch switching submodule 142 is Figure 2a The 3rd pin of the relay JK1 is connected to the negative pole MOTO- of the motor drive module. The second end of the first switch switching submodule 142 is Figure 2a The second pin of the relay JK1 is connected to the positive electrode of the first diode D8; the negative electrode of the first diode D8 is connected to the first energy consumption submodule 162. The third terminal of the first switch submodule 142 is Figure 2a The 5th pin of the relay JK1 corresponds to the first end of the second switch switching submodule 144. Figure 2a The second end of the second switch switching submodule 144 corresponds to the 3rd pin of the relay JK2. Figure 2a The second pin of the relay JK2 is connected to the second energy consumption submodule 164; the third end of the second switch switching submodule 144 corresponds to Figure 2a The 5th pin of the relay JK2 is connected to the first end of the pan / tilt motor. The second end of the pan / tilt motor is connected to the positive pole MOTO+ of the motor drive module.

[0077] The first energy-consuming submodule 162 may include an energy-consuming device L1 and a diode D2; the second energy-consuming submodule 164 may include an energy-consuming device L2 and a diode D1. In addition, the first position trigger 122 corresponds to Figure 2a The optocoupler U1 in the second position trigger 124 corresponds to Figure 2aThe optocoupler U2 in the circuit. The power supply pins 3 and 4 of the optocouplers U1 and U2 are connected to the optocoupler power supply VCC and the power ground GND, the pin 1 of the optocoupler U1 is connected to the power control pin 4 of the relay JK1, and the pin 2 of the optocoupler U1 is connected to the power ground; the pin 1 of the optocoupler U2 is connected to the power control pin 4 of the relay JK2, and the pin 2 of the optocoupler U2 is connected to the power ground. Optionally, in some of the embodiments, the diode D5 can be connected across the pins 1 and 4 of the relay JK1, and the diode D6 can be connected across the pins 1 and 4 of the relay JK2.

[0078] The third diode D3 is connected across the 3rd and 5th pins of the relay JK1, the fourth diode D4 is connected across the 3rd and 5th pins of the relay JK2, the second diode D7 is connected across the first energy-consuming submodule 162 and the second energy-consuming submodule 164, and is connected to the 2nd pin of the relay JK2, and the diode D8 is connected between the first energy-consuming submodule 162 and the relay JK1. In addition, the 1st pin of the relay JK1 and the 1st pin of the relay JK2 are connected to the power supply VCC1 respectively. Figure 2a In the circuit, optocouplers U1 and U2 are responsible for pan / tilt limit judgment and relay status switching control, and diodes D1 to D8 are responsible for loop flow control.

[0079] Figure 2a The diagram shows the circuit connection diagram when the power is off. Figure 2a As shown in the figure, when the PTZ motor is powered off, Figure 2a There is no voltage between the power supply VCC and the power supply VCC1, the 2nd and 5th pins of the relay JK1 are connected, the 2nd and 5th pins of the relay JK2 are connected, the pan-tilt motor forms a reverse circuit with the first energy-consuming sub-module 162 through the diode D7, and forms a forward circuit through the second energy-consuming sub-module 164, providing a forward and reverse braking circuit for the pan-tilt motor.

[0080] Figure 2b FIG. 1 is a schematic diagram of circuit connection in some embodiments when power is supplied, such as Figure 2b As shown, when the PTZ motor is powered on, both the power supply VCC and the power supply VCC1 have voltage. The optocouplers U1 and U2 work, pulling down the 4th pins of the relays JK1 and JK2 to the ground, and connecting the 5th pins of the relays JK1 and JK2 to the 3rd pin, forming a driving circuit, which can drive the PTZ motor to rotate normally.

[0081] Figure 2c FIG. 1 is a schematic diagram of a circuit connection for triggering reverse braking in some embodiments of the present invention. Figure 2cAs shown in the figure, when the pan-tilt motor rotates so that the patch is within the detection range of the optocoupler U1, the optocoupler U1 is triggered to connect the 2nd and 5th pins of the relay JK1, the reverse drive circuit of the pan-tilt motor is disconnected, and the reverse short-circuit circuit of the pan-tilt motor is provided through the diode D8, the energy-consuming device L1, and the diode D2, limiting the pan-tilt motor from continuing to move in the reverse direction. At the same time, the forward circuit of the pan-tilt motor can still be turned on through the diode D3, and the pan-tilt motor can only be driven in the forward direction, realizing the reverse braking of the pan-tilt motor.

