JPH06284331A - Moving position detector - Google Patents

Abstract

(57) [Summary] [Structure] A cutout portion C having a predetermined length having edges A and B is formed along a moving direction of the rotary plate R as a detected portion in a part of the rotary body R which is a moving body. Sensors S ₁ and S ₂ are provided in the notch C. Then, when the moving body is set to the reference position, the sensor S ₁ is at the position for detecting the edge A,
The sensor S ₂ is arranged in a predetermined position based on the setting of rotation limit positions in both P and Q directions within the section of the cutout portion, and detects at least the reference position of the moving body, the limit position, and the deviation direction from the reference position. A moving position detecting device that can be used as information is configured. [Effect] The number of parts is small, high-precision processing technology and adjustment at the time of assembly are unnecessary, and the shape of the moving body is not limited. As a result, low cost and miniaturization of the device can be realized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving position detecting device, for example, a moving position detecting device used for a pan and tilt mechanism in a pan head of a video camera.

[0002]

2. Description of the Related Art In recent years, television receivers have been used in conferences. FIG. 19 is a perspective view showing an example of a television receiver configured for a conference. As shown in this figure, a pan head 41 is provided above the main body 40 of the television receiver. Inside the platform 41, the video camera 41a is supported by a pan (horizontal rotation) and tilt (vertical rotation) mechanism so that the video camera 41a can rotate vertically and horizontally by a predetermined angle as shown by arrows in the figure. ing. Then, the instruction information input by the remote control device 42 is input through the light receiving unit 40a of the television receiver to perform various controls such as turning on / off of the television receiver. In addition, the pan and tilt mechanism of the platform 41 can be controlled to allow the user to adjust the rotational position of the video camera 41a in the horizontal and vertical directions. Furthermore, the focus, zoom, etc. of the video camera 41a can be adjusted.

For example, when the television receiver shown in FIG. 19 is used in a conference, the up and down and left and right directions of the video camera 41a are arbitrarily adjusted to photograph the person who is currently speaking, and this image is displayed. The display screen 4 of the television receiver
0b, or an article or a chart or the like targeted for the conference is photographed and displayed on the display screen 40b, and the attendees see these display images.
The efficiency and the content of the meeting can be improved.

Further, when a conference or a debate by two groups is held, the groups shown in FIG.
Prepare the television receiver shown in, and not only display the image taken by the video camera of your group's television receiver, but also input and display the image taken by the other party's video camera. As much as possible, the system is configured so that the television receivers of the other party are set and the rotational position adjustment of the video camera of the other party's television receiver can be controlled by the remote control device on the own side. During the meeting, for example, you can control the video camera of the other party by your own remote control device so that you can understand the state of the other party's speaker and the items and charts presented by the other party well. There is also a method of using such as displaying on a television receiver on one's own side.

By the way, the pan and tilt mechanism of the pan head 41 for adjusting the position of the video camera 41a described above, even if the rotation angle is unnecessarily large, the inside of the chassis of the pan head 41 is photographed and some parts are used together. May come into contact with each other, which is meaningless and dangerous. Therefore, the pan and tilt mechanism is provided with a limiter mechanism that prevents the pan and tilt mechanism from rotating beyond a predetermined angle that is properly set in consideration of usage conditions.

However, when a mechanical mechanism such as a gear or a motor is used as the limiter mechanism, the components are excessively loaded, and the gear may be damaged or the motor may be burned. Therefore, a rotation position detecting device including a detected portion formed on a rotating body and a sensor is provided to detect the rotation limit position for the limiter mechanism to operate, and the drive of the motor is controlled based on this detection signal. A known limiter mechanism is known.

FIG. 20 (a) is an explanatory view conceptually showing the structure of the limiter mechanism. R shown in the drawing is a rotary plate, and notches R ₁ as detected parts are equidistantly arranged on the outer peripheral portion thereof. And the comb teeth R ₂ are formed in alternating fashion with the cutouts R ₁
And have the same width. Alternatively, a light reflecting portion may be provided instead of the cutout portion R ₁ . The rotary plate R is the motor 5
It is driven by the gear 1 through the gear G ₁ and rotates about the rotation axis O. S ₃ and S ₄ are sensors composed of a photocoupler, a microswitch, etc., and as shown in FIG. 20B, for example, a half pitch of the comb tooth R ₂ (or the notch R ₁ ) is relatively set. It is arranged so as to be offset. Also, 5
Reference numeral 2 is a motor driver unit for driving the motor, 53 is a CPU for detecting the rotation direction and rotation angle based on the outputs from the sensors S ₃ , S ₄ , and controlling the motor driver unit.
Reference numeral 4 denotes an input / output port through which data is transmitted between the microcomputer on the television receiver side and the CPU 54 on the limiter mechanism side.

In this limiter mechanism, when the rotary plate R rotates, the sensors S ₃ and S ₄ detect the edge of the notch R ₁ of the rotary plate R, and the pulse outputs of the sensors S ₃ and S ₄ are sent to the CPU 53. Is entered. In the CPU 53, when the pulse output of the sensor S ₃ rises, the sensor S ₄
The rotation direction of the rotary plate R is discriminated by discriminating whether the pulse output of H is L or H, and the rotation angle is discriminated by counting the number of notches R ₁ . When it is determined that the rotary plate R has rotated to the predetermined rotation limit position based on these data, a control signal is output to the motor driver unit 52 to stop the rotation of the motor.

Further, FIG. 20 (c) is an explanatory view conceptually showing another limiter mechanism, and the same parts as those in FIG. 20 (a) are designated by the same reference numerals and the description thereof will be omitted. Reference numeral 55 shown in the drawing is a potentiometer, which is actually directly connected to the output side gear G ₃ and serves as a sensor for detecting a rotation angle. Here, the motor 51 driven by the motor driver unit 52 drives the rotary plate R to rotate about the rotation axis O via the input side gear G ₂ and the output side gear G ₃ . As a result, the potentiometer 55 also rotates, and the information on the rotation angle detected by the potentiometer 55 according to the rotation is C
It will be output to the PU 53. The CPU 53 determines the rotational position of the rotary plate R based on the input detection signal, and outputs a control signal to the motor driver unit 52 when the rotary plate R has been rotated to a predetermined rotation limit position. Then, the rotation of the motor is stopped. By providing the limiter mechanism as shown in FIGS. 20 (a) and 20 (c) in this way, the rotation angle is limited without giving an excessive load to mechanical parts such as gears and motors.

