Posture adjusting device

Abstract

The present disclosure relates to a posture adjustment device capable of adjusting a posture of a target object by feedback control. The attitude adjustment apparatus includes: a base portion; a first rotating part rotatably coupled to the base part; a second rotating part fixedly coupled to a target object and rotatably coupled to the first rotating part; and a control device that adjusts the posture of the target object by controlling the rotation of the first rotating part and the second rotating part, in which the base part and the first rotating part include: a motor that generates a driving force; a sensing unit that generates a magnetic field and detects a change in the magnetic field; and a target member rotated by a driving force from the motor and including a plurality of blades to change the magnetic field generated by the sensing portion, the control device determining a rotation angle of the motor by referring to identification information of a reference blade causing a change in the magnetic field among the plurality of blades and a sensing result from the sensing portion.

Description

[0001] This application claims the priority of Korean Patent Application No. 10-2023-0117330 filed on September 5, 2023 in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to a posture adjustment device and method, and more particularly, to a posture adjustment device and method capable of adjusting the posture of a target object through feedback control. Background Art

[0003] The camera can be used for the purpose of monitoring the target location. The user can perform monitoring on the target location by referring to the image captured by the camera.

[0004] When the camera is pointed at only one point, the surveillance area may be limited. Therefore, a pan-tilt device may be attached to the camera to switch the shooting direction. The pan-tilt device may switch the shooting direction according to the user's request or automatically, and the camera may perform shooting in the switched direction.

[0005] The Hall sensor can be used to detect the rotation angle of the motor equipped in the pan-tilt device. The Hall sensor can detect the magnetic field to sense the rotation angle of the motor. The rotation angle of the motor detected by the Hall sensor can be referenced for motor rotation control.

[0006] At the same time, the demand for precise control of camera monitoring area switching is increasing. Therefore, a technology that can more accurately detect the rotation angle of the motor is required. Summary of the invention

[0007] Aspects of the present disclosure provide a posture adjustment apparatus and method capable of adjusting the posture of a target object through feedback control.

[0008] However, aspects of the present disclosure are not limited to those described herein. The above and other aspects of the present disclosure will become more apparent to those skilled in the art to which the present disclosure belongs by referring to the detailed description of the present disclosure given below.

[0009] According to one aspect of the present disclosure, a posture adjustment device is provided, comprising: a base part; a first rotating part rotatably coupled to the base part; a second rotating part fixedly coupled to a target object and rotatably coupled to the first rotating part; and a control device, which adjusts the posture of the target object by controlling the rotation of the first rotating part and the second rotating part, wherein each of the base part and the first rotating part comprises: a motor, which generates a driving force; a sensing part, which generates a magnetic field and detects changes in the magnetic field; and a target part, which is rotated by the driving force from the motor and includes a plurality of blades to change the magnetic field generated by the sensing part, and the control device determines the rotation angle of the motor by referring to identification information of a reference blade among the plurality of blades that causes the change in the magnetic field and a sensing result from the sensing part.

[0010] The sensing part includes: a coil generating the magnetic field; a magnetic field sensor sensing changes in the magnetic field caused by the plurality of blades and sequentially outputting sensor values ​​calculated for each of the plurality of blades; and a board fixing the coil and the magnetic field sensor.

[0011] wherein the sensor value calculated for each of the plurality of blades corresponds to a different partial angle range of the rotation angle range of the motor, and the control device determines one of the partial angle ranges corresponding to the reference blade as a reference angle range for determining the rotation angle of the motor.

[0012] The control device calculates a predicted rotation angle of the motor corresponding to a sensor value output by the magnetic field sensor for each of the partial angle ranges, and determines the calculated predicted rotation angle as the rotation angle of the motor.

[0013] Wherein, the sensing part further includes: a light interruption sensor fixed to the board and used to identify the initial angle of the motor, wherein the target part includes: an interrupter detected by the light interruption sensor.

[0014] The control device receives a target rotation angle of the motor and controls the motor to rotate to the target rotation angle based on the initial angle.

[0015] The target part of the base part is coupled to the first rotating part, and the target part of the first rotating part is coupled to the second rotating part.

[0016] The rotation axis of the target part of the base part coincides with the rotation axis of the first rotating part, and the rotation axis of the target part of the first rotating part coincides with the rotation axis of the second rotating part.

[0017] The base part includes: a base cover providing a rotation reference surface for the first rotating part; the first rotating part includes: a rotation panel capable of rotating along the rotation reference surface; and the target part of the base part is coupled to the rotation panel.

[0018] The motor of the base part generates a driving force for rotating the first rotating part, and the motor of the first rotating part generates a driving force for rotating the second rotating part.

[0019] According to the foregoing and other embodiments of the present disclosure, since the posture adjustment apparatus and method can detect the rotation angle of the motor without determining the position of the blade, there is an advantage in being able to perform posture adjustment of the target object with a relatively low calculation load.

[0020] It should be noted that the effects of the present disclosure are not limited to the above-described effects, and other effects of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other aspects and features of the present disclosure will become more apparent by describing in detail exemplary embodiments of the present disclosure with reference to the attached drawings.

