Suspension monitoring method and device
By capturing the attitude and performing PID correction on a levitated body suspended on a magnetic levitation base, combined with electromagnetic coil adjustment, the problems of friction loss and insufficient accuracy of PTZ monitoring electronic eyes are solved, enabling dead-angle adjustment and wireless charging, thus improving the user experience.
Patent Information
- Application Number
- CN202511012385.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-22
- Publication Date
- 2025-11-18
AI Technical Summary
Existing surveillance cameras suffer from problems such as frictional wear, high maintenance costs, and insufficient rotational flexibility and accuracy.
The system uses a levitation body suspended on a magnetic levitation base. The attitude data is captured in real time by an attitude sensing module and PID correction is performed. The monitoring angle is adjusted by an electromagnetic coil, and the levitation body is powered by wireless charging.
It enables seamless adjustment of the monitoring angle, improves posture stability and user experience, reduces maintenance costs, and enhances rotation flexibility and accuracy.
Smart Images
Figure CN120980357A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of suspended monitoring technology, and in particular to a suspended monitoring method and device. Background Technology
[0002] Electronic surveillance cameras are ubiquitous in people's work and daily lives. They consist of cameras and pan-tilt units. Conventional pan-tilt units use mechanical components such as motors, gears, and bearings for power transmission. Long-term rotation will generate friction and wear, which may lead to: aging components causing jamming and abnormal noises, affecting the smoothness of rotation; and accumulated wear requiring replacement of parts, resulting in high maintenance costs and a relatively short overall lifespan.
[0003] The gimbal's rotation flexibility and precision are insufficient, and the mechanical structure has "dead angles" or limited rotation range (such as some gimbals having a horizontal rotation of ≤360° and a limited vertical rotation angle); there are gaps in the gear meshing, and "idling" is easy to occur when rotating quickly or making fine adjustments, resulting in low positioning accuracy (for example, when it is necessary to accurately align with a certain target, there may be slight deviations).
[0004] During mechanical transmission, the operation of the motor and the meshing of gears will generate some noise, which is more noticeable in quiet environments (such as conference rooms and bedrooms); at the same time, vibration may be transmitted to the lens, affecting the stability of the image (especially when shooting with a telephoto lens). Summary of the Invention
[0005] Existing surveillance cameras that use pan-tilt units for angle adjustment suffer from problems such as frictional wear, high maintenance costs, and insufficient rotational flexibility and precision.
[0006] To address the aforementioned issues, a levitation monitoring method and device are proposed. By suspending a levitation body equipped with a power module, a monitoring module, and an attitude sensing module on a magnetic levitation base, the monitoring angle can be adjusted without blind spots. The attitude of the levitation body is captured in real time and PID correction is performed to ensure the stability of the levitation body's attitude. Wireless charging of the levitation body's power module improves the user experience and solves the problems of friction loss, high maintenance costs, and insufficient rotational flexibility and accuracy associated with existing monitoring cameras that use gimbals for angle adjustment.
[0007] Firstly, a method for levitation monitoring, including... Step 100: Suspend the levitation body equipped with a power module, a monitoring module and an attitude sensing module on the magnetic levitation base, capture the attitude of the levitation body in real time, obtain attitude data, and perform PID correction on the attitude of the levitation body based on the attitude data. Step 200: According to the control command, adjust the magnetic force output by the adjustment structure to the levitation body and adjust the monitoring angle of the levitation body; Step 300: Monitor the power level of the power module of the levitation body. If the power level is less than a specified threshold, charge the levitation body through the transmitting coil set on the magnetic levitation base and the receiving coil set on the levitation body.
[0008] In conjunction with the levitation monitoring method described in the first aspect of the present invention, in a first possible implementation, step 100 includes: Step 110: Arrange a permanent magnet array on the magnetic levitation base and arrange a passive permanent magnet on the levitation body; Step 120: Arrange a first electromagnetic coil on the shell of the suspended body.
[0009] In conjunction with the first possible embodiment of the first aspect of the present invention, in the second possible embodiment, step 100 further includes: Step 130: Obtain the current attitude data of the suspended body using the attitude sensing module; Step 140: Obtain the error data between the current attitude data and the target attitude data; Step 150: Control the first electromagnetic coil to output correction magnetic force according to the error data to correct the attitude of the levitated body.
