Method and device for controlling output torque of pan-tilt monitoring equipment and pan-tilt monitoring equipment

Abstract

The invention provides an output torque control method and device of pan-tilt monitoring equipment and the pan-tilt monitoring equipment, and relates to the technical field of video surveillance, and the method comprises the steps: obtaining a target torque collected by a torque sensor, the target torque being a torque required when the pan-tilt monitoring equipment rotates to any angle; based on the target torque and a torque frequency curve corresponding to a motor connected with the rotating shaft, target input current corresponding to the motor is determined, and the torque frequency curve is used for representing the corresponding relation between an input signal corresponding to the motor and output torque; and controlling the output torque of the motor based on the target input current corresponding to the motor. According to the invention, the output torque of the motor can be effectively controlled.

Description

Technical Field

[0001] The present invention relates to the field of video monitoring technology, and in particular to an output torque control method and device for a pan-tilt monitoring device, and a pan-tilt monitoring device. Background Art

[0002] In existing pan / tilt cameras or ball cameras, the interior of the rotating body is non-homogeneous because of the placement of various devices inside the rotating body, such as: 4x, 8x or 16x movement lenses of different weights, thermal imaging sensors and lasers. Figure 1 and Figure 2 As shown in the figure, due to the change in the center of mass of the rotating body, the rotating body will have different force arms at different angles. On the other hand, the entire rotation process is also affected by factors such as the weight of the rotating body and the angular acceleration of the rotation. Therefore, the torque required for each rotation of the rotating body is different. If the torque required by the rotating body is small, but the actual output torque of the motor is large, it is easy to cause energy waste of the motor; if the torque required by the rotating body is large, but the actual output torque of the motor is small, the rotating body cannot be rotated. Therefore, how to effectively control the output torque of the motor is a problem that needs to be solved urgently. Summary of the invention

[0003] The present invention provides an output torque control method and device of a pan / tilt monitoring device, and the pan / tilt monitoring device, so as to solve the defect that the output torque of a motor cannot be effectively controlled in the prior art, and realize effective control of the output torque of the motor.

[0004] The present invention provides an output torque control method for a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device, wherein a torque sensor is coaxially arranged at a rotating shaft of the pan-tilt monitoring device, comprising:

[0005] Obtaining a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan / tilt monitoring device to rotate to any angle;

[0006] Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0007] Based on the target input current corresponding to the motor, the output torque of the motor is controlled.

[0008] According to the output torque control method of the pan / tilt monitoring device provided by the present invention, the target input current corresponding to the motor is determined based on the target torque and the torque-frequency curve corresponding to the motor connected to the rotating shaft, including:

[0009] Determining a target output torque corresponding to the motor in the torque-frequency curve based on the target torque and a target input signal corresponding to the motor;

[0010] Based on the target output torque, a target input current corresponding to the motor is determined.

[0011] According to the output torque control method of the pan / tilt monitoring device provided by the present invention, the target output torque corresponding to the motor is determined in the torque-frequency curve based on the target torque and the target input signal corresponding to the motor, including:

[0012] determining at least one candidate torque greater than or equal to the target torque in a direction of the torque-frequency curve where the frequency of the input signal is the target frequency of the target input signal;

[0013] Based on the at least one candidate torque, a target output torque corresponding to the motor is determined.

[0014] According to the output torque control method of the pan / tilt monitoring device provided by the present invention, the determining of the target output torque corresponding to the motor based on the at least one candidate torque includes:

[0015] determining a difference between each of the candidate torques and the target torque;

[0016] The candidate torque corresponding to the minimum difference is determined as the target output torque corresponding to the motor.

[0017] According to the output torque control method of the pan / tilt monitoring device provided by the present invention, the method further includes:

[0018] When the pan / tilt monitoring device is in a vibrating state, obtaining at least one measured torque collected by the torque sensor;

[0019] A maximum measured torque among the at least one measured torque is determined as the target torque acquired by the torque sensor.

[0020] According to the output torque control method of the pan / tilt monitoring device provided by the present invention, the output torque of the motor is controlled based on the target input current corresponding to the motor, including:

[0021] Determining a target pulse width modulation signal corresponding to the target input current;

[0022] The target pulse width modulation signal is sent to a driving chip corresponding to the motor, where the target pulse width modulation signal is used to instruct the driving chip to control the output torque of the motor.