[0010]

However, as shown in FIG.
Since the rotational position detecting device in the limiter mechanism shown in (a) needs to form the cutout portion R ₁ (or the light reflection portion) over the entire outer circumference of the rotary plate R, the shape of the cutout portion or the light reflection portion is complicated. Therefore, there is a problem that the manufacturing cost becomes high to form this. Further, since the rotary plate R is limited to the circular shape having the comb teeth R ₂ over the entire circumference as shown in FIG. 20A, the degree of freedom such as making the shape compact can be obtained. In addition to the difficulty, it has a problem that the utilization efficiency on the rotary plate R is deteriorated.

Further, in order to determine the rotation angle in the rotation position detecting device of FIG. 20A, the sensor S ₃ or S ₃ is used.
CP is the number of rising or falling of pulse output of ₄
The U53 needs to count, but when the power is turned off midway, the rotation angle becomes relatively unknown. Therefore, in order to prevent this, the CPU 53 is configured to store the counted value even after the power is turned off.
Alternatively, a sensor for detecting the reference position and a rotary plate are further provided,
A method is known in which the CPU 53 determines the reference position based on the detection data. Moreover,
There is known a method in which detecting elements corresponding to a plurality of cutouts provided in accordance with a set rotation angle are arranged and the absolute rotational movement position of a rotating plate or the like is detected from the detection information. However, these methods use expensive parts or increase the number of parts,
This leads to complicated manufacturing processes and high costs.

Further, in the rotational position detecting device for detecting the rotational angle by the potentiometer 55 shown in FIG. 20 (c), it is necessary to attach the potentiometer 55 to the portion that drives the rotary plate R such as the motor and the gear.
There is a problem that it is difficult to reduce the size of the drive unit of the rotary plate R because a dimensionally wide space must be secured. In addition, at the time of assembly, it is necessary to make adjustment so that the rotary position of the rotary plate R is within the detectable area of the potentiometer 55, and there is a problem that efficiency in the manufacturing process is reduced.

[0013]

In order to solve the above problems, the present invention has a moving body that reciprocates along a fixed locus and a fixed range along the moving direction of the moving body. The detected part formed on the moving body and the detected part are arranged at intervals along the moving direction of the detected part and detect both ends in the moving direction of the detected part. The moving position detecting device is configured to include the first and second sensors arranged along the moving direction. Then, the interval between the first and second sensors is set to be smaller than the interval between the detected parts, and when the moving body is set to the reference position within the moving range, the first sensor detects the detected part. The second sensor is arranged at a position where one of the ends should be detected so as to be at a predetermined position between both ends of the detected part. Further, the detected portion is formed as a notch portion, a convex portion, or a light reflecting portion on the moving body. Further, the moving position detecting device according to the present invention is provided in the pan and tilt device of the camera platform.

[0014]

According to the moving direction and the moving range of the moving body, a detected portion having both ends is formed in a part of the moving body, and the first and second sensors are provided along the detected portion. The two sensors are arranged such that when the moving body is at the reference position, the first sensor detects the end of one of the detected parts, and the second sensor is the position of the detected part. By configuring the movement position detection device so that the predetermined position is provided between both ends, at least the reference position of the moving body and the reciprocating movement can be achieved by the combination of the two sensors and the detected portion provided in a part of the moving body. It is possible to detect the movement limit position within the range and the deviation direction of the moving body from the reference position.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The moving position detecting device of the present invention is applied to a pan and tilt mechanism section of a pan head of a video camera of a television receiver for a conference, which will be described as an embodiment. The appearance and usage of the conference television receiver and pan head in this embodiment are the same as those described in FIG.

[Structure of Pan and Tilt Mechanism in Pan Head] The pan / tilt mechanism in the pan of the video camera according to the present embodiment has a horizontal rotating portion and a vertical rotating portion, and a horizontal rotating portion includes a motor and a gear group. The video camera is fixed to the vertical rotation unit. The horizontal rotation drive unit is driven by the motor and the vertical rotation unit is driven by the motor and gears. Therefore, first, the configurations of the horizontal rotating unit and the vertical rotating unit will be described with reference to the plan view of FIG. 3, the side view of FIG. 4, the front view of FIG. 5, and the perspective view of FIG. 3 to 5 are shown in a state where both the horizontal and vertical rotation positions are set as the reference position.

1) Horizontal / pan in the pan / tilt mechanism
Configuration of Vertical Rotating Unit 1 shown in FIGS. 3 to 5 is a lower portion of the chassis of the platform, and a horizontal rotating shaft 7 is vertically planted in the lower portion 1 of the chassis. Guide holes 9a, 9b having a predetermined length are provided symmetrically with respect to a center line Y passing through the horizontal rotation shaft 7 and the gear support shaft 23a. Reference numeral 3 denotes a horizontal rotary plate, and guide shafts 10a and 10b are provided on the lower surface side of the horizontal rotary plate 3 symmetrically with respect to the center line Y,
Further, a horizontal rotation shaft hole 7a is provided. Further, a driven gear 3d for horizontal rotation is formed at the rear end portion. Further, as shown on the left side of FIG. 3, a cutout portion 3c which is a detected portion at a horizontal rotation position is formed with edges 3b and 3c, which will be described later as a horizontal position detection portion. . The horizontal rotary shaft 7 of the lower chassis 1 is inserted into the horizontal rotary shaft hole 7a of the horizontal rotary plate 3, and the guide shafts 10a and 10b provided on the horizontal rotary plate 3 are respectively provided in the lower chassis 1. It is slidably inserted in 9a and 9b. As a result, the horizontal rotary plate 3 is positioned horizontally with respect to the lower chassis 1 and is supported so as to be rotatable about the horizontal rotary shaft 7 in the horizontal direction by a predetermined angle.

A support plate 4 having a vertical rotary shaft hole 32a and a gear box 5 having a vertical rotary shaft hole 32b are provided on the upper portion of the horizontal rotary plate 3. This support plate 4
And the gearbox 5 are parallel to each other and the vertical rotation shaft hole 3
They are arranged so that the central axes of 2a and 32b coincide with each other, and are fixed by, for example, screws (not shown). The gear box 5 is composed of a box section 5a and a box cover section 5b, and accommodates a vertical rotation drive section described later. The vertical rotation shaft hole 32b is provided for the box portion 5a, and the box portion 5a is provided with vertical rotation guide holes 5d, 5e.

