Rotary positioning device and holder equipment

Abstract

The utility model relates to the technical field of holder positioning, and provides a rotary positioning device and holder equipment, the rotary positioning device comprises a moving carrier, a fixed carrier and a control unit, the moving carrier is suitable for being fixed to a rotating element of the holder equipment, a sound production source is arranged on the moving carrier, and the mounting position of the sound production source deviates from the rotating center of the moving carrier; the fixed carrier is concentrically assembled on the periphery of the moving carrier, and the position of the fixed carrier is kept fixed; a plurality of microphones are arranged on the fixed carrier along a circumferential array, and the center line of each microphone coincides with the radius of the fixed carrier; the control unit is electrically connected with the sound production source and each microphone, and the control unit is used for controlling the sound production of the sound production source and receiving a pickup signal of each microphone. According to the utility model, the high-precision positioning of the holder equipment can be realized by utilizing the acoustic positioning principle according to the difference information of sound transmitted to different microphones, so that the accuracy and reliability of positioning can be improved, and the cost can be reduced at the same time.

Description

Technical Field

[0001] This utility model relates to the field of gimbal positioning technology, and in particular to a rotation positioning device and gimbal equipment. Background Technology

[0002] Gimbals, as mechanical motion platforms supporting cameras and other equipment, are widely used in security monitoring, drone aerial photography, agricultural plant protection, and intelligent transportation. They achieve target tracking and image stabilization through precise rotation control.

[0003] Current gimbal positioning generally relies on high-precision sensors (such as magnetic encoders, optical scales, or gyroscopes) to achieve angle correction through closed-loop feedback. For example, magnetic encoders calculate rotational position through magnetic field signals, but their accuracy is easily affected by factors such as electromagnetic interference and mechanical tolerances, and the accumulated error is significant after long-term operation; while optical encoders have high accuracy, they require precision optical components, which are expensive and difficult to apply to civilian scenarios (such as surveillance cameras and agricultural drones). Utility Model Content

[0004] This utility model provides a rotation positioning device and a gimbal device to solve the above-mentioned technical defects in the prior art. It can utilize the acoustic positioning principle and the difference information of sound propagation to different microphones to achieve high-precision positioning of the gimbal device. This not only improves the accuracy and reliability of positioning, but also reduces costs.

[0005] The first aspect of this utility model provides a rotation positioning device, comprising:

[0006] A motion carrier, suitable for fixing to a rotating element of a gimbal device, wherein a sound source is provided on the motion carrier, and the installation position of the sound source is offset from the rotation center of the motion carrier;

[0007] A fixed carrier is concentrically assembled on the outer periphery of the moving carrier, and the position of the fixed carrier remains fixed; multiple microphones are arranged in a circular array on the fixed carrier, and the center line of each microphone coincides with the radius of the fixed carrier;

[0008] The control unit is electrically connected to the sound source and each of the microphones respectively. The control unit is used to control the sound source to emit sound and to receive the pickup signal of each of the microphones.

[0009] The rotation positioning device provided by this utility model further includes:

[0010] A noise-absorbing element is located in the gap between the moving carrier and the fixed carrier, and is connected to the fixed carrier;

[0011] The noise-canceling element has multiple pickup holes arranged in a circular array along its circumference, and the positions of the pickup holes correspond one-to-one with the positions of the microphones.

[0012] According to the rotation positioning device provided by this utility model, the noise reduction element includes at least one of noise reduction cotton and sound absorption plate.

[0013] According to the rotation positioning device provided by this utility model, when the sound-absorbing element includes sound-absorbing cotton, the sound-absorbing cotton includes hydrophobic sponge.

[0014] According to the rotation positioning device provided by this utility model, the fixed carrier is provided with a plurality of mounting holes arranged in an array along its own circumference, and the microphone is embedded in the corresponding mounting holes.