[0023] The present invention also provides an output torque control device for a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device. A torque sensor is arranged at the rotating shaft of the pan-tilt monitoring device. The device comprises:

[0024] An acquisition module, used to acquire a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan-tilt monitoring device to rotate to any angle;

[0025] a determination module, configured to determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0026] A control module is used to control the output torque of the motor based on the target input current corresponding to the motor.

[0027] The present invention also provides a pan-tilt monitoring device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an output torque control method of the pan-tilt monitoring device as described above is implemented.

[0028] The present invention also provides a pan-tilt monitoring device, comprising a torque sensor, a motor, a rotating shaft, a power supply, a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the torque sensor is coaxially arranged with the rotating shaft, and the rotating shaft is connected to the motor, the motor is used to drive the rotating shaft to rotate, and the torque sensor is used to collect the target torque output by the motor; the power supply is connected to the processor, and the power supply is used to power the processor; when the processor executes the program, an output torque control method for the pan-tilt monitoring device as described in any one of the above items is implemented.

[0029] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the output torque control method of the pan-tilt monitoring device as described in any one of the above is implemented.

[0030] The output torque control method, device and pan-tilt monitoring device provided by the present invention can accurately detect the target torque required for the pan-tilt monitoring device to rotate to any angle through a torque sensor at the rotating shaft, and determine the target input current corresponding to the target torque from the torque-frequency curve corresponding to the motor according to the target torque, and effectively control the output torque of the motor according to the target input current, so that the output torque can not only meet the target torque required for the pan-tilt rotation, but also avoid excessive output torque, thereby greatly reducing the energy waste of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is one of the schematic diagrams of the rotating body force arm provided by the prior art;

[0033] Figure 2 This is the second schematic diagram of the rotating body force arm provided by the prior art;

[0034] Figure 3 It is one of the flow charts of the output torque control method of the pan / tilt monitoring device provided in the embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of installing a torque sensor provided by an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of a moment-frequency curve provided by an embodiment of the present invention;

[0037] Figure 6 This is a second flow chart of the output torque control method of the pan / tilt monitoring device provided by an embodiment of the present invention;

[0038] Figure 7 This is a third flow chart of the output torque control method of the pan / tilt monitoring device provided by an embodiment of the present invention;

[0039] Figure 8 It is a structural schematic diagram of an output torque control device of a pan / tilt monitoring device provided by an embodiment of the present invention;

[0040] Fig. 9 This is one of the structural schematic diagrams of the PTZ monitoring device provided by an embodiment of the present invention;

[0041] Fig.10 This is the second structural schematic diagram of the pan-tilt monitoring device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In view of the problem that the output torque of the motor cannot be effectively controlled in the prior art, an embodiment of the present invention provides an output torque control method of a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device, wherein a torque sensor 420 is coaxially arranged at a rotating shaft 410 of the pan-tilt monitoring device. Figure 3 FIG. 1 is one of the flow charts of the output torque control method of the PTZ monitoring device provided in an embodiment of the present invention, such as Figure 3 As shown, the method includes:

[0044] Step 310: Obtain the target torque collected by the torque sensor 420, where the target torque is the torque required for the pan-tilt monitoring device to rotate to any angle.

[0045] Optionally, the pan-tilt monitoring device is a monitoring device that can drive the camera to rotate horizontally and vertically through the pan-tilt, such as a ball camera and PTZ (Pan Tilt Zoom, all-round movement and lens magnification and zoom control) equipment. The pan-tilt monitoring device includes a horizontal motor and a vertical motor. The horizontal motor is connected to the horizontal rotation shaft, and the horizontal motor drives the horizontal rotation shaft to rotate to drive the camera to rotate in the horizontal direction. The vertical motor is connected to the vertical rotation shaft, and the vertical motor drives the vertical rotation shaft to rotate to drive the camera to rotate in the vertical direction.