Reference numeral 6 is a vertical rotating frame, which is formed in a U-shaped cross section and is composed of frame side plates 6a and 6b and a frame bottom plate 6c. A pair of vertical rotation shafts 8a and 8b are planted outside the front side of the frame side plates 6a and 6b, and vertical rotation guide shafts 11 and 18 are planted outside the rear side of the frame side plate 6b. There is. Further, bent portions 19a and 19b, which are to-be-detected portions at the vertical rotation position, are formed at the rear end portion of the frame side plate 6a, which will be described later as the vertical rotation position detection portion.

The vertical rotation shaft 8 of the frame side plate 6a
a is inserted into the vertical rotation shaft hole 32a of the support plate 4, and the vertical rotation shaft 8b of the frame side plate 6b is inserted into the vertical rotation shaft hole 32b of the gear box 5. Further, the frame side plate 6b
The vertical rotation guide shafts 11 and 18 are slidably inserted into the vertical rotation guide holes 5d and 5e of the box portion 5a, respectively, so that the vertical rotation frame 6 vertically rotates on the horizontal rotation plate 3. It is supported so as to be rotatable about the shafts 8a and 8b by a predetermined angle.

Reference numeral 2 indicated by a chain double-dashed line is a video camera, and a fixture 31 is provided on the lower side of the tube portion of the video camera 2.
(Shown in FIG. 5) is attached. Then, the fixture 31 is positioned and fixed to the frame bottom plate 6c of the vertical rotation frame 6 with screws or the like not shown here, so that the video camera 2 is attached to the vertical rotation frame 6.

Here, the structure of the horizontal / vertical rotation unit described above is schematically shown in an exploded perspective view of FIG. By inserting the horizontal rotation shaft 7 of the platform lower part 1 of the platform into the horizontal rotation shaft hole 7a provided in the horizontal rotation plate 3, the horizontal rotation plate 3 can be horizontally rotated about the horizontal rotation shaft 7. And a horizontal rotation unit is configured by these configurations. Then, the vertical rotation shaft hole 32a of the support plate 4 and the vertical rotation shaft hole 32b of the gear box 5 provided on the upper portion of the horizontal rotation plate 3 are provided.
With respect to the vertical rotation shafts 8a and 8b of the vertical rotation frame 6
Are rotatably held, the vertical rotation frame 6 is rotatably supported in the vertical direction about the vertical rotation shafts 8a and 8b, and these configurations constitute a vertical rotation unit. In addition, screw holes 3 for the video camera 2
The video camera 2 is positioned with respect to the vertical rotation frame 6 by attaching the fixture 31 having the la 1a and tightening the screw 33 into the screw fixing hole 31a of the fixture 31 through the screw hole 6f of the frame bottom plate 6c. It will be fixed. In addition, 3d of the horizontal rotary plate 3 and 6d and 6e of the vertical rotary frame indicated by broken lines represent driven gear portions to be described later. Further, the guide shafts 10a and 10b of the horizontal rotary plate 3, the guide holes 9a and 9b of the chassis lower part 1, the vertical rotary guide shafts 11 and 18 of the frame side plate 6b, and the box portion 5a.
The vertical rotation guide holes 5d and 5e are not shown.

2) Configuration of Horizontal Rotation Drive Unit Next, the configuration of the horizontal rotation drive unit that rotationally drives the horizontal rotation plate 3 will be described with reference to FIGS. Reference numeral 20 denotes a horizontal rotation motor, which is fixed to the lower chassis 1 at the position shown (shown in FIGS. 3 and 4) and is rotationally driven by a motor driver unit (not shown). The worm gear 21 is attached to the motor shaft 20a of the horizontal rotation motor 20.
Is attached. Further, gear support shafts 22c and 23c are planted in the chassis lower part 1, and the gear support shaft 22c
The worm wheel 22a and the drive gear 2 which are integrated in the
2b is rotatably attached, and an input side gear 23a and an output side gear 23b are attached to the gear support shaft 23c. Further, 3d formed on the rear portion of the horizontal rotary plate 3 indicates a driven gear for horizontal rotation. Then, the worm gear 21 and the worm wheel 22a mesh with each other, the drive gear 22b meshes with the input side gear 23a, and the output side gear 2
3b and a driven gear 3d for horizontal rotation are combined so as to mesh with each other, and a horizontal rotation drive unit is constituted by a combination of these motors and gear groups.

3) Operation of Horizontal Rotation Drive Unit Next, the operation of the horizontal rotation drive unit having the above-mentioned structure will be described with reference to FIGS. 7 and 8. The plan view of FIG. 7 shows the horizontal rotary drive unit and the horizontal rotary plate 3 described above. As shown in this figure, the motor shaft 20 of the horizontal rotation motor 20
When a rotates in the direction indicated by the solid line arrow, the worm gear 21 causes the worm wheel 22a and the drive gear 22 to rotate.
As b is rotationally driven in the arrow direction indicated by the solid line, the input gear 23a and the output gear 23b rotate in the arrow direction indicated by the solid line. The driven gear 3d is the output gear 23b.
Therefore, the horizontal rotary plate 3 is driven to rotate about the horizontal rotary shaft 7 in the direction indicated by the solid line. On the other hand, when the motor shaft 20a of the horizontal rotation motor 20 rotates in the direction indicated by the broken line arrow, each of the above-described gears rotates in the direction indicated by the broken line arrow. It is driven to rotate about the horizontal rotation axis 7 in the direction indicated by the broken line arrow.

By the operation of the horizontal rotation drive section as described above, the pan mechanism section of the camera platform of this embodiment to which the video camera 2 is actually attached is brought into a state as shown in the plan view of FIG. FIG. 8A shows a state in which the optical axis of the video camera 2 is in the 12 o'clock direction, and this state is the horizontal reference position of the horizontal rotary plate 3. This Figure 8
When the horizontal rotary plate 3 is driven to rotate in the direction shown by the solid line arrow in FIG. 7 from the state of (a), the optical axis of the video camera 2 is reversed as shown in FIG. 8 (b). It will turn clockwise. Further, when the rotary plate 3 is rotationally driven in the direction shown by the broken line arrow in FIG. 7 from the state of FIG. 8A, the optical axis of the video camera is as shown in FIG. 8C. It will turn in the clockwise direction at.