[0082] Figure 2d FIG. 1 is a schematic diagram of a circuit connection for triggering forward braking in some embodiments of the present invention. Figure 2d As shown, when the pan-tilt motor rotates so that the patch is within the detection range of the optocoupler U2, the optocoupler U2 is triggered to connect pin 2 to pin 5 of the relay JK2, the forward drive circuit of the pan-tilt motor is disconnected, and a forward short-circuit circuit of the motor is provided through the diode D1 and the energy-consuming device L2, thereby limiting the motor from continuing to move forward. At the same time, the reverse circuit of the pan-tilt motor can still be turned on through the diode D4, and the pan-tilt motor can only be driven in the reverse direction, thereby realizing the forward braking of the pan-tilt motor.

[0083] In this embodiment, the circuit switching is realized by using relays and diodes, which can provide a flexible switching braking circuit for the pan-tilt motor and realize one-way braking at the same time. The motor can still be driven to rotate forward under reverse braking; the motor can still be driven to rotate reversely under forward braking. In the case of power failure, the pan-tilt motor is braked forward and reversely to realize the power failure braking of the pan-tilt motor, thereby reducing the reverse electromotive force and limit collision caused by the external force rotating the motor under power failure. In addition, by controlling the relay and diode to switch the circuit according to the position trigger, the pan-tilt motor automatically switches back to the drivable state after leaving the limit point.

[0084] Additionally, in one embodiment, the energy consumption module includes an energy consumption device and a diode. Figure 2a to Figure 2d In the embodiment, the first energy dissipation submodule is composed of the energy dissipation device L1 and the diode D2; the second energy dissipation submodule is composed of the energy dissipation device L2 and the diode D1.

[0085] In addition, in one embodiment, the position trigger module 12 is a photoelectric coupler, and the switch switching module 14 is a relay. In this embodiment, the position limit trigger is performed using a limit optical coupler, which can reduce the difficulty of structural design and structural limit collision.

[0086] In this embodiment, a pan / tilt motor limit control method is also provided, and the pan / tilt motor limit control method is used for the pan / tilt limit circuit provided in the above embodiment. Figure 3 FIG. 4 is a flow chart of the limit control method of the pan / tilt motor of this embodiment. Figure 3 As shown, the limit control method of the pan / tilt motor includes the following steps:

[0087] Step S301, when the pan / tilt motor is powered on, the pan / tilt motor is connected to the motor drive module through the switch switching module to form a drive circuit to drive the motor to rotate;

[0088] Step S302, when the pan-tilt motor is powered off, or when the position trigger module detects that the rotation state is a preset limit state, the switch switching module cuts off the connection between the pan-tilt motor and the motor driving module, and connects the motor and the energy consumption module to brake the pan-tilt motor.

[0089] The above steps S301 to S302 realize a limit braking circuit independent of the drive system, based on the limit detection of the position trigger module and the circuit switching of the switch switching module, to realize contactless limit triggering and braking, thereby reducing structural limit collision.

[0090] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0091] In addition, a pan / tilt system is also provided in this embodiment. Figure 4 FIG. 4 is a schematic diagram of the structure of the pan / tilt system 40 of this embodiment. Figure 4 As shown, the pan-tilt system 40 includes a pan-tilt 42, a pan-tilt motor 44, a motor driving module 46 and the pan-tilt limiting circuit 10 provided in the above embodiment.

[0092] It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0094] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0095] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0096] The above-mentioned 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 patent protection. 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 scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A pan / tilt position limiting circuit, characterized in that: It includes a position trigger module, a switch switching module, and an energy consumption module; among which: The position trigger module is connected to the switch switching module; The first end of the switch module is connected to the negative pole of the associated motor drive module; The second end of the switch module is connected to the energy consumption module; The third end of the switch module is connected to the associated pan / tilt motor; The position trigger module is used to detect the rotation state of the pan / tilt motor; The switch switching module is used to connect the pan / tilt motor with the motor driving module to form a driving circuit when powered on, so as to drive the pan / tilt motor to rotate; The switch switching module is also used to cut off the connection between the pan-tilt motor and the motor driving module and connect the pan-tilt motor with the energy consumption module to brake the pan-tilt motor when power is off or when the position trigger module detects that the rotation state is a preset limit state.