[0046] Optionally, the number of torque sensors 420 installed in the pan-tilt monitoring device is equal to the number of rotating shafts 410 in the pan-tilt monitoring device. When the pan-tilt monitoring device includes a horizontal rotating shaft and a vertical rotating shaft, two torque sensors 420 may be installed in the pan-tilt monitoring device, wherein one torque sensor 420 is coaxially arranged with the horizontal rotating shaft, and the other torque sensor 420 is coaxially arranged with the vertical rotating shaft. Figure 4 4 is a schematic diagram of the installation of the torque sensor 420 provided in an embodiment of the present invention. Figure 4 As shown, the torque sensor 420 can be arranged outside the horizontal axis or the vertical axis. When the horizontal axis or the vertical axis rotates, the corresponding torque sensor 420 measures the change of the electrical signal under the action of the torque to obtain the corresponding target torque when the horizontal axis or the vertical axis rotates to different angles.

[0047] Optionally, the torque sensor 420 may include a resistive strain torque sensor 420, an inductive torque sensor 420, and a magnetoelectric torque sensor 420, wherein when the target shaft is subjected to torque, the resistive strain torque sensor 420 can obtain the target torque at the target shaft by measuring the resistance change caused by the strain caused by the torque. The inductive torque sensor 420 can obtain the target torque at the target shaft by measuring the inductance change caused by the torque. The magnetoelectric torque sensor 420 can obtain the target torque at the target shaft by measuring the magnitude of the induced voltage generated by the magnetic field change caused by the torque. The embodiments of the present invention are not limited to this.

[0048] Optionally, as shown in formula (1), the target torque may be a torque acting on the rotating shaft 410 by at least one of the factors including the angular acceleration of rotation, the weight of the rotating body, other torques, and the corresponding force arm when the rotating body rotates to different angles. Formula (1) is:

[0049]

[0050] Wherein, T represents the target torque, i.e., the torque required when the PTZ monitoring device rotates to different angles; k represents the coefficient factor; J represents the moment of inertia corresponding to the rotating body; α represents the angular acceleration of rotation; m represents the mass of the rotating body; g represents the gravity constant; L represents the lever arm, i.e., the projected distance between the center of mass of the rotating body and the target axis of rotation, which can be a horizontal axis or a vertical axis; M 阻 It represents other torques that affect the rotation of the PTZ monitoring device, which may include friction torque, vibration torque, wind resistance torque, etc.; η represents the transmission efficiency; i represents the reduction ratio.

[0051] Step 320: Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft 410, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor.

[0052] Specifically, after the torque sensor 420 measures the target torque, a torque-frequency curve of the motor connected to the rotating shaft 410 coaxially arranged with the torque sensor 420 can be obtained, and the torque-frequency curve includes the corresponding relationship between the input signal and the output torque corresponding to the motor. For example, Figure 5 is a schematic diagram of a moment-frequency curve provided by an embodiment of the present invention, such as Figure 5As shown, the horizontal axis of the torque-frequency curve represents the frequency of the input signal, which determines the speed of change of the motor magnetic field, thereby affecting the speed of the motor. After determining the frequency of the input signal, and the frequency represents the number of pulses per second, the product of the frequency and the step angle is calculated, and then the product is divided by 360 to obtain the motor speed per second, and the motor speed per second is multiplied by 60 to obtain the motor speed per minute (Revolutions Per Minute, RPM), that is, the frequency is proportional to the motor speed. The vertical axis of the torque-frequency curve represents the output torque, and each coordinate point on the curve in the torque-frequency curve represents the output torque of the corresponding frequency under different input currents. At the same frequency, the output torque increases with the increase of the input current. At the same time, when the input current is fixed, the output torque decreases with the increase of the frequency, that is, the output torque decreases with the increase of the motor speed. When the frequency of the input signal is high or the motor speed is high, the output torque of the motor may not be able to support the required torque, resulting in the motor losing step phenomenon. The motor out-of-step phenomenon can be understood as the motor losing its stepping ability due to excessive mechanical load during motor operation, and even causing obvious noise, vibration and heat generation.