[0010] In conjunction with the second possible implementation of the first aspect of the present invention, in the third possible implementation, step 130 includes: Step 131: Use the gyroscope in the attitude sensing module to perform time integration of angular velocity and calculate the dynamic tilt angle data; Step 132: Calculate the static tilt angle data using the accelerometer and magnetometer in the attitude sensing module based on the direction of gravity; Step 133: Using weight parameters, perform data fusion on the dynamic tilt angle data and the static tilt angle data to obtain the current attitude data.
[0011] In conjunction with the levitation monitoring method described in the first aspect of the present invention, in a fourth possible implementation, step 200 includes: Step 210: The adjustment structure, which has a semi-circular arc shape, is mounted on the magnetic levitation base; Step 220: Arrange a plurality of second electromagnetic coils on the arc-shaped inner surface of the adjustment structure.
[0012] In conjunction with the fourth possible implementation of the first aspect of the present invention, in the fifth possible implementation, step 200 further includes: Step 230: Obtain the monitoring angle data that needs to be adjusted; Step 240: Control the second electromagnetic coil to output adjustment magnetic force according to the monitoring angle data, and adjust the monitoring angle of the suspended body.
[0013] Secondly, a magnetic levitation monitoring device, employing the levitation monitoring method described in the first aspect, includes: The attitude correction module is used to capture the attitude of the suspended body in real time, acquire attitude data, and perform PID correction on the attitude of the suspended body based on the attitude data. The monitoring and adjustment module is used to adjust the monitoring angle of the suspending body by using the adjustment structure to output an adjustment magnetic force to the suspending body; The charging module is used to monitor the power level of the power module of the levitation body. If the power level is less than a specified threshold, the levitation body is charged through the transmitting coil set on the magnetic levitation base and the receiving coil set on the levitation body.
[0014] In conjunction with the magnetic levitation monitoring device described in the second aspect of the present invention, in a first possible embodiment, the levitation body includes a first electromagnetic coil arranged on the shell of the levitation body.
[0015] In conjunction with the first possible embodiment of the second aspect of the present invention, in the second possible embodiment, the attitude correction module includes: Data acquisition unit; Correction unit; The data acquisition unit is used to acquire the current attitude data of the suspended body using the attitude perception module, and to acquire the error data between the current attitude data and the target attitude data. The correction unit is used to control the first electromagnetic coil to output a correction magnetic force according to the error data, so as to correct the attitude of the levitated body.
[0016] In conjunction with the second possible embodiment of the present invention, in the third possible embodiment, the magnetic levitation monitoring device further includes an adjustment structure; The adjustment structure is a semi-circular arc structure, which is set on the magnetic levitation base, and a plurality of second electromagnetic coils are arranged on the arc-shaped inner surface of the adjustment structure. The monitoring and adjustment module is further used to acquire monitoring angle data that needs to be adjusted, and control the second electromagnetic coil to output adjustment magnetic force according to the monitoring angle data to adjust the monitoring angle of the suspended body.
[0017] The magnetic levitation monitoring method and device described in this invention suspends a levitation body equipped with a power module, a monitoring module, and an attitude sensing module on a magnetic levitation base. This allows for adjustment of the monitoring angle without blind spots. By capturing the attitude of the levitation body in real time and performing PID correction on the attitude, the stability of the levitation body's attitude is ensured. Wireless charging of the levitation body's power module improves the user experience and solves the problems of frictional loss, high maintenance costs, and insufficient rotational flexibility and accuracy associated with existing monitoring cameras that use gimbals for angle adjustment. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a schematic flowchart of a specific embodiment of the magnetic levitation monitoring method in this application; Figure 2 yes Figure 1 A schematic diagram of a specific embodiment of step 100; Figure 3 yes Figure 2 A flowchart illustrating a specific embodiment following step 120; Figure 4 yes Figure 3 A schematic diagram of a specific embodiment of step 130; Figure 5 yes Figure 1 A schematic diagram of a specific embodiment of step 200; Figure 6 yes Figure 5 A flowchart illustrating a specific embodiment following step 220; Figure 7 This is a schematic diagram of a specific embodiment of the magnetic levitation monitoring device in this application; Figure 8 This is a schematic diagram of another specific embodiment of the magnetic levitation monitoring device in this application. Detailed Implementation
[0020] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are all within the scope of protection of this invention.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0022] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.