[0015] According to the rotation positioning device provided by this utility model, each of the mounting holes is embedded with a waterproof and sound-permeable membrane, and the microphone is sealed and installed on the corresponding waterproof and sound-permeable membrane.

[0016] According to the rotation positioning device provided by this utility model, the sound source includes any one of a buzzer, a piezoelectric ceramic sound generator, and a thin-film loudspeaker.

[0017] According to the rotation positioning device provided by this utility model, when the sound source includes a buzzer or a piezoelectric ceramic sound generator, the sound source is embedded in the moving carrier;

[0018] In the case where the sound source includes a thin-film loudspeaker, the sound source is attached and fixed to the surface of the moving carrier.

[0019] The rotation positioning device provided by this utility model further includes:

[0020] A metal shielding element is embedded inside the fixed carrier.

[0021] The second aspect of this utility model provides a gimbal device, including a base, a device body, and any one of the rotation positioning devices described in the present invention.

[0022] The main body of the device is mounted on the base via a rotating element and rotates relative to the base;

[0023] The motion carrier of the rotary positioning device is linked to the rotary element;

[0024] The fixed carrier of the rotation positioning device is located on the base.

[0025] The rotation positioning device provided by this utility model uses a sound source mounted on a moving carrier, offset from the rotation center of the moving carrier. Multiple microphones are arranged in a circumferential array on a fixed carrier concentrically mounted on the outer periphery of the moving carrier. Utilizing acoustic positioning principles, and based on the differences in sound propagation to different microphones, high-precision positioning of the pan-tilt-zoom (PTZ) device can be achieved. Compared to traditional sensor-based positioning methods, this method improves positioning accuracy and reliability while reducing costs.

[0026] Because positioning is based on acoustic principles, the acoustic components do not need to directly contact the rotating components of the gimbal, avoiding the wear and interference problems associated with traditional contact-based positioning methods (such as mechanical limit switches), and also resulting in lower costs. For gimbal devices that require frequent rotation and high precision, this also improves the device's lifespan and stability.

[0027] Furthermore, the gimbal device provided by this utility model, because it includes the aforementioned rotation positioning device, possesses all the advantages of such a device. It can utilize the acoustic positioning principle, based on the differences in sound propagation to different microphones, to achieve high-precision positioning of the gimbal device. Compared to traditional sensor positioning methods, this method improves positioning accuracy and reliability while reducing costs. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the rotation positioning device provided in this embodiment of the utility model.

[0030] Figure 2 This is a schematic diagram of the structure of the moving carrier in the rotation positioning device provided in this embodiment of the utility model.

[0031] Figure 3 This is a schematic diagram of the structure of the fixed carrier in the rotation positioning device provided in this embodiment of the utility model.

[0032] Figure 4 This is a schematic diagram of another embodiment of the rotation positioning device provided in this utility model.

[0033] Figure label:

[0034] 10. Moving platform; 11. Sound source; 12. Rotating shaft;

[0035] 20. Mounting device; 21. Microphone; 22. Mounting hole;

[0036] 30. Control unit;

[0037] 40. Silencing element; 41. Sound pickup hole. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0039] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0040] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0042] Figure 1 This is a schematic diagram of the structure of the rotation positioning device provided in this embodiment of the utility model. Figure 2 This is a schematic diagram of the structure of the moving carrier in the rotation positioning device provided in this embodiment of the utility model. Figure 3 This is a schematic diagram of the structure of the fixed carrier in the rotation positioning device provided in this embodiment of the utility model.

[0043] See Figures 1 to 3 This utility model provides a rotation positioning device, which can be used to position gimbal equipment, etc. The rotation positioning device includes a moving carrier 10, a fixed carrier 20 and a control unit 30.

[0044] The motion carrier 10 is suitable for being fixed to the rotating element of the gimbal device. The motion carrier 10 can be a disc-shaped structure made of lightweight metal or high-strength plastic. A rotating shaft 12 can be set at the center of the motion carrier 10. The rotating shaft 12 can be fixedly connected to the rotating element of the gimbal device, so that the rotating element drives the motion carrier 10 to rotate as a whole through the rotating shaft. Therefore, the center of the rotating shaft 12 is the rotation center of the motion carrier 10.