4) Configuration of Vertical Rotation Drive Unit Next, the configuration of the vertical rotation drive unit housed in the gear box 5 will be described with reference to FIGS. Note that the cover portion 5b of the gear box 5 is omitted in the side view of FIG. 25 is a vertical rotation motor,
The cover portion 5 of the gear box 5 is attached by a mounting tool (not shown).
Numeral 26 is a worm gear fixed to the motor shaft 25a of the vertical rotation motor 25. 27c, 28c, and 29c are gear support shafts that are planted inside the cover portion 5b of the gear box 5, and
The worm wheel 27a and the driving gear 27b are integrated with the gear c, and the gear 28a is integrated with the gear support shaft 28c.
An input side gear 29a and an output side gear 29b, which are integrated with the gear support shaft 29c, are rotatably attached. At this time, the output side gear 2 is actually
9b is in a state of being inserted together with the gear support shaft 29c into the gear insertion hole 5c provided in the cover portion 5b of the gear box 5 (see FIGS. 3 and 4). A driven gear portion 6d is formed on the frame side plate 6b of the vertical rotation frame 6. A worm wheel 27a is attached to the worm gear 26, a gear 28a is attached to the drive gear 27b, and a gear 28a is attached to the drive gear 27b.
An input side gear 29a is combined with b, and an output side gear 29b is combined with the driven gear portion 6d so as to mesh with each other, thus constituting a vertical rotation drive portion.

5) Operation of Vertical Rotation Drive Unit Next, the operation of the vertical rotation drive unit having the above-described structure will be described with reference to FIGS. 9 and 10. The side view of FIG. 9 shows the vertical rotation drive unit and the vertical rotation frame 6. As shown in this figure, when the motor shaft 25a of the vertical rotation motor 25 rotates in the direction of the arrow indicated by the solid line, the worm gear 26 rotates the drive gear 27b integrally with the worm wheel 27a in the direction of the arrow indicated by the solid line. Accordingly, the gear 28a and the gear 28b rotate in the direction of the solid line arrow, and the input side gear 29a and the output side gear 29
b rotates in the direction of the arrow indicated by the solid line. Since the driven gear 6d of the vertical rotating frame 6 is meshed with the output side gear 29b, the vertical rotating plate 3 is rotationally driven about the vertical rotating shaft 8b (and 8a) in the direction indicated by the solid line. Become. On the other hand, the motor shaft 20a of the vertical rotation motor 20
When is rotated in the direction indicated by the broken line arrow, each gear described above rotates in the direction indicated by the broken line arrow. Therefore, the vertical rotating frame 6 is centered on the vertical rotating shaft 8b (and 8a). It will be driven to rotate in the direction indicated by the dashed arrow.

By the operation of such a vertical rotation drive unit,
In the tilt mechanism portion of the camera platform of this embodiment to which the video camera 2 is actually attached, the operation is as shown in the side view of FIG. FIG. 10A shows a state in which the optical axis of the video camera 2 is horizontal, and this state is the reference position in the vertical direction of the vertical rotating frame 6. When the vertical rotation frame 6 is driven to rotate in the direction shown by the solid arrow in FIG. 9 from the state of FIG.
As shown in (b), the optical axis of the video camera 2 is oriented downward from the horizontal. Further, when the rotary plate 3 is rotationally driven in the direction shown by the broken line arrow in FIG. 9 from the state of FIG. 10A, the optical axis of the video camera is horizontal as shown in FIG. 10C. Will be more upward than.

By rotating the pan / tilt mechanism section as described above, the direction of the video camera 2 fixed to the vertical rotation frame 6 is set horizontally and vertically within a predetermined range limited by a limiter mechanism described later. It can be arbitrarily changed in the direction.

[Limiter Mechanism] In the pan / tilt head of the present embodiment, a rotational position detecting section is provided for each of the pan / tilt mechanism sections having the above-described configuration. By providing a control system for controlling the rotation of the motor of the horizontal / vertical rotation drive unit based on these detection outputs, it is possible to limit the rotation position of each of the horizontal / vertical rotation units and to control the reset to the reference position. A limiter mechanism that can be performed is configured. Therefore, next, the configuration of the horizontal rotational position detector that detects the rotational position of the horizontal rotary plate 3 will be described with reference to FIGS. 3 to 5 and 11.

6) Configuration of Horizontal Rotation Position Detection Unit As can be seen from FIG. 3, a cutout portion 3c having edges 3a and 3b is formed on the side of the horizontal rotation plate 3 where the support plate 4 is attached. The cutout portion 3c serves as the detected portion at the horizontal rotation position. Further, 12 is a photocoupler for detecting the reference position, and 13 is a photocoupler for detecting the limit position. In this case, the photocoupler is composed of a light emitting element and a light receiving element facing each other. The photocouplers 12 and 13 are the substrate 1 fixed to the lower chassis 1
4, the photocouplers 12 and 13 are arranged along the rotation path with respect to the cutout portion 3c. Further, as can be seen from FIG. 4, the vertical direction of the photocoupler 13 (and 12) is set so that the horizontal rotary plate 3 is sandwiched between the light receiving element and the light emitting element of the photocoupler 13 (and 12) from above and below. The position at is set and fixed. In this case, either the light receiving element or the light emitting element of the photocouplers 12 and 13 may be vertically arranged. With such a configuration, as can be seen from the enlarged perspective view of the horizontal rotation position detection unit of FIG. 11, the notch 3c is provided between the light receiving element and the light emitting element of the photocouplers 12 and 13 as the horizontal rotation plate 3 rotates. , The photocouplers 12 and 13 are moved to a state shown in FIG.
c can be detected. Note that the photocoupler 13 is arranged with respect to the photocoupler 12 at predetermined intervals along the rotation direction as shown in FIG. 3 according to the set rotation limit angle, which will be described later.

7) Configuration of Vertical Rotation Position Detection Unit Next, the configuration of the vertical rotation position detection unit will be described with reference to FIGS.
2 will be described. In the case of this vertical rotation position detection unit, it is difficult to understand in the state shown in FIGS. 3 to 5, so that it will be mainly described with reference to FIG. As shown in FIG. 12, at the rear end of the frame side plate 6a of the vertical rotation frame 6, protrusions 19a and 19b bent perpendicularly to the frame side plate 6a are arranged along the rotation direction of the vertical rotation frame 6. Formed. In this case, the lower edge 19a ¹ of the protrusion 19a and the protrusion 1
A notch portion is formed along the rotation direction by the upper edge 19b ¹ of 9b, and this serves as the detected portion. Further, reference numeral 15 is a reference position detecting photocoupler, and 16 is a rotation limit position detecting photocoupler, and in this case as well, both are of the transmission type. This photo coupler 15,
16 is a protrusion 19 between the light emitting element and the light receiving element which face each other.
a (and 19b) is arranged with respect to the rotation track of the cutout and is attached to the substrate 17, and in this state, as shown in FIG. 3, the bent portion 4a at the rear end of the support plate 4 is formed.
Is fixed against. As a result, when the vertical rotation frame 6 rotates, the protrusions 19a and 19b move between the light emitting element and the light receiving element of the photocoupler 15 or the photocoupler 16 as indicated by the broken line arrow, and the notch Is detected.