[0023] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0025] Existing surveillance cameras that use pan-tilt units for angle adjustment suffer from problems such as frictional wear, high maintenance costs, and insufficient rotational flexibility and precision.
[0026] To address the above problems, a suspension monitoring method and device are proposed.
[0027] Firstly, a method for suspending monitoring, such as... Figure 1 , Figure 1 This is a schematic flowchart of a specific embodiment of the magnetic levitation monitoring method in this application; including... Step 100: Suspend the levitation body 101, which is equipped with a power supply module, a monitoring module and an attitude sensing module, on the magnetic levitation base 103, capture the attitude of the levitation body 101 in real time, obtain attitude data, and perform PID correction on the attitude of the levitation body 101 based on the attitude data.
[0028] In one possible implementation, such as Figure 2 , Figure 2 yes Figure 1 A schematic diagram of a specific embodiment of step 100; step 100 includes: step 110, arranging a permanent magnet array on the magnetic levitation base 103 and arranging a passive permanent magnet on the levitation body 101; step 120, arranging a first electromagnetic coil on the shell of the levitation body 101.
[0029] In this embodiment, a Halbach permanent magnet array can be integrated on the magnetic levitation base 103. The passive permanent magnet of the levitation body 101 and the Halbach permanent magnet array on the magnetic levitation base 103 bear 80% of the levitation force. The first electromagnetic coil arranged on the shell of the levitation body 101 is used to monitor the attitude correction.
[0030] In one possible implementation, such as Figure 3 , Figure 3 yes Figure 2 A schematic diagram of a specific embodiment following step 120; step 100 further includes: step 130, obtaining the current attitude data of the suspending body 101 using the attitude sensing module; step 140, obtaining the error data between the current attitude data and the target attitude data; step 150, controlling the first electromagnetic coil to output correction magnetic force according to the error data to correct the attitude of the suspending body 101.
[0031] In one possible implementation, such as Figure 4 , Figure 4 yes Figure 3 A schematic diagram of a specific embodiment of step 130 is shown below; step 130 includes: step 131, using the gyroscope in the attitude perception module to perform time integration of angular velocity to calculate dynamic tilt angle data; step 132, using the accelerometer and magnetometer in the attitude perception module to calculate static tilt angle data through the direction of gravity; step 133, using weight parameters to fuse the dynamic tilt angle data and static tilt angle data to obtain the current attitude data.
[0032] In this embodiment, the triaxial accelerometer detects static / low-frequency attitude deviations (such as horizontal X / Y axis tilt, gravity direction deviation) with long-term stability (no drift), making it suitable for measuring static tilts affected by dynamic acceleration interference (such as signal distortion during rapid jitter). The triaxial gyroscope detects dynamic / high-frequency jitters (such as rotational angular velocity around the X / Y / Z axes, rapid offset velocity) with fast response (millisecond level), making it suitable for measuring rapid jitters with zero drift (long-term integration error, requiring correction). The triaxial magnetometer assists in correcting heading angle deviations (such as rotational deviation of the suspended body 101 around the vertical axis) and provides an absolute heading reference.
[0033] During data fusion correction, in dynamic situations (rapid jitter), the gyroscope attitude is the primary factor (fast response); in static situations (slow offset), the accelerometer attitude is the primary factor (no drift). The fusion data formula is: Final tilt angle = weight parameter × dynamic tilt angle data (gyroscope integral angle) + (1 - weight parameter) × static tilt angle data (accelerometer tilt angle); The weight parameter tends to 1 when the system is dynamic and tends to 0 when the system is static.
[0034] Step 200: According to the control command, the adjustment structure 102 outputs an adjustment magnetic force to the levitation body 101 to adjust the monitoring angle of the levitation body 101.
[0035] In one possible implementation, such as Figure 5 , Figure 5 yes Figure 1 A schematic diagram of a specific embodiment of step 200; step 200 includes: step 210, setting the adjustment structure 102 with a semi-circular arc shape on the magnetic levitation base 103; step 220, arranging a plurality of second electromagnetic coils on the arc-shaped inner surface of the adjustment structure 102.