[0045] The motion carrier 10 is equipped with a sound source 11. The installation position of the sound source 11 is offset from the rotation center of the motion carrier 10, so that the sound signal emitted by the sound source 11 will show periodic changes as the motion carrier 10 rotates. By analyzing the sound signal, information such as the rotation speed, rotation direction, and rotation angle of the motion carrier 10 can be obtained, thereby realizing the monitoring of the rotation state of the motion carrier 10.

[0046] The fixed carrier 20 has a circular ring structure and is concentrically assembled on the outer periphery of the moving carrier 10, maintaining a fixed position. Multiple microphones 21 are arranged in a circular array on the fixed carrier 20, such as 8 microphones 21, 16 microphones 21, or 24 microphones 21. When 24 microphones 21 are used on the fixed carrier 20, it is equivalent to a 15° interval between two adjacent microphones 21. The specific number of microphones 21 is selected according to the actual application. The centerline of each microphone 21 coincides with the radius of the fixed carrier 20, that is, the axis of the microphone 21 coincides with the radial line of the fixed carrier 20, and the axes of all microphones 21 intersect at the rotation center, meaning that the axis of each microphone 21 extends through the rotation center.

[0047] The control unit 30 can select a controller with sufficient processing power and multi-channel signal processing function. The control unit 30 is electrically connected to the sound source 11 and each microphone 21 respectively. The control unit 30 is used to control the sound source 11 to produce sound and to receive the pickup signal of each microphone 21.

[0048] When the rotating element of the gimbal is positioned by the rotating positioning device provided in this embodiment of the utility model, the control unit 30 first controls the sound source 11 to emit a sound signal of a specific frequency and intensity, and the sound signal emitted by the sound source 11 spreads in all directions.

[0049] Because the sound source 11 is offset from the rotation center of the moving carrier 10, the wavefront of sound propagation is asymmetrical. Therefore, the timing, intensity, and phase of the sound signals emitted by the sound source 11 received by the multiple microphones 21, which are arranged in a circular array on the fixed carrier 20, will differ.

[0050] Each microphone 21 transmits the received audio signal to the control unit 30. The control unit 30 processes these audio signals and analyzes the characteristics of each signal, such as arrival time and amplitude. Based on the differences in the sound signals received by the multiple microphones 21, the positional relationship between the moving carrier 10 and the fixed carrier 20 can be calculated using acoustic positioning algorithms (such as time difference-based positioning algorithms or phase difference-based positioning algorithms), thereby indirectly obtaining the positional information of the gimbal rotation element.

[0051] It is understood that the rotation positioning device provided in this embodiment of the present invention, by setting a sound source 11 on the moving carrier 10, causing the sound source 11 to deviate from the rotation center of the moving carrier 10; and by arranging multiple microphones 21 in a circumferential array on a fixed carrier 20 concentrically mounted on the outer periphery of the moving carrier 10, can utilize the acoustic positioning principle to achieve high-precision positioning of the gimbal device based on the differences in sound propagation to different microphones 21. Compared with traditional sensor positioning methods, this positioning method can improve the accuracy and reliability of positioning, while reducing costs.

[0052] Because positioning is based on acoustic principles, the acoustic components do not need to directly contact the rotating components of the gimbal, avoiding the wear and interference problems associated with traditional contact-based positioning methods (such as mechanical limit switches), and also resulting in lower costs. For gimbal devices that require frequent rotation and high precision, this also improves the device's lifespan and stability.

[0053] Figure 4 This is a schematic diagram of another embodiment of the rotation positioning device provided in this utility model.