2. The pan / tilt position limiting circuit according to claim 1, characterized in that: The position trigger module includes a first position trigger and a second position trigger; the switch switching module includes a first switch switching submodule and a second switch switching submodule; the energy consumption module includes a first energy consumption submodule and a second energy consumption submodule; wherein: The first position trigger is connected to the first switch switching submodule; The second position trigger is connected to the second switch switching submodule; The first end of the first switch switching submodule is connected to the negative electrode of the motor driving module; The second end of the first switch switching submodule is connected to the first energy consumption submodule; The third end of the first switch switching submodule is connected to the first end of the second switch switching submodule; The second end of the second switch switching submodule is connected to the second energy consumption submodule; The third end of the second switch switching submodule is connected to the pan / tilt motor; The first switch switching submodule is used to connect the pan / tilt motor and the motor driving module to form a reverse driving loop when powered on; The second switch switching submodule is used to connect the pan / tilt motor and the motor driving module to form a forward driving loop when powered on.

3. The pan / tilt position limiting circuit according to claim 2, characterized in that: The first position trigger is used to detect the reverse rotation state of the pan / tilt motor; The first switch switching submodule is used for cutting off the reverse driving circuit between the pan-tilt motor and the motor driving module and connecting the pan-tilt motor with the first energy consumption submodule to reversely brake the pan-tilt motor when the first position trigger detects that the pan-tilt motor rotates to the first limit state; The forward drive circuit between the pan / tilt motor and the motor drive module remains connected.

4. The pan / tilt position limiting circuit according to claim 2, characterized in that: The second position trigger is used to detect the forward rotation state of the pan / tilt motor; The second switch switching submodule is used to cut off the forward drive circuit between the pan-tilt motor and the motor driving module and connect the pan-tilt motor with the second energy consumption submodule to brake the pan-tilt motor in the forward direction when the second position trigger detects that the pan-tilt motor rotates to the second limit state; The reverse drive circuit between the pan / tilt motor and the motor drive module remains connected.

5. The pan / tilt position limiting circuit according to claim 2, characterized in that: The first switch switching submodule is used to cut off the reverse drive circuit between the pan-tilt motor and the motor driving module when the power is off, and connect the pan-tilt motor with the first energy consumption submodule to reversely brake the pan-tilt motor; The second switch switching submodule is used to cut off the forward drive circuit between the pan-tilt motor and the motor drive module when the power is off, and connect the pan-tilt motor with the second energy consumption submodule to achieve forward braking of the pan-tilt motor.

6. The pan / tilt position limiting circuit according to any one of claims 2 to 5, characterized in that: The pan / tilt position limiting circuit also includes a first diode, a second diode, a third diode and a fourth diode; The second end of the first switch switching submodule is connected to the first energy consumption submodule through the first diode; wherein the anode of the first diode is connected to the second end of the first switch switching submodule; The second diode is connected between the first energy consuming submodule and the second energy consuming submodule, and the anode of the second diode is connected to the second end of the second switch switching submodule; The third diode is connected across the first end and the third end of the first switch switching submodule, and the anode of the third diode is connected to the third end of the first switch switching submodule; The fourth diode is connected across the first end and the third end of the second switch switching submodule, and an anode of the fourth diode is connected to the first end of the second switch switching submodule.

7. The pan / tilt position limiting circuit according to claim 1, characterized in that: The energy consumption module includes an energy consumption device and a diode.

8. The pan / tilt position limiting circuit according to claim 1, characterized in that: The position trigger module is a photoelectric coupler; the switch switching module is a relay.

9. A limit control method for a pan / tilt motor, characterized in that: A pan / tilt position limiting circuit for use in any one of claims 1 to 8, the method comprising: When the pan / tilt motor is powered on, the pan / tilt motor is connected to the motor drive module through the switch switching module to form a drive circuit to drive the motor to rotate; When the gimbal motor is powered off, or when the position trigger module detects that the rotation state is a preset limit state, the switch switching module cuts off the connection between the gimbal motor and the motor drive module, and connects the motor and the energy consumption module to brake the gimbal motor.

10. A pan / tilt system, characterized in that: The invention comprises a pan-tilt head, a pan-tilt head motor, a motor driving module and a pan-tilt head limiting circuit as claimed in any one of claims 1 to 8.

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