[0053] Furthermore, Figure 6 FIG. 2 is a flow chart of the output torque control method of the PTZ monitoring device provided in an embodiment of the present invention. Figure 6 As shown, the target input current corresponding to the motor is determined based on the target torque and the torque-frequency curve corresponding to the motor connected to the rotating shaft 410, including:

[0054] Determining a target output torque corresponding to the motor in the torque-frequency curve based on the target torque and a target input signal corresponding to the motor;

[0055] Based on the target output torque, a target input current corresponding to the motor is determined.

[0056] Specifically, after the torque sensor 420 measures the target torque, the target input signal of the motor can be further obtained. The target input signal includes a target frequency. The frequency of the target input signal is used as the horizontal coordinate, and the target torque is used as the vertical coordinate. The target coordinate point corresponding to the target torque is determined in the torque-frequency curve. Based on the target coordinate point, the target output torque corresponding to the motor is determined, and the target input current of the motor is further determined based on the target output torque.

[0057] Further, determining the target output torque corresponding to the motor in the torque-frequency curve based on the target torque and the target input signal corresponding to the motor includes:

[0058] determining at least one candidate torque greater than or equal to the target torque in a direction of the torque-frequency curve where the frequency of the input signal is the target frequency of the target input signal;

[0059] Based on the at least one candidate torque, a target output torque corresponding to the motor is determined.

[0060] For example, taking the frequency of the target input signal as 100PPS (Pulse Per Second, the number of pulses sent per second), and the target torque measured by the torque sensor 420 as 1400mN / m, Figure 5 The torque-frequency curve shown includes curve a, curve b and curve c. The input current corresponding to curve a is 1.0A, the input current corresponding to curve b is 0.7A, and the input current corresponding to curve c is 0.6A. At this time, with 100PPS as the horizontal coordinate and 1400mN / m as the vertical coordinate, the target coordinate point A, i.e. A(100,1400) is determined. While the horizontal coordinate remains unchanged, the torque value corresponding to the frequency of 100PPS in each curve is determined along the vertical axis direction, and each torque value is compared with the target torque. From each torque value, candidate torques greater than or equal to the target torque are determined, including the torque value corresponding to coordinate point B of 1500mN / m and the torque value corresponding to coordinate point C of 1850mN / m, and the target output torque corresponding to the motor is determined from 1500mN / m and 1850mN / m.

[0061] Further, determining the target output torque corresponding to the motor based on the at least one candidate torque includes:

[0062] determining a difference between each of the candidate torques and the target torque;

[0063] The candidate torque corresponding to the minimum difference is determined as the target output torque corresponding to the motor.

[0064] For example, taking the candidate torques of 1500mN / m and 1850mN / m, and the target torque of 1400mN / m as an example, the difference between the ordinate corresponding to each candidate torque and the ordinate corresponding to the target torque is determined in the torque-frequency curve. The difference can be understood as the difference between each candidate torque and the target torque. The difference between 1500mN / m and 1400mN / m is 100mN / m, and the difference between 1850mN / m and 1400mN / m is 450mN / m. Since 100mN / m<450mN / m, 1500mN / m can be determined as the target output torque corresponding to the motor, and the current 0.7A corresponding to 1500mN / m is determined as the target input current.

[0065] It should be noted that any candidate torque can be determined as the target output torque corresponding to the motor, but the greater the difference between the candidate torque and the target torque, the greater the residual energy consumption of the motor, that is, the greater the energy waste of the motor.

[0066] Step 330: Control the output torque of the motor based on the target input current corresponding to the motor.

[0067] Specifically, after determining the target input current corresponding to the motor, the input current of the motor can be updated from the initial input current to the target input current. The input current of the motor determines the motor magnetic field strength inside the motor, which in turn affects the output torque of the motor. When the input current of the motor is adjusted to the target input current, the magnetic field inside the motor changes, thereby controlling the output torque of the motor. For example, taking the target input current of the motor as 0.7A, the initial input current as 0.65A, the target torque as 1400mN / m, and the target output torque as 1500mN / m as an example, after adjusting the input current of the motor from 0.65A to 0.7A, the output torque of the motor can be adjusted to 1500mN / m, which can both support the rotation of the motor and save the energy consumption of the motor.