[0022] Figure 1 is a perspective view of a gesture control device according to an embodiment of the present disclosure.

[0023] Figure 2 is an exploded perspective view of a gesture control device according to an embodiment of the present disclosure.

[0024] Figure 3 It is a schematic diagram for explaining the rotation of the first rotating part relative to the base part.

[0025] Figure 4 It is a schematic diagram for explaining the rotation of the second rotating part relative to the first rotating part.

[0026] Figure 5 is a block diagram for explaining the operation of the gesture control device according to an embodiment of the present disclosure.

[0027] Figure 6 is a block diagram of the control device.

[0028] Figure 7 This is an exploded perspective view of the base portion.

[0029] Figure 8 is an exploded perspective view showing how the first target member is coupled to the rotating panel.

[0030] Fig. 9 It is an exploded perspective view of the first rotating part.

[0031] Fig.10is an exploded perspective view showing how the second target member is coupled to the second rotating portion.

[0032] Fig.11 is a three-dimensional diagram of the first sensing unit and the second sensing unit.

[0033] Fig.12 4 is a bottom view of the first sensing portion and the second sensing portion.

[0034] Fig.13 It is a schematic diagram for explaining how the first sensor detects the rotation of the first motor.

[0035] Fig.14 2 is a schematic diagram showing that a blade is rotated by the first sensing part or the second sensing part.

[0036] Fig.15 is a graph showing the relationship between the sensor value from the magnetic field sensor and the rotation angle of the first motor and the second motor.

[0037] Fig.16 : is a graph showing identification information of the blade based on the sensor value from the magnetic field sensor.

[0038] Fig.17 is a graph for explaining how to determine the reference angle range by referring to the identification information of the blade.

[0039] Fig.18 is a graph for explaining how to determine the rotation angle of the first motor or the second motor by referring to the sensor value calculated for the reference angle range.

[0040] Fig.19 A target piece equipped with an interrupter is shown.

[0041] Fig. 20 is a schematic diagram for explaining how an interrupter is detected by a photo interrupter sensor.

[0042] Fig.21 is a flow chart illustrating a posture adjustment method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. With reference to the embodiments described in detail below in conjunction with the accompanying drawings, the advantages and features of the present invention and the methods for achieving them will be apparent. However, the present invention is not limited to the embodiments described below, but can be implemented in various different forms, and these embodiments are provided only to make the disclosure of the present invention complete and to fully inform the ordinary technicians of the technical field to which the present invention belongs. Moreover, the present invention is limited only by the scope of the claims. Throughout the specification, the same reference numerals represent the same components.

[0044] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this specification can be used as meanings that are generally understood by ordinary technicians in the field to which the present invention belongs. In addition, unless clearly specifically defined, the terms defined in common dictionaries are not ideally or excessively interpreted.

[0045] Figure 1 is a perspective view of a gesture control device according to an embodiment of the present disclosure, Figure 2 is an exploded perspective view of a gesture control device according to an embodiment of the present disclosure, Figure 3 is a schematic diagram for explaining the rotation of the first rotating part relative to the base part, Figure 4 is a schematic diagram for explaining the rotation of the second rotating part relative to the first rotating part, and Figure 5 is a block diagram for explaining the operation of the gesture control device according to an embodiment of the present disclosure.

[0046] Reference Figure 1 and Figure 2 The posture control device 10 includes a base portion 100 , a first rotating portion 200 and a second rotating portion 300 .

[0047] The base portion 100 provides a rotation base for the first rotating portion 200, and the first rotating portion 200 may provide a rotation base for the second rotating portion 300. To this end, the first rotating portion 200 may be rotatably coupled to the base portion 100, and the second rotating portion 300 may be rotatably coupled to the first rotating portion 200.

[0048] The second rotating part 300 may be fixedly coupled to the target object. For example, the second rotating part 300 may be provided in the form of a housing for accommodating the target object.

[0049] The posture of the target object relative to the base part 100 can be adjusted by rotating the first rotating part 200 and the second rotating part 300. For example, the target object can be a camera, and the base part 100 can be fixed to a wall or a ceiling. In this example, the posture of the camera relative to the wall or the ceiling can be adjusted by rotating the first rotating part 200 and the second rotating part 300. However, it is only exemplary that the target object is a camera, and various other objects that need to be adjusted in posture relative to a reference object (such as a wall or a ceiling) can become the target object. For convenience, in the following description, it is assumed that the target object is a camera.

[0050] Reference Figure 3 , the first rotating part 200 can rotate relative to the base part 100. The first rotating part 200 can rotate infinitely relative to the base part 100. Specifically, Figure 3As shown, the first rotating portion 200 may continuously rotate clockwise or counterclockwise around the rotation axis Ax.

[0051] Reference Figure 4 , the second rotating part 300 can rotate relative to the first rotating part 200. The second rotating part 300 can rotate relative to the first rotating part 200 within a predetermined angle range. Figure 4 As shown, the second rotating part 300 can rotate clockwise or counterclockwise around the rotation axis Bx. The clockwise or counterclockwise rotation of the second rotating part 300 can be stopped at a specific point, and after the specific point, the rotation can be performed only in the opposite direction. For example, the rotation range of the second rotating part 300 can be 180 degrees.