8) Operation of Rotation Position Detection Device First, the concept of the operation of the rotation position detection unit described in FIGS. 11 and 12 will be described with reference to FIGS. 1 and 2. FIG. 1 is an explanatory view conceptually showing the rotational position detecting device of the present embodiment. Reference symbol R in the figure indicates a rotating plate, and P and Q around the rotation axis O with the position shown in the figure as a reference position.
It can be rotated in any direction. A cutout portion C having edges A and B is formed in the rotary plate R along the radial direction of the rotary plate R.

Reference numeral S ₁ is a reference position detecting sensor, and S ₂ is a limit position detecting sensor, which is composed of, for example, a transmissive photocoupler or a micro switch. Both of these sensors are arranged along the rotation direction of the rotary plate R, and the reference position detection sensor S ₁ uses the edge A as shown in the figure with the rotary position of the rotary plate R shown in FIG. 1 as the reference position. The limit position detection sensor S ₂ is arranged so as to be in a position for detection, while the limit position detection sensor S ₂ has an edge A and an edge B in the notch C.
Are arranged and fixed at predetermined positions within the range. The setting of the position of the limit position detection sensor S ₂ will be described later.

Further, both the reference position detection sensor S ₁ and the limit position detection sensor S ₂ have different detection output phases depending on whether they are in the section of the cutout portion C or in the portion of the rotary plate R other than the cutout portion C. Configured to flip. In this case,
Each sensor outputs H level when it is detected that it is in the section of the cutout C, and when it is detected that it is in the rotary plate R portion other than the cutout C, L level is output. It is configured to be output.

FIG. 2 is an explanatory diagram showing the detection outputs of the reference position detection sensor S ₁ and the limit position detection sensor S ₂ corresponding to the rotational position of the rotary plate R (that is, the positional relationship with the notch C).

Here, as shown in FIG. 1, when the rotational position of the rotary plate R is the reference position, the edge A is located with respect to the reference position detection sensor S ₁ , and the limit position detection sensor S 1 _{In 2} , the cutout portion C is located within the section. Therefore, since the reference position detection sensor S ₁ detects the edge A, the detection output shows a signal change of H → L or L → H, and the limit position detection sensor S ₂ detects the cutout portion, and therefore the detection output is H. This corresponds to the position indicated by d in FIG. 2 to indicate the level.

When the rotary plate R starts rotating in the P direction from the position d in FIG. 2 and is displaced from the reference position in the P direction,
Reference position detection sensor S ₁ and limit position detection sensor S
_In No. ₂ , both are in the section of the notch C. Therefore,
Reference position detection sensor S ₁ and limit position detection sensor S ₂
Both detect the notch C and become H level, which corresponds to the range indicated by c in FIG.

When the rotary plate R is further rotated in the P direction from the range c in FIG. 2, the reference position detection sensor S ₁ is located within the notch C, and the edge B is formed with respect to the limit position detection sensor S ₂ . Position, and this rotational position is P
Is the limit position in the direction. In this case, the reference position detection sensor S ₁ detects the cutout portion C and is at the H level, and the limit position detection sensor S ₂ detects the edge B and indicates a signal change of H → L or L → H. 2 corresponds to the position shown in b.

When the rotary plate R further rotates in the P direction from the position b in FIG. 2, the rotary plate R is rotated beyond the limit position. At this time, the reference position detection sensor S _{In 1} it is within the section of the cutout C, and in the limit position detection sensor S ₂ it is outside the section of the cutout C on the edge B side. Therefore, the reference position detection sensor S ₁
The output of 1 indicates the H level by detecting the cutout portion C, and the output of the limit position detection sensor S ₂ indicates the L level by detecting the outside of the cutout portion on the edge B side. Equivalent to.

On the other hand, the rotary plate R starts to rotate in the Q direction from the reference position shown in FIG.
In the case of deviation in the direction, the reference position detection sensor S ₁ detects the outside of the cutout portion C on the edge A side, and the limit position detection sensor S ₂ detects the inside of the cutout portion C. Therefore, the output of the reference position detection sensor S ₁ is L
The output of the limit position detection sensor S ₂ indicates the H level, which corresponds to the range indicated by e in FIG.

When the rotary plate R further rotates in the Q direction from the range e in FIG. 2, the reference position detection sensor S ₁ detects outside the section of the notch C on the edge A side, and the limit position detection sensor S ₂ is detected. Then, the edge A is detected, and this rotational position is set as the limit position in the Q direction. At this limit position, the output of the reference position detection sensor S ₁ is at L level and the output of the limit position detection sensor S ₂ shows a signal change of H → L or L → H, which corresponds to the position shown in f of FIG. To do.

When the rotary plate R further rotates in the Q direction beyond the limit position from the position f in FIG.
Reference position detection sensor S ₁ and limit position detection sensor S ₂
Both detect outside the section of the notch C on the edge A side, both outputs of the reference position detection sensor S ₁ and the limit position detection sensor S ₂ indicate L level, which corresponds to the range g in FIG. Become.

As described above, in the rotational position detecting device shown in FIG. 1, the reference position of the rotary plate (position d in FIG. 2) and the direction of deviation of the rotary plate from the reference position (ranges c and e in FIG. 2). ,
The detection information may be a limit position in both rotation directions of P and Q (positions b and f in FIG. 2) or a state beyond the limit positions in both rotation directions of P and Q (ranges a and g in FIG. 2). However, this can be realized with a simple configuration in which a notch C formed in a part of the rotary plate R and two sensors for detecting a reference position and a limit position are provided.

Therefore, in the actual rotational position detecting portion of the platform, as shown in FIG. 11, the two transmissive photocouplers 12 and 13 are provided with a cutout portion at a part of the outer periphery of the horizontal rotary plate 3. 3c, or 2 for two transmissive photocouplers 15 and 16 as shown in FIG.
The configuration shown in FIG. 1 is applied by providing the bent portions 19a and 19b so that the cutout portions can be obtained. That is, in both cases of FIG. 11 and FIG. 12, the configuration as the rotational position detecting unit is simple, and therefore the space required for detecting the rotational position can be small. Further, even in the actual formation of the cutout portion, it is possible to form the cutout portion by bending or cutting a part of the rotating portion, and a complicated and sophisticated processing technique is not required.