[0068] In addition, the method further comprises:

[0069] When the pan / tilt monitoring device is in a vibrating state, obtaining at least one measured torque collected by the torque sensor 420;

[0070] The maximum measured torque among the at least one measured torque is determined as the target torque acquired by the torque sensor 420 .

[0071] Specifically, when the PTZ monitoring device is in a windy environment and is in a vibrating state due to the wind, the prior art can obtain the curve of the vibration acceleration through a vector sensor, and combine the mapping relationship between the vibration acceleration and the pre-locking torque to determine whether to adjust the output torque of the current motor. However, the size of the locking torque required by the motor depends not only on the vibration acceleration, but also on the amplitude of the entire PTZ monitoring device. If the output torque is determined based only on the mapping relationship between the vibration acceleration and the pre-locking torque, the measured output torque will be smaller than the actual output torque, that is, it is impossible to measure the more accurate target torque of the rotating shaft 410 in the PTZ monitoring device caused by the vibration, and thus it is impossible to accurately control the motor output torque according to the vibration situation. Therefore, in an embodiment of the present invention, a torque sensor 420 is provided at the rotating shaft 410. When the pan-tilt monitoring device is in a vibrating state, vibration torques of different sizes will be transmitted to the rotating shaft 410, and the torque sensor 420 at the rotating shaft 410 will detect multiple measured torques. When the pan-tilt monitoring device in a stationary state is only subjected to vibration, the measured torque is the vibration torque, thereby improving the accuracy of the vibration torque measurement.

[0072] also, Figure 7 FIG. 3 is a flow chart of the output torque control method of the PTZ monitoring device provided in an embodiment of the present invention. Figure 7 As shown, when the pan-tilt monitoring device is subjected to vibration and rotates in the first direction, the torque sensor 420 will measure multiple measured torques. In order to achieve precise control of the motor output torque, the maximum measured torque can be determined as the target torque, and the target input current corresponding to the motor is determined based on the target torque. By instantly increasing the input current of the motor, a vibration resistance opposite to the first direction is generated to maintain the stable state of the pan-tilt monitoring device and avoid damage to the pan-tilt monitoring device. For example, when the pan-tilt is subjected to vibration and rotates downward in the vertical direction, the target input current is determined by measuring the target torque, and the output torque of the motor that causes the pan-tilt to rotate upward in the vertical direction is generated. The output torque is used to offset the measured measured torque to ensure that the pan-tilt maintains a stable state.

[0073] Further, controlling the output torque of the motor based on the target input current corresponding to the motor includes:

[0074] Determining a target pulse width modulation signal corresponding to the target input current;

[0075] The target pulse width modulation signal is sent to a driving chip corresponding to the motor, where the target pulse width modulation signal is used to instruct the driving chip to control the output torque of the motor.

[0076] Specifically, after determining the target input current corresponding to the motor, the pulse width of the target input signal can be adjusted, and the target pulse width modulation signal corresponding to the target input current can be obtained when the target frequency remains unchanged. After obtaining the target pulse width modulation signal, the target pulse width modulation signal can be sent to the drive chip connected to the motor, and the output torque of the motor can be controlled by the drive chip.

[0077] The output torque control method of the pan-tilt monitoring device provided in the embodiment of the present invention accurately detects the target torque required for the pan-tilt monitoring device to rotate to any angle through a torque sensor at the rotating shaft, and determines the target input current corresponding to the target torque from the torque-frequency curve corresponding to the motor according to the target torque, and effectively controls the output torque of the motor according to the target input current, so that the output torque can not only meet the target torque required for the pan-tilt rotation, but also avoid excessive output torque, thereby greatly reducing the energy waste of the motor.

[0078] The output torque control device of the pan-tilt monitoring device provided by the present invention is described below. The output torque control device of the pan-tilt monitoring device described below and the output torque control method of the pan-tilt monitoring device described above can be referred to each other.