[0052] The rotation axis Ax of the first rotating part 200 and the rotation axis Bx of the second rotating part 300 may be formed differently. For example, the rotation axis Ax of the first rotating part 200 and the rotation axis Bx of the second rotating part 300 may be orthogonal. Due to the different formations of the rotation axes Ax and Bx, various postures of the second rotating part 300 relative to the base part 100 can be achieved.

[0053] The posture control device 10 may include a control device 290 ( Fig. 9 ). The control device 290 may control the rotation of the first rotating part 200 and the second rotating part 300 to adjust the posture of the target object. The posture of the target object relative to the base part 100 may be adjusted under the control of the control device 290. If the target object is a camera, the shooting direction of the camera may be adjusted by the control device 290.

[0054] Reference Figure 7 and Fig. 9 , the base part 100 and the first rotating part 200 may include a first motor 130 and a second motor 240, respectively, include a first sensing part 140 and a second sensing part 250, respectively, and include a first target part 150 and a second target part 260, respectively. The first motor 130 and the second motor 240 may generate a driving force. The first sensing part 140 and the second sensing part 250 may generate a magnetic field and detect changes in the generated magnetic field. The first target part 150 and the second target part 260 may rotate due to the driving force from the first motor 130 and the second motor 240, respectively, and may include a plurality of blades 151 ( Figure 8 ) and a plurality of blades 261 ( Fig.10 ) to change the magnetic fields generated by the first sensing portion 140 and the second sensing portion 250, respectively.

[0055] The control device 290 can control the first motor 130 and the second motor 240 to control the rotation of the first rotating part 200 and the second rotating part 300. At the same time, if an error occurs between the control of the control device 290 and the operation of the first motor 130 and the second motor 240, there may be a difference between the actual posture of the target object and the target posture (hereinafter referred to as "posture error"). The posture error of the target object can be verified by referring to the rotation angle of the first motor 130 and the second motor 240. Specifically, referring to Figure 5 , the control device 290 may control the first motor 130 and the second motor 240 to rotate to the target rotation angle. Then, the control device 290 may determine the actual rotation angle of the first motor 130 and the second motor 240. If there is a difference between the target rotation angle and the actual rotation angle, a posture error may occur. In this case, the control device 290 may control the first motor 130 and the second motor 240 again to correct the posture error. Through such feedback control of the control device 290, the posture of the target object can be finely adjusted.

[0056] When determining the rotation angles of the first motor 130 and the second motor 240, the control device 290 may refer to the target rotation angle and the sensing results from the first sensing unit 140 and the second sensing unit 250. This will be used later. Figures 16 to 18 Provide explanation.

[0057] The control device 290 may receive a target rotation angle for the first motor 130 and the second motor 240, and control the first motor 130 and the second motor 240 to rotate to the target rotation angle based on the initial angle. Here, the initial angle may refer to the current angle of the first motor 130 and the second motor 240 equipped in the base part 100 or the first rotating part 200.

[0058] As will be described later, magnetic field sensors 142, 252 ( Fig.18 ) to verify the rotation angle of the first motor 130 and the second motor 240. Compared with a typical light interruption sensor, the magnetic field sensor 142, 252 can provide a higher resolution result, and even if the first motor 130 and the second motor 240 slip, the rotation angle of the first motor 130 and the second motor 240 can be detected with relatively high accuracy. In addition, compared with a typical magnet sensor, the magnetic field sensor 142, 252 has the advantages of being cheaper and less affected by external factors such as a magnetic field.

[0059] Figure 6 is a block diagram of the control device 290.

[0060] Reference Figure 6The control device 290 is configured to include an input section 291 , a storage section 292 , a control section 293 , a motor driving section 294 , and a sensor value receiving section 295 .

[0061] The input part 291 may receive a target rotation angle. The motor driving part 294 may drive the first motor 130 and the second motor 240 to rotate to the target rotation angle. The first motor 130 and the second motor 240 may rotate in response to a driving signal received from the motor driving part 294 .

[0062] The sensor value receiving part 295 may receive sensor values ​​regarding the rotation angles of the first motor 130 and the second motor 240. As will be described later, the base part 100 and the first rotating part 200 are equipped with sensors to detect the rotation angles of the first motor 130 and the second motor 240, and the sensor value receiving part 295 may receive sensor values ​​from these sensors.

[0063] The storage unit 292 may store the relationship between the sensor value and the rotation angle of the first motor 130 and the second motor 240 (hereinafter referred to as “sensor value-rotation angle relationship”). Fig.15 The sensor value-rotation angle relationship is stored in the form of a graph as shown.

[0064] The control unit 293 can confirm the actual rotation angle of the first motor 130 and the second motor 240 by referring to the sensor value-rotation angle relationship. In addition, if there is a difference between the target rotation angle and the actual rotation angle, the control unit 293 can control the motor driving unit 294 to compensate for the difference. In addition, the control unit 293 can perform overall control of the input unit 291, the storage unit 292, the motor driving unit 294, and the sensor value receiving unit 295.