[0054] See Figure 4 In some embodiments of this utility model, the rotation positioning device further includes a noise-absorbing element 40, which is located in the gap between the moving carrier 10 and the fixed carrier 20 and is connected to the fixed carrier 20 by adhesive. The noise-absorbing element 40 is used to suppress signal interference caused by sound reflection.

[0055] The noise-canceling element 40 has multiple pickup holes 41 arranged in a circular array along its own circumference. The positions of the pickup holes 41 correspond one-to-one with the positions of the microphone 21, which helps to guide the sound into the microphone 21.

[0056] Since the noise-absorbing element 40 is located in the gap between the moving carrier 10 and the fixed carrier 20, it can block and guide stray sounds in the surrounding environment to a certain extent, so that the sound emitted by the sound source 11 can be received more accurately by the corresponding microphone 21, reducing the influence of external interference sounds, thereby improving the accuracy of sound pickup and improving the accuracy of positioning.

[0057] For example, when the moving carrier 10 is rotating, some unnecessary noise may be generated between it and the fixed carrier 20 due to mechanical vibration and other reasons. The noise reduction element 40 can absorb and isolate this noise, so that the sound signal received by the microphone 21 is purer and only focuses on the sound signal emitted by the sound source 11 for positioning.

[0058] In some embodiments of this utility model, the sound-absorbing element 40 includes at least one of sound-absorbing cotton and sound-absorbing plate.

[0059] That is, the sound-absorbing element 40 can be just sound-absorbing cotton, including glass wool, rock wool, or hydrophobic sponge. The sound-absorbing element 40 can also be just a sound-absorbing panel, including polyurethane open-cell foam board or micro-perforated board. In addition, the sound-absorbing element 40 can also be a multi-layer composite structure composed of sound-absorbing cotton and sound-absorbing panel, such as a composite layer composed of metal plate, damping layer and sound-absorbing cotton.

[0060] In some embodiments of this invention, when the sound-absorbing element 40 includes sound-absorbing cotton, the sound-absorbing cotton includes a hydrophobic sponge. The hydrophobic sponge has a special porous structure that can more effectively absorb sound waves, reduce sound reflection and propagation, thereby improving the sound absorption effect. At the same time, the hydrophobic sponge has good waterproof properties, preventing water penetration, protecting the structure and performance of the sound-absorbing cotton, and extending its service life.

[0061] In some embodiments of this utility model, the fixed carrier 20 is provided with a plurality of mounting holes 22 arranged in a circular array along its own circumference, and the microphone 21 is embedded in the corresponding mounting hole 22.

[0062] Essentially, multiple mounting holes 22 are arrayed and machined in the circumferential direction of the disc-shaped fixed carrier 20. The diameter of the mounting holes 22 is determined according to the size of the microphone 21, and the depth of the mounting holes 22 is designed according to the length of the microphone 21 to ensure that the microphone 21 can be stably embedded and that its pickup part can be in a suitable position.

[0063] In this embodiment of the invention, the microphone 21 is embedded in the mounting hole 22 of the fixed carrier 20, so that the microphone 21 and the fixed carrier 20 form an integral structure. This embedding method increases the stability of the microphone 21 and reduces the impact of external vibrations, shaking, and other factors on the microphone 21's sound pickup. At the same time, this layout also makes the overall structure of the device more compact, reduces space occupation, and is beneficial for the installation and use of the rotation positioning device in limited spaces, such as in small pan-tilt units or space-constrained devices, where it can play a better role.

[0064] Meanwhile, the mounting hole 22 provides a certain degree of protection for the microphone 21, preventing it from being directly exposed to the external environment. This prevents dust, debris, and other contaminants from directly contacting the microphone 21, reducing the risk of damage caused by external factors. Furthermore, by embedding the microphone 21, the influence of surrounding electromagnetic interference on its sound pickup can be reduced, as the mounting carrier 20 itself provides electromagnetic shielding, resulting in a purer sound signal received by the microphone 21.