Further, the shape of the rotary plate does not necessarily have to be circular, because the notch portion may be provided only on a part of the rotary plate as the non-detection portion. Therefore, the degree of freedom in the shape of the rotary plate is high. Therefore, in an actual platform, the horizontal rotary plate 3 is formed in a substantially rectangular shape as shown in FIG.
A vertical rotation unit and a vertical rotation drive unit are provided on the upper part of the pan, and the pan mechanism unit and the tilt mechanism unit are almost integrated with each other, so that compactness can be achieved.

Further, in this rotational position detecting device,
The allowable rotation angle of the rotary plate R is shown by γ in FIG.
This allowable rotation angle γ corresponds to the distance between the edges A and B in the circumferential direction. Therefore, the allowable rotation angle of the rotary plate R can be set by a simple method of changing the length of the cutout portion C in the circumferential direction.

Further, the rotation angle from the reference position to the limit position in the P direction shown in FIG. 1 is indicated by an angle α formed by the edge A, the rotation axis O, and the limit position detection sensor S ₂ , and from the reference position in the Q direction. The rotation angle to the limit position is the limit position detection sensor S ₂ , the rotation axis O, and the edge B.
Indicated by the angle β. Therefore, the rotation angle α from the reference position to the limit position in the P direction and the rotation angle β from the reference position to the limit position in the Q direction change the position of the limit position detection sensor S ₂ in the circumferential direction of the rotating plate R. By doing so, the setting becomes possible. However, as described above, the limit position detection sensor S ₂ is positioned within the range between the edge A and the edge B in the cutout portion C when the rotary plate R is set to the reference position.

For example, in the case of the actual horizontal rotational position detecting portion, as can be seen from FIG. 3, the allowable rotational angle is set by the length of the cutout portion 3c in the rotational direction, and
In order to give a similar rotation angle from the reference position to both left and right directions, a photocoupler 12 for detecting the reference position (corresponding to sensor S ₁ in FIG. 1) and a photocoupler 13 for detecting the limit position (sensor) (Corresponding to S ₂ ) is set to approximately half the length of the cutout portion 3c in the rotation direction. Alternatively, as can be seen from FIG. 12, in the case of the vertical rotation position detection unit, the rotation angle of the video camera is set to be larger in the downward direction than in the upward direction in order to detect the limit position in consideration of the normal use situation. The photocoupler 16 (corresponding to the sensor S ₂ ) is arranged close to the photocoupler 15 for detecting the reference position. In this way, the allowable rotation angle according to the usage situation and the rotation angle from the reference position to the limit position can be arbitrarily set by a simple method of adjusting the length of the notch or the distance between the two sensors. .

9) Control Operation of Limiter Mechanism Next, an outline of the limiter mechanism including the above-described rotational position detecting device will be described. FIG. 15 is a block diagram conceptually showing the structure of the limiter mechanism of the present embodiment, in which the rotary plate R having a notch and the reference position detection sensor S.
₁ , the limit position detection sensor S ₂ corresponds to the rotational position detection unit shown in FIG. The CPU 53 determines the current rotational position of the rotary plate based on the detection signals output from both sensors S ₁ and S _2, and outputs a control signal corresponding to this data to the motor driver unit 52. The motor driver unit 52 outputs a drive voltage based on the control signal to drive the motor 51. Then, the rotation of the motor 51 is transmitted by the gear group indicated by the arrow G, and the rotary plate R rotates. Also,
It is an input / output port through which data is transmitted between the CPU 53 and the main microcomputer.

As described above, the rotational position detecting device of FIG.
Reference position of the rotating plate, direction of deviation of the rotating plate from the reference position,
The detection information can be a limit position in both rotation directions and a state where the limit position is exceeded in both rotation directions. Therefore, in the limiter mechanism of the present embodiment, the CPU 53 is configured to output a control signal to the motor driver 52 based on the detection information, and when it is assumed that the rotary plate R has rotated to the limit position as described below. In this case, the rotation of the motor 51 is stopped, and the rotary plate R is rotationally moved to the reference position in accordance with the instruction input from the remote control device.

FIG. 16 is a flowchart showing the control by the CPU 53 to stop the rotation of the motor 51 when the rotary plate R is supposed to rotate to the limit position. For example, if an instruction to rotate the motor is given from the main microcomputer by operating the remote control device 42 (shown in FIG. 19), the CPU 53 receives the instruction to rotate the motor in the designated direction (F101), and proceeds to step F102. move on. In step F102, the rotation direction of the motor is determined from the instruction information from the microcomputer. If it is determined to be the P direction, the process proceeds to step F103, and if it is determined to be the Q direction, the process proceeds to step F104. In step F103,
Reference position detection sensor S ₁ and limit position detection sensor S ₂
It is determined whether or not the detection signal of is in the state shown in position b in FIG. 2, and if the signals of the two sensors are not in the state shown in position b, the determination process is further continued in step F103. Then, when the signals of the two sensors are brought into the state shown in the position b, the process proceeds to step F105, and the CPU 53
Outputs a control signal to the motor driver unit 52 to stop the motor. As a result, the rotation plate R stops rotating at the limit position in the P direction. Further, in step F104, it is determined whether the detection signals of the two sensors are in the state shown in position f in FIG. 2. If not in the state shown in position f, the determination operation in step F104 is continued. If the condition shown in is reached, step
Proceed to F105 to stop the motor 41, which causes the rotating plate R
The rotation is stopped at the limit position in the Q direction.

FIG. 17 is a flow chart showing the operation of the CPU 53 when the rotary plate R is moved to the reference position.
For example, when an instruction to move the rotating plate to the reference position is input from the main microcomputer (F201), CP
U53 inputs the detection signals of the reference position detection sensor S ₁ and the limit position detection sensor S ₂ (F202), and then step F203.
Proceed to. In step F203, it is determined whether or not the current rotational position of the rotary plate R is in the P direction with respect to the reference.
When the detection signals of the two sensors are set to the position b, the range c, or the range a, the rotational position of the rotating plate R is deviated in the P direction from the reference. When it is determined and the process proceeds to step F204, a control signal for rotating the motor 51 in the direction in which the rotary plate R is rotated in the Q direction is output to the motor driver unit 52, and the process proceeds to step F206. Further, when the detection signals of the two sensors are in the range e, the position f, and further the range g,
It is determined that the rotational position of the rotary plate R is deviated from the reference in the Q direction, and the process proceeds to step F205, and a control signal for rotating the rotary plate R in the P direction is sent to the motor driver unit 52. It is output and the process proceeds to step F206.