[0065] Figure 6 Each component shown may represent software or hardware such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), but the present disclosure is not limited thereto. Figure 6 The components shown may be configured to reside in an addressable storage medium and may also be configured to run one or more processors. The functions provided by these components may be implemented by further subdivided components, and multiple components may be combined together to implement a single component for performing specific functions.

[0066] Figure 7 is an exploded perspective view of the base portion 100. Figure 8is an exploded perspective view showing how the first target member 150 is coupled to the rotation panel 210 .

[0067] Reference Figure 7 The base portion 100 is configured to include a base body 110 , a base cover 120 , a first motor 130 , a first sensing portion 140 , a first target part 150 , and a first power transmission portion 160 .

[0068] The base body 110 may provide a housing space for the first motor 130, the first sensing portion 140, the first target member 150, and the first power transmission portion 160. When the base body 110 is combined with the base cover 120, a housing space may be formed. In addition, the base body 110 may be coupled to a reference object such as a wall or a ceiling to provide a rotation reference for the target object.

[0069] The base cover 120 may provide a rotation reference plane for the first rotating portion 200. The first rotating portion 200 may rotate in a direction parallel to the rotation reference plane while in close contact with the base cover 120.

[0070] Reference Figure 8 , the first target part 150 may be coupled to the first rotating part 200 ( Fig. 9 Here, the rotation axis of the first target part 150 may coincide with the rotation axis Ax of the first rotating part 200.

[0071] The rotating panel 210 of the first rotating part 200 may include a rotating column 211. The first rotor 163 may be coupled to the rotating column 211, and the first target 150 may be coupled to the first rotor 163. The first target 150 is coupled to the rotating panel 210 through the first rotor 163. When the first rotor 163 is rotated by the first motor 130, the first target 150 may rotate together with the rotating panel 210.

[0072] Return to reference Figure 7 , the first motor 130 may generate a driving force for the rotation of the first rotating part 200. The first sensing part 140 may generate a magnetic field and detect a change in the generated magnetic field. Fig.11 and Fig.12 The first sensing unit 140 will be described.

[0073] The first target member 150 may be rotated by the driving force of the first motor 130 . The driving force of the first motor 130 may be transmitted to the first target member 150 through the first power transmission part 160 .

[0074] The first target part 150 may be coupled to the first rotor 163 of the first power transmission part 160. When the first rotor 163 is rotated by the driving force of the first motor 130, the first target part 150 may also rotate together with the first rotor 163. The first target part 150 may include a blade 151 that changes the magnetic field generated by the first sensing part 140. The blade 151 may be formed using a metal material (e.g., aluminum (Al)). When the blade 151 passes through the magnetic field generated by the first sensing part 140, the magnetic field may be changed.

[0075] The first power transmission part 160 transmits the driving force of the first motor 130 to the first rotating part 200 and the first target part 150. The first power transmission part 160 may include a first pinion 161, a transmission gear 162, a first rotor 163, and belts 164a, 164b.

[0076] The first pinion gear 161 may be rotated by the driving force of the first motor 130. The transmission gear 162 may transmit the driving force between the first pinion gear 161 and the first rotor 163.

[0077] The first rotor 163 may be coupled to the first rotating portion 200 and the first target 150. When the first rotor 163 rotates, the first rotor 163 enables the first rotating portion 200 and the first target 150 to rotate.

[0078] The A belt 164a is disposed between the first pinion 161 and the transmission gear 162, and the B belt 164b may be disposed between the transmission gear 162 and the first rotor 163. The A belt 164a may transfer the rotational force from the first pinion 161 to the transmission gear 162, and the B belt 164b may transfer the rotational force from the transmission gear 162 to the first rotor 163.

[0079] Fig. 9 is an exploded perspective view of the first rotating unit 200, and Fig.10 is an exploded perspective view showing how the second target 260 is coupled to the second rotating part 300 .

[0080] Reference Fig. 9 The first rotating portion 200 is configured to include a rotating panel 210 , side frames 221 and 222 , a second motor 240 , a second sensing portion 250 , a second target member 260 , a second power transmitting portion 270 , a main board 280 , and a control device 290 .

[0081] The rotating panel 210 may fix the side frames 221 and 222, the second motor 240, the second sensing part 250, the second target part 260, the second power transmission part 270, and the main board 280. The side frames 221 and 222, the second motor 240, the second sensing part 250, the second target part 260, the second power transmission part 270, and the main board 280 may be directly or indirectly coupled to the rotating panel 210. The rotating panel 210 may rotate along a rotation reference plane of the base cover 120. If the rotating panel 210 rotates due to a driving force output from the base part 100, the side frames 221 and 222, the second motor 240, the second sensing part 250, the second target part 260, the second power transmission part 270, and the main board 280 may rotate together with the rotating panel 210.

[0082] The side frames 221 and 222 may include a first side frame 221 and a second side frame 222. The first side frame 221 and the second side frame 222 may be coupled to the rotating panel 210 through the coupling frame 230. The first side frame 221 may be coupled to the second motor 240 and the second sensing part 250. The second motor 240 and the second sensing part 250 may both be coupled to the rotating panel 210 through the first side frame 221.