[0065] In addition, each microphone 21 can also be directly fixed to the fixed carrier 20 by adhesive. The specific installation can be determined according to actual needs.

[0066] In some embodiments of this utility model, a waterproof and sound-permeable membrane is embedded in each mounting hole 22, and the microphone 21 is sealed and mounted on the corresponding waterproof and sound-permeable membrane.

[0067] Waterproof and sound-permeable membranes can be made of expanded polytetrafluoroethylene (ePTFE). This material has a unique microporous structure, and the size of the micropores can be precisely controlled, effectively preventing water molecules from passing through while ensuring sound transmission performance.

[0068] Before installing the waterproof and acoustically permeable membrane, clean the mounting hole 22 to ensure it is free of dust and impurities. Then, insert the pre-cut waterproof and acoustically permeable membrane, matching the shape and size of the mounting hole 22, into the hole, ensuring a tight fit between the membrane and the wall of the hole 22. When installing the microphone 21 onto the waterproof and acoustically permeable membrane, select a suitable sealing material, such as silicone. Apply a small amount of silicone evenly to the area where the microphone 21 contacts the membrane, then carefully place the microphone 21 onto the membrane, ensuring the microphone's pickup portion is in close contact with the membrane.

[0069] The presence of the waterproof and acoustically permeable membrane effectively prevents external moisture (such as rainwater, dew, or moisture in humid environments) from entering the mounting hole 22 and contacting the microphone 21. This is crucial for rotary positioning devices used outdoors, in humid environments, or in environments where they may come into contact with liquids. For example, in outdoor monitoring pan-tilt-zoom (PTZ) equipment, the waterproof and acoustically permeable membrane ensures that the microphone 21 is not soaked by rainwater during rainy weather, thereby avoiding damage to the microphone 21, short circuits, and other problems caused by water ingress, and extending the service life of the microphone 21.

[0070] In some embodiments of this utility model, the sound source 11 includes any one of a buzzer, a piezoelectric ceramic sound generator, and a thin-film loudspeaker.

[0071] When the sound source 11 includes a buzzer or a piezoelectric ceramic sound generator, the sound source 11 is embedded in the moving carrier 10. That is, a mounting hole 22 can be opened on the moving carrier 10, and the buzzer or piezoelectric ceramic sound generator is embedded in the mounting hole 22 without protruding too much from the surface of the moving carrier 10, so as to avoid interference between the buzzer or piezoelectric ceramic sound generator and other components during the rotation of the moving carrier 10.

[0072] Buzzers can include piezoelectric buzzers, which operate based on the piezoelectric effect. This means that in certain crystalline materials (such as quartz crystals), under the influence of external mechanical forces or electric fields, an uneven charge distribution occurs, creating a potential difference across the diaphragm. A piezoelectric buzzer consists of a piezoelectric oscillator and a diaphragm. When an external power source applies a voltage, the piezoelectric oscillator vibrates. The piezoelectric effect causes an uneven charge distribution on the oscillator, creating a potential difference across the diaphragm and producing a sound signal.

[0073] When the sound source 11 includes a diaphragm speaker, the sound source 11 is adhered and fixed to the surface of the moving carrier 10. That is, the diaphragm speaker is a speaker composed of a PET material layer (lightweight plastic) and a PVDF piezoelectric material layer (piezoelectric film layer). Tiny holes are cut into the thin sheet of PET material using a laser, and a very thin layer of PVDF piezoelectric material is adhered underneath the perforated PET material layer. Then, a vacuum is created above the adhered PVDF piezoelectric material layer, and a heat source of 80 degrees Celsius is applied below the PVDF piezoelectric material layer. Because the PVDF piezoelectric material layer is very thin, the pressure difference generated by the vacuum and the heat source causes it to expand. Since the PVDF piezoelectric material layer cannot force its way through the PET material layer, tiny dome-shaped protrusions appear where they are not blocked by the PET material layer. These protrusions naturally align with the holes in the PET material layer. Finally, the other side of the PVDF piezoelectric material layer is laminated together with another layer of PET material, serving as a separator between the dome and the adhesive surface. In other words, the PET material layer serves as the bottom and top layer materials, with PVDF piezoelectric material sandwiched in between. When voltage is applied to it, the film moves, thereby causing the air above it to vibrate and produce sound.