In step F206, the detection signals of the two sensors are input again, and the process proceeds to step F207. In step F207, it is determined whether the detection signals of the two sensors are in the position d in FIG. 2, that is, whether the rotating plate R is in the reference position. If it is not in the position d, step F206 → F2
Although the operation indicated by 07 is continued, when the state indicated by the position d is reached, the process proceeds to step F208 to stop the rotation of the motor.

[Operation of the limiter mechanism in the pan / tilt mechanism section of the platform] In the platform of this embodiment, the limiter mechanism configured as described above is provided in each of the pan / tilt mechanism sections described above. Will be applied. That is, the photocouplers 12 and 13 of the horizontal rotation position detection unit of the pan mechanism unit and the photocouplers 15 and 16 of the vertical rotation position detection unit of the tilt mechanism unit are connected to the CPU, and the control signal of this CPU drives the horizontal / vertical rotation drive. Connection to each motor driver section of the section.
Then, the CPU performs the processing shown in FIG. 16 and FIG. 17 for each of the pan mechanism section and the tilt mechanism section based on the input detection signal, thereby determining the rotation angle of the horizontal rotary plate 3 and the vertical rotary frame 6. It is configured so as to be able to control the limit and reset to the reference position.

10) Operation of Limiter Mechanism in Pan Mechanism Section Next, a case where the limiter mechanism in the pan mechanism section of the platform according to the present embodiment actually operates will be described. Figure 1
3 is a plan view showing the positional relationship between the notch 3 c provided in the horizontal rotary plate 3 serving as a horizontal rotary position detector and the photocouplers 12 and 13 fixed to the substrate 14. As described above, these photocouplers are of the transmission type. In this case, when the light from the light emitting element is incident on the light receiving element, it outputs H level, and the light from the light emitting element is blocked and the light receiving element is blocked. If it is not incident on the L level, the L level is output. The detection outputs of the photocouplers 12 and 13 are input to a CPU (not shown) via the board 14, for example.

FIG. 13A shows the case where the horizontal rotary plate 3 is at the reference position, in which the edge 3b is located with respect to the detection point of the photocoupler 12 and the cutout portion is provided at the detection point of the photocoupler 13. The photocouplers 12 and 13 are arranged so that the inside of the section 3c is reached. As can be seen from this positional relationship, the photocoupler 12 is for detecting the reference position and corresponds to the sensor S ₁ shown in FIG. 1. On the other hand, the photocoupler 13 is for detecting the reference position and the sensor S ₂ shown in FIG. It will be equivalent. Further, in the horizontal rotary plate 3 shown in FIG. 13, the rotations in the P and Q directions shown in FIG. 1, for example, the counterclockwise rotation is the P direction rotation shown in FIG. 1, and the clockwise rotation is the Q direction. It corresponds to each rotation.

At the reference position of FIG. 13 (a),
The photocoupler 12 shows the signal change by detecting the edge 3b, and the photocoupler 13 shows the H level by detecting the notch 3c, which corresponds to the position d in FIG. 2, and the CPU detects this detection signal. Is input, it is brought into a state of determining that the horizontal rotary plate 3 is at the reference position.

Further, FIG. 13B shows a state in which the horizontal rotary plate 3 is at the limit position in the counterclockwise direction (P direction), and the photocoupler 12 detects that it is within the section of the notch 3c. To output H level, and
Indicates that the edge 3a is detected and the signal changes, and the state shown in the position b in FIG. 2 is obtained. Then, when this detection signal is input to the CPU, it is in a state of determining that the horizontal rotary plate 3 is at the limit position in the P direction.

On the other hand, FIG. 13C shows a state in which the horizontal rotary plate 3 is at the limit position in the clockwise direction (Q direction), and the photocoupler 12 detects outside the range of the notch on the edge 3b side. Since the L level is output and the photocoupler 13 detects the edge 3b and indicates a signal change, it corresponds to the position f in FIG.
U is in a state of determining that the horizontal rotary plate 3 is at the limit position in the Q direction.

Therefore, for example, the user operates the remote control device 42 (shown in FIG. 19) to rotate the horizontal rotary plate 3 counterclockwise from a certain position,
When rotated to the limit position in the counterclockwise direction shown in FIG. 13B, the process shown in the flowchart of FIG. 16 (motor stop control at the limit position in the P direction) is performed, Horizontal rotating plate 3 in the state of (b)
The rotation of will be stopped. On the other hand, the horizontal rotary plate 3 is driven to rotate clockwise from a certain position, as shown in FIG.
Even when the clockwise limit position shown in (c) is reached, the process shown in the flowchart of FIG.
The rotation of the horizontal rotary plate 3 is stopped in the state shown in FIG. 13C by performing the motor stop control at the limit position in the direction. Further, in the limiter mechanism of the present embodiment, when there is an instruction to move the horizontal rotary plate 3 to the reference position by the processing (reset control to the reference position) shown in the flowchart of FIG. It is driven to rotate with respect to the reference position, and is controlled to stop the rotation of the horizontal rotary plate 3 in the state where the reference position shown in FIG.

11) Operation of Limiter Mechanism in Tilt Mechanism Section Next, the actual operation of the limiter mechanism in the tilt mechanism section will be described. FIG. 14 shows the positional relationship between the bent portions 19a and 19b provided on the left side plate 6b of the vertical rotation frame 6 serving as the vertical rotation position detection unit and the photocouplers 15 and 16 fixed to the substrate 17 from the back side. It is the figure seen.
In this case as well, the photocouplers 15 and 16 are transmissive, and when the light from the light emitting element enters the light receiving element, it outputs H level, and when the light from the light emitting element is blocked and does not enter the light receiving element. Outputs an L level. Further, in this case, for example, the rotation direction in which the optical axis of the mounted video camera faces downward corresponds to the P direction in FIG. 1, and the rotation direction in which the optical axis faces upward corresponds to the Q direction.