[0083] The second motor 240 may generate a driving force for the rotation of the second rotating part 300. The second sensing part 250 may generate a magnetic field and may detect a change in the generated magnetic field. Fig.11 and Fig.12 The second sensing part 250 is described below.

[0084] The second target member 260 may rotate due to the driving force of the second motor 240. The driving force from the second motor 240 may be transmitted to the second target member 260 through the second power transmitting portion 270, and transmitted to the second rotating portion 300.

[0085] The second power transmission part 270 transmits the driving force from the second motor 240 to the second rotating part 300. The second power transmission part 270 may include a second pinion 271, a second rotor 272, and a belt 273.

[0086] The second pinion gear 271 may rotate due to the driving force from the second motor 240. The belt 273 may transfer the rotational force from the second pinion gear 271 to the second rotor 272.

[0087] Reference Fig. 9 and Fig.10 , the second rotor 272 of the second power transmission part 270 and the second target 260 may be coupled to the second rotating part 300. Here, the rotation axis of the second target 260 may coincide with the rotation axis Bx of the second rotating part 300.

[0088] When the second rotor 272 rotates due to the driving force from the second motor 240, the second rotating part 300 and the second target part 260 may both rotate. The second target part 260 may include a blade 261 that changes the magnetic field generated by the second sensing part 250. The blade 261 may be formed using a metal material. For example, the blade 261 may be formed using Al. If the blade 261 moves within the magnetic field generated by the second sensing part 250, the magnetic field may change.

[0089] Return to Fig. 9 , the main board 280 may be coupled to the second side frame 222 . The main board 280 may be coupled to the rotating panel 210 through the second side frame 222 .

[0090] The control device 290 may be coupled to the main board 280. The control device 290 may control the first motor 130 and the second motor 240 based on the sensing results of the first sensing part 140 and the second sensing part 250.

[0091] Fig.11 is a three-dimensional diagram of the first sensing unit 140 and the second sensing unit 250. Fig.12 1 is a bottom view of the first sensing portion 140 and the second sensing portion 250 .

[0092] Reference Fig.11 and Fig.12 The first sensing portion 140 and the second sensing portion 250 are configured to include plates 141 , 251 , respectively, magnetic field sensors 142 , 252 , and coils 143 , 253 , respectively.

[0093] The board 141, 251 may fix the magnetic field sensor 142, 252 and the coil 143, 253. In addition, the board 141, 251 may supply power to the magnetic field sensor 142, 252 and supply current to the coil 143, 253.

[0094] The coil 143, 253 may generate a magnetic field. The coil 143, 253 may be arranged in a ring shape on a first side of the plate 141, 251. When current is supplied to the coil 143, 253, a magnetic field may be generated around the coil 143, 253.

[0095] Fig.13 It is a schematic diagram for explaining how the first sensor 140 detects the rotation of the first motor 130 .

[0096] Reference Fig.13 , the magnetic field sensor 142 may output a sensor value by detecting the magnetic field changed by the blade 151 .

[0097] The coil 143 may be arranged on a side of the plate 141 facing the blade 151. Due to the driving force of the first motor 130, the first target part 150 may rotate together with the first rotor 163. When the first target part 150 rotates, the blade 151 may move around the coil 143. If the blade 151 moves around the coil 143, the magnetic field may change. The magnetic field sensor 142 may continuously sense the magnetic field around the coil 143 and output a sensor value as a sensing result. For example, the sensor value may correspond to the magnitude of the magnetic field. The range of such a sensor value may correspond to the range of the rotation angle of the first motor 130.

[0098] The first target part 150 may include a blade 151. The magnetic field sensor 142 may sequentially output calculated sensor values ​​of the corresponding blade 151 by detecting a magnetic field changed by the blade 151.

[0099] Fig.13 1 and 2 , which illustrate how the first sensing portion 140 detects the rotation of the first motor 130 . Similarly, the rotation of the second motor 240 may be detected by the second sensing portion 250 .

[0100] Fig.14 is a schematic diagram showing that the blade 151 or the blade 261 is rotated by the first sensing part 140 or the second sensing part 250, and Fig.15 is a graph showing the relationship between the sensor values ​​from the magnetic field sensors 142 , 252 and the rotation angles of the first motor 130 and the second motor 240 .

[0101] Reference Fig.14 , the blade 151 or the blade 261 provided in the first target part 150 or the second target part 260 may rotate around the coil 143 or the coil 253 .

[0102] If current is supplied to the coil 143 or the coil 253, a magnetic field may be formed around the coil 143 or the coil 253. If the blade 151 or the blade 261 formed using a metal material rotates around the coil 143 or the coil 253, the magnetic field may change.

[0103] The first target 150 or the second target 260 may include a blade 151 or a blade 261. Since the blade 151 or the blade 261 rotates around the coil 143 or the coil 253, the rotation cycle of the first motor 130 or the second motor 240 may include a plurality of cycles of magnetic field variation. Fig.15 , a rotation period (ranging from 0 degrees to 360 degrees) of the first motor 130 or the second motor 240 may include multiple periods of magnetic field variation.