[0036] In one possible implementation, such as Figure 6 , Figure 6 yes Figure 5 A flowchart of a specific embodiment following step 220; step 200 also includes: step 230, obtaining monitoring angle data that needs to be adjusted; step 240, controlling the second electromagnetic coil to output adjustment magnetic force according to the monitoring angle data, and adjusting the monitoring angle of the levitation body 101.
[0037] In this embodiment, the adjustment structure 102 can be a semi-circular arc-shaped structure of a bowl, with a second electromagnetic coil arranged on the inner surface to output active electromagnetic force and adjust the monitoring angle.
[0038] Step 300: Monitor the power level of the power module of the levitation body 101. If the power level is less than the specified threshold, charge the levitation body 101 through the transmitting coil set in the magnetic levitation base 103 and the receiving coil set in the levitation body 101.
[0039] In this embodiment, by suspending the levitation body 101, which is equipped with a power module, a monitoring module, and an attitude sensing module, on the magnetic levitation base 103, the monitoring angle can be adjusted without blind spots. By capturing the attitude of the levitation body 101 in real time and performing PID correction on the attitude of the levitation body 101, the stability of the attitude of the levitation body 101 is ensured. By wirelessly charging the power module of the levitation body 101, the user experience is improved. This solves the problems of friction loss, high maintenance cost, and insufficient rotation flexibility and accuracy of existing monitoring electronic eyes that use gimbals for angle adjustment.
[0040] Secondly, a magnetic levitation monitoring device employs the levitation monitoring method of the first aspect, such as... Figure 7 and 8 , Figure 7 This is a schematic diagram of a specific embodiment of the magnetic levitation monitoring device in this application. Figure 8 This is a schematic diagram of another specific embodiment of the magnetic levitation monitoring device in this application. It includes: an attitude correction module 401, used to capture the attitude of the levitation body 101 in real time, acquire attitude data, and perform PID correction on the attitude of the levitation body 101 based on the attitude data; a monitoring and adjustment module 402, used to adjust the monitoring angle of the levitation body 101 by outputting an adjustment magnetic force to the levitation body 101 through the adjustment structure 102; and a charging module 403, used to monitor the power supply of the power module of the levitation body 101, and if the power supply is less than a specified threshold, to charge the levitation body 101 through a transmitting coil set on the magnetic levitation base 103 and a receiving coil set on the levitation body 101.
[0041] Furthermore, the levitation body 101 includes a first electromagnetic coil, which is arranged on the shell of the levitation body 101.
[0042] Furthermore, the attitude correction module 401 includes a data acquisition unit and a correction unit; the data acquisition unit is used to acquire the current attitude data of the suspending body 101 using the attitude sensing module, and to acquire the error data between the current attitude data and the target attitude data; the correction unit is used to control the first electromagnetic coil to output correction magnetic force according to the error data, and to correct the attitude of the suspending body 101.
[0043] Furthermore, the magnetic levitation monitoring device also includes an adjustment structure 102; the adjustment structure 102 is a semi-circular arc structure, set on the magnetic levitation base 103, and multiple second electromagnetic coils are arranged on the arc-shaped inner surface of the adjustment structure 102; the monitoring and adjustment module is further used to acquire the monitoring angle data that needs to be adjusted, and control the second electromagnetic coils to output adjustment magnetic force according to the monitoring angle data, so as to adjust the monitoring angle of the levitation body 101.
[0044] The magnetic levitation monitoring method and device of the present invention suspends a levitation body equipped with a power module, a monitoring module, and an attitude sensing module on a magnetic levitation base, allowing for adjustment of the monitoring angle without blind spots. By capturing the attitude of the levitation body in real time and performing PID correction on the attitude, the stability of the levitation body's attitude is ensured. Wireless charging of the levitation body's power module improves the user experience and solves the problems of frictional loss, high maintenance costs, and insufficient rotational flexibility and accuracy associated with existing monitoring electronic eyes that use gimbals for angle adjustment.
[0045] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for levitation monitoring, characterized in that, include: A levitation body equipped with a power module, a monitoring module, and an attitude sensing module is suspended on a magnetic levitation base. The attitude of the levitation body is captured in real time to obtain attitude data, and the attitude of the levitation body is corrected by PID based on the attitude data. According to the control command, the magnetic force output by the adjustment structure is adjusted to the levitation body to adjust the monitoring angle of the levitation body; The power level of the power module of the levitation body is monitored. If the power level is less than a specified threshold, the levitation body is charged through the transmitting coil set on the magnetic levitation base and the receiving coil set on the levitation body.