[0074] In some embodiments of this utility model, the rotation positioning device further includes a metal shield, which is embedded inside the fixed carrier 20 to prevent electromagnetic interference from affecting the microphone 21 (MIC) pickup signal, thereby improving the accuracy of pickup and improving the positioning accuracy.

[0075] It should be noted that the microphone 21 (MIC) can be a unidirectional microphone 21 or an omnidirectional microphone 21. The corresponding algorithm process is adjusted according to the selection of the microphone 21 (MIC).

[0076] It should also be noted that there can be one sound source 11 or two sound sources 11 can be added at symmetrical positions on the moving carrier 10. The two sound sources 11 emit sound waves of different frequencies respectively. The control unit 30 calculates the intensity difference of the two signals received by each microphone 21 through a frequency separation algorithm, which improves the positioning anti-interference capability and solves the failure problem when a single sound source is blocked. It is suitable for complex obstruction environments (such as outdoor monitoring in dense vegetation).

[0077] This utility model also provides a gimbal device, which includes a base, a device body and a rotation positioning device for any one of them. The device body is mounted on the base via a rotating element and rotates relative to the base. The motion carrier 10 of the rotation positioning device is linked to the rotating element. The fixing carrier 20 of the rotation positioning device can be fixedly mounted on the base.

[0078] When the rotation positioning device is used in a gimbal device:

[0079] Set the pan-tilt device to the position of the microphone 21 directly opposite the sound source 11 as the 0° position.

[0080] When the pan-tilt unit rotates, it drives the sound source 11 to emit sound. Different microphones 21 pick up different sounds, and the current position of the pan-tilt unit is determined by the intensity of the sound signals picked up by each microphone 21. That is, the position of the microphone 21 with the strongest sound signal is the current position of the pan-tilt unit. By comparing the current position with the 0° position, the current location of the pan-tilt unit can be determined, thereby realizing the positioning of the pan-tilt unit.

[0081] It should be noted that the 0° position can be adjusted as needed. When the position of a certain microphone 21 is taken as the 0° reference position, the rotation angle of the pan-tilt device can be determined by comparing the relative angle difference between the position of the microphone 21 with the strongest current sound pickup signal and the 0° position, thereby realizing the positioning of the pan-tilt device.

[0082] The specific control process for normal rotation positioning is as follows:

[0083] For example, when a user inputs a target angle (e.g., a 90° rotation), the control system drives the pan-tilt device to begin rotating. During the rotation, the control unit 30 continuously drives the sound source 11 to emit sound waves of a specific frequency (e.g., a 10kHz pulse signal). Each microphone 21 collects the sound wave signal in real time, and the control unit 30 obtains the signal strength value of each microphone 21. The control unit 30 compares the signal strength of all microphones 21, determines the position of the microphone 21 with the strongest current signal (denoted as MIC_n), and calculates the actual rotation angle based on the position difference between it and the 0° reference microphone 21 (e.g., if the MIC interval is 45°, and MIC_n is the 3rd microphone 21, then the rotation angle is 3 × 45° = 135°).

[0084] If the actual angle does not reach the target angle, the control system continues to drive the gimbal to rotate and repeats the above process until the error is less than the set tolerance.

[0085] When the pan-tilt unit is stationary, the sound source 11 is periodically driven to emit sound. If the position of the microphone 21, which currently has the strongest sound pickup signal, deviates from the preset position (such as the 0° position), it is determined that the pan-tilt unit is rotating abnormally. For example, when the pan-tilt unit rotates abnormally due to factors such as strong winds, the sound pickup signal of the microphone 21, which was originally at the 0° position, becomes weaker. It is determined that the pan-tilt unit is rotating abnormally at this time, and the pan-tilt unit needs to be readjusted to return to the 0° position.