[0104] The number of change cycles of the magnetic field included in the rotation cycle of the first motor 130 or the second motor 240 may correspond to the number of the blades 151 or the blades 261. For example, if four blades 151 or the blades 261 are included in the first target part 150 or the second target part 260, four change cycles of the magnetic field may be generated during one rotation of the first motor 130 or the second motor 240.

[0105] Since the rotation cycle of the first motor 130 or the second motor 240 includes a plurality of cycles of magnetic field variation, the rotation angle of the first motor 130 or the second motor 240 cannot be determined based only on the sensor value from the magnetic field sensor 142 or the magnetic field sensor 252. Fig.15 , the calculated sensor value of the corresponding blade 151 or blade 261 may correspond to different partial rotation angle ranges, i.e., the first partial angle range RA1 to the fourth partial angle range RA4, within the rotation angle range of the first motor 130 or the second motor 240. For example, if the magnetic field sensor 142 or the magnetic field sensor 252 detects the sensor value S, the rotation angle of the first motor 130 or the second motor 240 may be one of the first predicted rotation angle A1 to the fourth predicted rotation angle A4. The first predicted rotation angle A1 to the fourth predicted rotation angle A4 represent the rotation angle of the first motor 130 or the second motor 240 within each of the first partial angle range RA1 to the fourth partial angle range RA4 for a single sensor value.

[0106] Fig.16 is a graph showing identification information of the blade 151 or the blade 261 based on the sensor value from the magnetic field sensor 142 or the magnetic field sensor 153, Fig.17 is a graph for explaining how to determine the reference angle range by referring to the identification information of the blade 151 or the blade 261, and Fig.18 is a graph for explaining how to determine the rotation angle of the first motor 130 or the second motor 240 by referring to the sensor value calculated for the reference angle range.

[0107] Reference Fig.16 , the control device 290 can identify the identifier (ID) ID1 to ID4 of the blade 151 or the blade 261 by referring to the sensor value from the magnetic field sensor 142 or the magnetic field sensor 252 .

[0108] The magnetic field can be changed by one of the blades 151 or 261, thereby generating an output sensor value. In order to determine the rotation angle of the first motor 130 or the second motor 240, it is necessary to determine which of the blades 151 or 261 has caused a change in the magnetic field, which causes the output sensor value. The blade 151 or the blade 261 that has caused the magnetic field change will be referred to as the reference blade hereinafter. Once the reference blade is identified, the predicted rotation angle in one of the first partial angle range RA1 to the fourth partial angle range RA4 corresponding to the reference blade can be determined as the rotation angle of the first motor 130 or the second motor 240.

[0109] In order to identify the reference blade, the blades 151 or 261 may be counted when the first target part 150 or the second target part 260 rotates. The control device 290 may continuously track the rotation of the first target part 150 or the second target part 260 to count the blades 151 or 261. Fig.16 , the magnetic field may be sequentially changed by different blades 151 or blades 261. The control device 290 may continuously track the rotation of the first target part 150 or the second target part 260 to identify the ID of the blade 151 or blade 261 that currently changes the magnetic field.

[0110] Reference Fig.17 and Fig.18 The control device 290 can determine the rotation angle of the first motor 130 or the second motor 240 by referring to the identification information of the blade 151 or the reference blade in the blade 261 in the first target part 150 or the second target part 260 and the sensing result from the first sensing part 140 or the second sensing part 250.

[0111] If the magnetic field is changed by the third blade 151 or the third blade 261 , the control device 290 may recognize that the ID of the reference blade is “ ID3 ”.

[0112] The control device 290 may determine the partial angle range corresponding to the reference blade as the reference angle range for determining the rotation angle of the first motor 130 or the second motor 240. If the ID of the reference blade is "ID3", the partial angle range RA3 corresponding to the third blade 151 or the third blade 261 may be determined as the reference angle range. Then, the control device 290 may determine the predicted rotation angle A3 corresponding to the partial angle range RA3 as the rotation angle of the first motor 130 or the second motor 240.

[0113] As described above, the rotation axis of the first target part 150 may coincide with the rotation axis Ax of the first rotating part 200, and the rotation axis of the second target part 260 may coincide with the rotation axis Bx of the second rotating part 300. The posture of the target object may be determined by the rotation angle of the first motor 130 or the second motor 240 calculated using the sensor value from the magnetic field sensor 142 or the magnetic field sensor 252.

[0114] When the target rotation angle is input through the input unit 291, the motor driving unit 294 may drive the first motor 130 or the second motor 240 to the target rotation angle. Ideally, if the target rotation angle is T, the actual rotation angle of the first motor 130 or the second motor 240 may also be T. However, due to various factors, a difference may occur between the target rotation angle and the actual rotation angle.

[0115] If the third blade 151 or the third blade 261 is a reference blade, the target rotation angle T may be included in the third partial angle range RA3. Then, the control device 290 may determine the third partial angle range RA3 as the reference angle range.