[0079] The embodiment of the present invention further provides an output torque control device of a pan-tilt monitoring device, which is applied to the pan-tilt monitoring device. A torque sensor is arranged at the rotating shaft of the pan-tilt monitoring device. The output torque control device 800 of the pan-tilt monitoring device includes: an acquisition module 810, a determination module 820 and a control module 830, wherein:

[0080] An acquisition module 810 is used to acquire a target torque collected by the torque sensor, where the target torque is the torque required for the pan / tilt monitoring device to rotate to any angle;

[0081] A determination module 820, configured to determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0082] The control module 830 is used to control the output torque of the motor based on the target input current corresponding to the motor.

[0083] The output torque control device of the pan-tilt monitoring device provided in the embodiment of the present invention accurately detects the target torque required for the pan-tilt monitoring device to rotate to any angle through a torque sensor at the rotating shaft, and determines the target input current corresponding to the target torque from the torque-frequency curve corresponding to the motor according to the target torque, and effectively controls the output torque of the motor according to the target input current, so that the output torque can not only meet the target torque required for the pan-tilt rotation, but also avoid excessive output torque, thereby greatly reducing the energy waste of the motor.

[0084] Optionally, the determination module 820 is specifically configured to:

[0085] Determining a target output torque corresponding to the motor in the torque-frequency curve based on the target torque and a target input signal corresponding to the motor;

[0086] Based on the target output torque, a target input current corresponding to the motor is determined.

[0087] Optionally, the determination module 820 is specifically configured to:

[0088] determining at least one candidate torque greater than or equal to the target torque in a direction of the torque-frequency curve where the frequency of the input signal is the target frequency of the target input signal;

[0089] Based on the at least one candidate torque, a target output torque corresponding to the motor is determined.

[0090] Optionally, the determination module 820 is specifically configured to:

[0091] determining a difference between each of the candidate torques and the target torque;

[0092] The candidate torque corresponding to the minimum difference is determined as the target output torque corresponding to the motor.

[0093] Optionally, the output torque control device 800 of the pan / tilt monitoring device further includes a vibration module, which is specifically used for:

[0094] When the pan / tilt monitoring device is in a vibrating state, obtaining at least one measured torque collected by the torque sensor;

[0095] A maximum measured torque among the at least one measured torque is determined as the target torque acquired by the torque sensor.

[0096] Optionally, the output torque control device 800 of the PTZ monitoring device further includes a sending module, which is specifically used for:

[0097] Determining a target pulse width modulation signal corresponding to the target input current;

[0098] The target pulse width modulation signal is sent to a driving chip corresponding to the motor, where the target pulse width modulation signal is used to instruct the driving chip to control the output torque of the motor.

[0099] Fig. 9 FIG. 1 is a schematic diagram of the structure of a PTZ monitoring device provided by an embodiment of the present invention. Fig. 9As shown, the PTZ monitoring device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 communicate with each other via the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the output torque control method of the PTZ monitoring device, and the method includes:

[0100] Obtaining a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan / tilt monitoring device to rotate to any angle;

[0101] Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0102] Based on the target input current corresponding to the motor, the output torque of the motor is controlled.

[0103] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0104] Fig.10 2 is a schematic diagram of the structure of the PTZ monitoring device provided by an embodiment of the present invention. Fig.10 As shown, the pan-tilt monitoring device may include: a torque sensor 420, a motor 1030, a rotating shaft 410, a power supply 1010, a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other through the communication bus 940. Among them:

[0105] The torque sensor 420 is coaxially arranged with the rotating shaft, and the rotating shaft is connected to the motor 1030. The motor 1030 is used to drive the rotating shaft to rotate, and the torque sensor 420 is used to collect the target torque output by the motor 1030;

[0106] The power supply 1010 is connected to the processor, and the power supply 1010 is used to supply power to the processor;

[0107] The processor 910 may call the logic instructions in the memory 930 to execute the output torque control method of the pan / tilt monitoring device, the method comprising:

[0108] Obtaining a target torque collected by the torque sensor 420, where the target torque is the torque required for the pan / tilt monitoring device to rotate to any angle;

[0109] Determine a target input current corresponding to the motor 1030 based on the target torque and a torque-frequency curve corresponding to the motor 1030 connected to the shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor 1030;

[0110] Based on the target input current corresponding to the motor 1030 , the output torque of the motor 1030 is controlled.