[0086] The specific control process for abnormal rotation detection and reset is as follows:

[0087] When the gimbal is stationary, the control unit 30 can drive the sound source 11 to emit sound once every 10 seconds for 100ms. The control unit 30 detects the position of the microphone 21 with the strongest signal (denoted as MIC_k). If MIC_k deviates from the preset position (such as the 0° reference microphone 21 position) and the signal strength drops by more than a certain amount, it is determined that the gimbal is rotating abnormally due to strong wind or mechanical failure.

[0088] The control system immediately initiates the gimbal reset procedure, driving the gimbal to rotate in the opposite direction until the MIC_k signal strength recovers to its maximum value, and recalibrates the 0° reference position.

[0089] It is understood that the gimbal device provided by this utility model, because it includes the aforementioned rotation positioning device, possesses all the advantages of the aforementioned rotation positioning device. It can utilize the acoustic positioning principle, based on the differences in sound propagation to different microphones 21, to achieve high-precision positioning of the gimbal device. Compared to traditional sensor positioning methods, this positioning method can improve the accuracy and reliability of positioning, while also reducing costs.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A rotational positioning device, characterized by include: A motion carrier, suitable for fixing to a rotating element of a gimbal device, wherein a sound source is provided on the motion carrier, and the installation position of the sound source is offset from the rotation center of the motion carrier; A fixed carrier is concentrically assembled on the outer periphery of the moving carrier, and the position of the fixed carrier remains fixed; multiple microphones are arranged in a circular array on the fixed carrier, and the center line of each microphone coincides with the radius of the fixed carrier; A control unit is electrically connected to the sound source and each of the microphones, respectively. The control unit is used to control the sound source to emit sound and to receive the pickup signal from each of the microphones.

2. The rotational positioning device of claim 1, wherein, Also includes: A noise-absorbing element is located in the gap between the moving carrier and the fixed carrier, and is connected to the fixed carrier; The noise-canceling element has multiple pickup holes arranged in a circular array along its circumference, and the positions of the pickup holes correspond one-to-one with the positions of the microphones.

3. The rotational positioning device of claim 2, wherein, The sound-absorbing element includes at least one of sound-absorbing cotton and sound-absorbing board.

4. The rotational positioning device of claim 3, wherein, When the sound-absorbing element includes sound-absorbing cotton, the sound-absorbing cotton includes a hydrophobic sponge.

5. The rotational positioning device of claim 1, wherein, The fixed carrier has multiple mounting holes arranged in an array along its circumference, and the microphone is embedded in the corresponding mounting hole.

6. The rotational positioning device of claim 5, wherein, Each of the mounting holes is fitted with a waterproof and acoustically permeable membrane, and the microphone is sealed and installed in the corresponding waterproof and acoustically permeable membrane.

7. The rotation positioning device according to claim 1, characterized in that, The sound source includes any one of a buzzer, a piezoelectric ceramic sound generator, and a thin-film loudspeaker.

8. The rotation positioning device according to claim 7, characterized in that, When the sound source includes a buzzer or a piezoelectric ceramic sound source, the sound source is embedded in the moving carrier; In the case where the sound source includes a thin-film loudspeaker, the sound source is attached and fixed to the surface of the moving carrier.

9. A swivel positioning device according to any one of claims 1 to 8, characterized in that Also includes: A metal shielding element is embedded inside the fixed carrier.

10. A gimbal device, comprising: Includes a base, a device body, and the rotation positioning device as described in any one of claims 1 to 9; The main body of the device is mounted on the base via a rotating element and rotates relative to the base; The motion carrier of the rotary positioning device is linked to the rotary element; The fixed carrier of the rotation positioning device is located on the base.

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