2. The levitation monitoring method according to claim 1, characterized in that, The process involves suspending a levitation body equipped with a power module, a monitoring module, and an attitude sensing module on a magnetic levitation base, capturing the attitude of the levitation body in real time to obtain attitude data, and performing PID correction on the attitude of the levitation body based on the attitude data, including: A permanent magnet array is arranged on the magnetic levitation base, and a passive permanent magnet is arranged on the levitation body; A first electromagnetic coil is arranged on the shell of the suspended body.
3. The levitation monitoring method according to claim 2, characterized in that, The process of suspending a levitation body equipped with a power module, a monitoring module, and an attitude sensing module on a magnetic levitation base, capturing the attitude of the levitation body in real time, acquiring attitude data, and performing PID correction on the attitude of the levitation body based on the attitude data, further includes: The attitude sensing module is used to obtain the current attitude data of the suspended body; Obtain the error data between the current attitude data and the target attitude data; Based on the error data, the first electromagnetic coil is controlled to output a corrective magnetic force to correct the attitude of the suspended body.
4. The levitation monitoring method according to claim 3, characterized in that, The step of obtaining the current attitude data of the suspended body using the attitude sensing module includes: The dynamic tilt angle data is calculated by integrating the angular velocity over time using the gyroscope in the attitude sensing module. The static tilt angle data is calculated using the accelerometer and magnetometer in the attitude sensing module based on the direction of gravity. The dynamic tilt angle data and the static tilt angle data are fused using weight parameters to obtain the current attitude data.
5. The levitation monitoring method according to claim 1, characterized in that, The step of adjusting the monitoring angle of the levitation body by adjusting the magnetic force output by the adjustment structure according to the control command includes: The adjustment structure, which has a semi-circular arc shape, is mounted on the magnetic levitation base. Multiple second electromagnetic coils are arranged on the arc-shaped inner surface of the adjustment structure.
6. The levitation monitoring method according to claim 5, characterized in that, The step of adjusting the monitoring angle of the levitation body by adjusting the magnetic force output by the adjustment structure according to the control command further includes: Obtain the monitoring angle data that needs to be adjusted; Based on the monitoring angle data, the second electromagnetic coil is controlled to output adjusting magnetic force to adjust the monitoring angle of the suspended body.
7. A magnetic levitation monitoring device, employing the levitation monitoring method according to any one of claims 1-6, characterized in that, include: The attitude correction module is used to capture the attitude of the suspended body in real time, acquire attitude data, and perform PID correction on the attitude of the suspended body based on the attitude data. The monitoring and adjustment module is used to adjust the monitoring angle of the suspending body by using the adjustment structure to output an adjustment magnetic force to the suspending body; The charging module is used to monitor the power level of the power module of the levitation body. If the power level is less than a specified threshold, the levitation body is charged through the transmitting coil set on the magnetic levitation base and the receiving coil set on the levitation body.
8. The suspended monitoring device according to claim 7, characterized in that, The levitation body includes a first electromagnetic coil, which is arranged on the shell of the levitation body.
9. The suspended monitoring device according to claim 8, characterized in that, The attitude correction module includes: Data acquisition unit; Correction unit; The data acquisition unit is used to acquire the current attitude data of the suspended body using the attitude perception module, and to acquire the error data between the current attitude data and the target attitude data. The correction unit is used to control the first electromagnetic coil to output a correction magnetic force according to the error data, so as to correct the attitude of the levitated body.
10. The levitation monitoring device according to claim 9, characterized in that, The magnetic levitation monitoring device also includes an adjustment structure; The adjustment structure is a semi-circular arc structure, which is set on the magnetic levitation base, and a plurality of second electromagnetic coils are arranged on the arc-shaped inner surface of the adjustment structure. The monitoring and adjustment module is further used to acquire monitoring angle data that needs to be adjusted, and control the second electromagnetic coil to output adjustment magnetic force according to the monitoring angle data to adjust the monitoring angle of the suspended body.