[0111] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0112] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the output torque control method of the pan-tilt monitoring device provided by the above methods, the method includes:

[0113] Obtaining a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan / tilt monitoring device to rotate to any angle;

[0114] Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0115] Based on the target input current corresponding to the motor, the output torque of the motor is controlled.

[0116] In another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the output torque control method of the pan / tilt monitoring device provided by the above methods, the method comprising:

[0117] Obtaining a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan / tilt monitoring device to rotate to any angle;

[0118] Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor;

[0119] Based on the target input current corresponding to the motor, the output torque of the motor is controlled.

[0120] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0121] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the output torque of a PTZ monitoring device. It is characterized in that Applied to a pan-tilt monitoring device, a torque sensor is coaxially arranged at the rotating shaft of the pan-tilt monitoring device, including: Obtaining a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan / tilt monitoring device to rotate to any angle; Determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor; Based on the target input current corresponding to the motor, the output torque of the motor is controlled.

2. The output torque control method of the PTZ monitoring device according to claim 1, It is characterized in that The step of determining a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft comprises: Determining a target output torque corresponding to the motor in the torque-frequency curve based on the target torque and a target input signal corresponding to the motor; Based on the target output torque, a target input current corresponding to the motor is determined.

3. The output torque control method of the PTZ monitoring device according to claim 2, It is characterized in that The step of determining the target output torque corresponding to the motor in the torque-frequency curve based on the target torque and the target input signal corresponding to the motor includes: determining at least one candidate torque greater than or equal to the target torque in a direction of the torque-frequency curve where the frequency of the input signal is the target frequency of the target input signal; Based on the at least one candidate torque, a target output torque corresponding to the motor is determined.

4. The output torque control method of the PTZ monitoring device according to claim 3, It is characterized in that The determining, based on the at least one candidate torque, a target output torque corresponding to the motor includes: determining a difference between each of the candidate torques and the target torque; The candidate torque corresponding to the minimum difference is determined as the target output torque corresponding to the motor.

5. The output torque control method of the PTZ monitoring device according to any one of claims 1 to 4, It is characterized in that The method further comprises: When the pan / tilt monitoring device is in a vibrating state, obtaining at least one measured torque collected by the torque sensor; A maximum measured torque among the at least one measured torque is determined as the target torque acquired by the torque sensor.

6. The output torque control method of the PTZ monitoring device according to any one of claims 1 to 4, It is characterized in that The controlling the output torque of the motor based on the target input current corresponding to the motor includes: Determining a target pulse width modulation signal corresponding to the target input current; The target pulse width modulation signal is sent to a driving chip corresponding to the motor, where the target pulse width modulation signal is used to instruct the driving chip to control the output torque of the motor.

7. An output torque control device for a pan / tilt monitoring device, It is characterized in that Applied to a pan-tilt monitoring device, a torque sensor is arranged at the rotating shaft of the pan-tilt monitoring device, and the device comprises: An acquisition module, used to acquire a target torque collected by the torque sensor, wherein the target torque is a torque required for the pan-tilt monitoring device to rotate to any angle; a determination module, configured to determine a target input current corresponding to the motor based on the target torque and a torque-frequency curve corresponding to the motor connected to the rotating shaft, wherein the torque-frequency curve is used to characterize a corresponding relationship between an input signal and an output torque corresponding to the motor; A control module is used to control the output torque of the motor based on the target input current corresponding to the motor.

8. A PTZ monitoring device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the output torque control method of the pan-tilt monitoring device as described in any one of claims 1-6 is implemented.

9. A pan-tilt monitoring device, comprising a torque sensor, a motor, a rotating shaft, a power supply, a processor, a memory, and a computer program stored in the memory and executable on the processor, It is characterized in that The torque sensor is coaxially arranged with the rotating shaft, and the rotating shaft is connected to the motor, the motor is used to drive the rotating shaft to rotate, and the torque sensor is used to collect the target torque output by the motor; The power supply is connected to the processor, and the power supply is used to supply power to the processor; When the processor executes the program, the output torque control method of the pan-tilt monitoring device as described in any one of claims 1-6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by the processor, the output torque control method of the pan-tilt monitoring device as described in any one of claims 1-6 is implemented.

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