[0116] Reference Fig.18 The control device 290 can calculate the predicted rotation angle of the first motor 130 or the second motor 240 corresponding to the sensor value output by the magnetic field sensor 142 or the magnetic field sensor 252 for each of the first partial angle range RA1 to the fourth partial angle range RA4, and can determine the predicted rotation angle calculated for the reference angle range as the rotation angle of the first motor 130 or the second motor 240.

[0117] If the sensor value output by the magnetic field sensor 142 or the magnetic field sensor 252 is "S", the first predicted rotation angle A1 to the fourth predicted rotation angle A4 can be calculated for the first partial angle range RA1 to the fourth partial angle range RA4, respectively. The first partial angle range RA1 to the fourth partial angle range RA4 correspond to the blade 151 or the blade 261. By counting the blades 151 or the blades 261, the control device 290 can identify which of the first partial angle range RA1 to the fourth partial angle range RA4 is the reference angle range. The control device 290 can determine the third partial angle range RA3 as the reference angle range based on the identification information of the reference blade, and can determine the third predicted rotation angle A3 as the actual rotation angle of the first motor 130 or the second motor 240.

[0118] There may be a difference between the target rotation angle T and the actual rotation angle A3. If the difference exceeds a predetermined threshold, the control device 290 may control the first motor 130 or the second motor 240 again to compensate for the difference.

[0119] Specifically, when the number of blades 151 or blades 261 is four, the coordinates of the magnetic field sensor 142 or magnetic field sensor 252 may have four cycles within the designed rotation angle. When one full rotation of the first motor 130 or the second motor 240 is 360 degrees, one of the four cycles of the magnetic field sensor 142 or magnetic field sensor 252 may have an angle of 90 degrees.

[0120] The rotation angle of the first motor 130 or the second motor 240 can be calculated using equation (1):

[0121] m-deg=(Blade Count)×(Blade Angle)+(e-deg / Number of Blades) (1)

[0122] Referring to mathematical formula (1), "m-deg" represents the rotation angle of the first motor 130 or the second motor 240, and "Blade Count" represents the reference blade corresponding to the reference angle range. The blade 151 or the blade 261 can be counted by the control device 290, and when there are four blades 151 or blades 261, "Blade Count" can be determined as a value between 0 and 3.

[0123] Referring again to equation (1), "Blade Angle" represents the angle range of blade 151 or blade 261. "Blade Angle" in equation (1) can be calculated using equation (2):

[0124] Blade Angle=Designed Rotation Angle / Number of Blades (2)

[0125] Referring to mathematical formula (2), "Designed Rotation Angle" represents the rotation angle range of the first motor 130 or the second motor 240. If the first motor 130 or the second motor 240 is used for a panning operation of the camera, "Designed Rotation Angle" may be 360 ​​degrees, and if the first motor 130 or the second motor 240 is used for a tilting operation of the camera, "Designed Rotation Angle" may be 180 degrees. For example, if the first motor 130 or the second motor 240 is used for a panning operation and the number of blades 151 or blades 261 is four, "Blade Angle" may be 90 degrees (=360 / 4).

[0126] Referring back to equation (1), "e-deg" represents the rotation angle of the first motor 130 or the second motor 240 detected by the magnetic field sensor 142 or the magnetic field sensor 252. The output value of the magnetic field sensor 142 or the magnetic field sensor 252 may include a range from 0 to 2π radians. Referring to both equations (1) and (2), "Number of Blades" represents the number of blades 151 or blades 261.

[0127] Fig.19 A target part equipped with an interrupter is shown, and Fig. 20 is a schematic diagram for explaining how an interrupter is detected by a photo interrupter sensor.

[0128] Reference Fig.19 and Fig. 20 The first target part 150 or the second target part 260 includes the interrupter 152 or the interrupter 262 , and the first sensing part 140 or the second sensing part 250 may include the light interruption sensor 144 or the light interruption sensor 254 .

[0129] The light interruption sensor 144 or the light interruption sensor 254 is fixed to the circuit board 141 or the circuit board 251, and can be used to identify the initial angle of the first motor 130 or the second motor 240. The interrupter 152 or the interrupter 262 provided in the first target part 150 or the second target part 260 can be detected by the light interruption sensor 144 or the light interruption sensor 254. For example, whenever the first target part 150 or the second target part 260 rotates, the interrupter 152 or the interrupter 262 can be detected by the light interruption sensor 144 or the light interruption sensor 254.

[0130] As previously described, the target object may include a camera. If the target object is a camera, a target rotation angle may be input to determine the shooting direction of the camera. In order to rotate the target object to the target rotation angle, the control device 290 may determine the current angle of the first motor 130 or the second motor 240. The control device 290 sets the current angle of the first motor 130 or the second motor 240 as an initial angle, and rotates the target object to the target rotation angle based on the initial angle. For example, if the initial angle is 20 degrees and the target rotation angle is 280 degrees, the control device 290 may rotate the first motor 130 or the second motor 240 by an angle of 260 degrees.

[0131] The initial angle may be determined based on the point at which the light interruption sensor 144 or the light interruption sensor 254 detects the interrupter 152 or the interrupter 262. For example, the initial angle may represent an angle at which the first target part 150 or the second target part 260 has been rotated from the point at which the light interruption sensor 144 or the light interruption sensor 254 detects the interrupter 152 or the interrupter 262.

[0132] Fig.21 is a flow chart illustrating a posture adjustment method according to an embodiment of the present disclosure.

[0133] Reference Fig.21 , the control device 290 can adjust the posture of the target object through feedback control.

[0134] Initially, the control device 290 may receive a control command for adjusting the posture of the target object (S410). In response to the received control command, the control device 290 may activate the first motor 130 and the second motor 240 respectively equipped in the base part 100 and the first rotating part 200 according to the received control command (S420), and may determine the rotation angle of the first motor 130 and the second motor 240 (S430). The rotation angle of the first motor 130 and the second motor 240 may be determined by referring to the sensor values ​​from the magnetic field sensor 142 and the magnetic field sensor 252.

[0135] In addition, the control device 290 can adjust the posture of the target object by referring to the rotation angle of the first motor 130 and the second motor 240 (S440). In other words, the control device 290 performs feedback control on the first motor 130 and the second motor 240 by referring to the sensing results from the first sensing unit 140 and the second sensing unit 250 (i.e., the sensor values ​​from the magnetic field sensors 142 and 252) until the rotation angle of the first motor 130 and the second motor 240 falls within the target threshold range.

[0136] The control device 290 can determine the rotation angle of the first motor 130 and the second motor 240 by referring to the identification information of the reference blade and the detection results from the first sensing part 140 and the second sensing part 250. The control device 290 can continuously track the rotation of the first target part 150 and the second target part 260, count the blades 151 and 261, and identify the identification information of the reference blade that currently changes the magnetic field.

[0137] The identification information of the reference blade may correspond to one of a plurality of partial angle ranges. The control device 290 may determine a reference angle range corresponding to the identification information of the reference blade. In addition, the control device 290 may calculate the predicted rotation angle of the first motor 130 and the second motor 240 corresponding to the sensor value output by the magnetic field sensors 142 and 252 for each partial angle range, and determine the predicted rotation angle calculated for the reference angle range as the rotation angle of the first motor 130 and the second motor 240.

[0138] Although the embodiments of the present disclosure have been described with reference to the above and the accompanying drawings, it will be understood by those skilled in the art that the present disclosure may be implemented in other specific forms without changing the technical spirit or basic features. Therefore, it should be understood that the above embodiments are illustrative and non-restrictive in all aspects.

Claims

1. A posture adjustment device, comprising: Base part; a first rotating portion rotatably coupled to the base portion; a second rotating portion fixedly coupled to the target object and rotatably coupled to the first rotating portion; as well as a control device for adjusting the posture of the target object by controlling the rotation of the first rotating part and the second rotating part, wherein each of the base portion and the first rotating portion includes: a motor that generates a driving force; a sensing portion that generates a magnetic field and detects a change in the magnetic field; and a target that is rotated by the driving force from the motor and includes a plurality of blades to change the magnetic field generated by the sensing portion, The control device determines the rotation angle of the motor by referring to identification information of a reference blade that causes a change in a magnetic field among the plurality of blades and a sensing result from the sensing portion.

2. The posture adjustment device according to claim 1, wherein: The sensing unit comprises: A coil for generating the magnetic field; a magnetic field sensor that senses a change in a magnetic field caused by the plurality of blades and sequentially outputs a sensor value calculated for each of the plurality of blades; and A board is provided for fixing the coil and the magnetic field sensor.

3. The posture adjustment device according to claim 2, wherein: The sensor value calculated for each of the plurality of blades corresponds to a different partial angular range of the rotational angular range of the motor, The control device determines one of the partial angle ranges corresponding to the reference blade as a reference angle range for determining the rotation angle of the motor.

4. The posture adjustment device according to claim 3, wherein: The control device calculates a predicted rotation angle of the motor corresponding to a sensor value output by the magnetic field sensor for each of the partial angle ranges, and determines the calculated predicted rotation angle as a rotation angle of the motor.

5. The posture adjustment device according to claim 2, wherein: The sensing part further includes: a light interruption sensor fixed to the board and used to identify the initial angle of the motor, The target part includes an interrupter detected by the light interruption sensor.

6. The posture adjustment device according to claim 5, wherein: The control device receives a target rotation angle of the motor and controls the motor to rotate to the target rotation angle based on the initial angle.

7. The posture adjustment device according to claim 1, wherein: The target member of the base portion is coupled to the first rotating portion, The target member of the first rotating portion is coupled to the second rotating portion.

8. The posture adjustment device according to claim 1, wherein: The rotation axis of the target part of the base portion coincides with the rotation axis of the first rotating portion, The rotation axis of the target part of the first rotating portion coincides with the rotation axis of the second rotating portion.

9. The posture adjustment device according to claim 1, wherein: The base portion includes: a base cover providing a rotation reference surface for the first rotating portion, The first rotating part comprises: a rotating panel capable of rotating along the rotating reference surface, The target member of the base portion is coupled to the rotating panel.

10. The posture adjustment device according to claim 1, wherein: The motor of the base part generates a driving force for rotating the first rotating part. The motor of the first rotating part generates a driving force for rotating the second rotating part.

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