FIG. 14A shows the case where the vertical rotating frame 6 is at the reference position. The edge 19a ¹ is located at the detection point of the photocoupler 15 and the edge is detected at the detection point of the photocoupler 16. 19a ¹ and edge 1
9b ^{1 is} formed within the section of the cutout portion. As can be seen from this positional relationship, in this case, the photocoupler 15 is used as the reference position detecting sensor and corresponds to the sensor S ₁ in FIG.
Reference numeral 6 is a limit position detecting sensor and corresponds to the sensor S ₂ . At this time, the photocoupler 15 moves the edge 19a ¹
Is detected and the signal change is detected, and the photocoupler 16 detects the cutout portion to indicate the H level, which corresponds to the position d in FIG. Then, the CPU receives the detection signal and enters a state in which it is determined that the vertical rotation frame 6 is at the reference position.

FIG. 14B shows a limit position in the rotation direction (Q direction) in which the optical axis of the video camera faces upward, and the bent portion 19a of the photocoupler 15 blocks the light incident on the light receiving element. Therefore, the photocoupler 16 indicates the L level, and the photocoupler 16 indicates the signal change because it detects the edge 19a ¹ , which corresponds to the position f in FIG. Therefore, from this signal state, the CPU determines that the vertical rotation frame 6 has Q
The state is such that it is determined that the position is the limit position in the direction.

Further, FIG. 14C shows the limit position in the rotation direction (P direction) in which the optical axis of the video camera faces downward, and since the photocoupler 15 is in the section of the cutout portion, H The level is output, and the photocoupler 16 detects the edge 19b ¹ to indicate a signal change. Therefore, this corresponds to the position b in FIG. 2, and from this signal state, the CPU is in a state in which it is determined that the vertical rotating frame 6 is at the limit position in the P direction.

For example, according to the operation of the remote control device 42 by the user, the vertical rotation frame 6 is rotationally driven in a rotation direction in which the optical axis of the video camera faces upward from a certain position, and the limit position shown in FIG. When the rotation is up to, the processing shown in the flowchart of FIG. 16 (motor stop control at the limit position in the Q direction) is performed, and the rotation of the vertical rotation frame 6 is stopped at the position of FIG. 14B. Will be done. On the other hand, even when the vertical rotation frame 6 is rotationally driven from the position where the vertical rotation frame 6 is present to the rotation direction in which the optical axis of the video camera is directed downward and is rotated to the clockwise limit position shown in FIG. By performing the processing shown in the flowchart of (motor stop control at the limit position in the P direction), the rotation of the vertical rotation frame 6 is stopped at the position of FIG. 13C. Further, when there is an instruction to move the vertical rotation frame 6 to the reference position by the processing shown in the flowchart of FIG. 17 (reset control to the reference position), the vertical rotation frame 6 is rotationally driven with respect to the reference position. The vertical rotation frame 6 is controlled to stop rotating in the state where the reference position shown in FIG.

With such a configuration, in the pan / tilt mechanism section of the platform of the present embodiment, a limiter mechanism capable of limiting the allowable rotation angle and controlling the reset to the reference position is realized. The Rukoto. It goes without saying that the limiter mechanism may be configured to perform other control as long as it is based on the detection information of the rotational position detecting device shown in FIG. Further, although the photo coupler is used as the sensor in the above embodiment, the same effect can be obtained by using a sensor such as a micro switch. However, in consideration of the physical load on the components of the pan / tilt mechanism section, it is preferable to use a non-contact type sensor such as a photocoupler as in this embodiment.

[Other Embodiments] FIG. 18 is a perspective view showing a horizontal rotational position detecting portion as another embodiment. The same parts as those in FIG. 7 are designated by the same reference numerals and the description thereof will be omitted. FIG.
On the horizontal rotary plate 3 of (a), a convex portion 3e having a predetermined length is provided as a detected portion along the rotation direction. Also in the case of such a configuration, the photocouplers 12 and 13 detect the edges at both ends of the convex portion 3e, and the same effect as that of the rotational position detecting device in the previous embodiment can be obtained. However, in this case, the transmissive photocouplers 12 and 13 make a signal change in a phase opposite to that in the case shown in FIG. Further, as shown by the hatched portion in FIG. 18B, for example, a coating having a property of reflecting light is applied to a portion of the horizontal rotary plate 3 which is to be detected, or a light reflecting plate or The same effect as that of the previous embodiment can be obtained by providing the light reflecting portion 3f by performing processing such as attaching a sheet. In this case, the photocouplers 12 and 13 are of the reflection type. Although FIG. 18 shows the detected part in the horizontal rotational position detecting unit, it goes without saying that the present invention can also be applied to the detected part in the vertical rotational position detecting unit. The form of the part corresponding to can be changed as long as it has the same effect as the above embodiment.

Further, the application of the rotational position detecting device and the limit mechanism including the rotational position detecting device according to the present invention is not limited to the pan head of the video camera of the conference television in the above embodiment. In addition, various applications are possible, such as a pan head of a surveillance camera, a toy, or a swivel base, which does not require relatively accurate detection of a rotation angle and requires miniaturization. It Further, in the present embodiment, the rotation position detecting device for detecting the rotation position of the rotary plate has been described. However, in the case of the configuration of the present invention, it is possible to detect the moving position of the moving body which performs the linear motion between the predetermined ranges. Of course, since it is also possible, the same effect as the previous embodiment can be obtained by configuring it as a linear movement position detecting device.

[0070]

As described above, the moving position detecting device of the present invention detects the reference position of the moving body, the allowable moving range, and the deviation direction from the reference position by the two sensors and the detected portion. As a result, it can be performed by a configuration including a cutout portion of a predetermined length provided in the moving body. Accordingly, the number of sensors can be a minimum of two, and a simple configuration in which only a part of the moving body corresponds to a simple notch is required. Since the notch is not formed over the entire circumference of the rotating body as described above, the shape of the moving body is not limited and the range of use thereof is widened. Furthermore, since the number of parts related to the rotational position detecting device can be reduced and high precision is not required in forming the cutout portion, ordinary processing technology can sufficiently cope with it, and adjustment during assembly is unnecessary. In addition to reducing the cost, the space occupied by the moving position detecting unit can be significantly reduced, and it is possible to reduce the size of a device using the moving position detecting device. Further, the same effect as described above can be obtained by providing a convex portion or a light reflecting portion instead of the cutout portion as the detected portion. In particular, when the moving position detecting device in the present invention is used in a device including a rotating body or a moving body that does not require detection of a fine rotation angle or moving position,
It is useful from the viewpoint of cost and downsizing.

[Brief description of drawings]

FIG. 1 is an explanatory view conceptually showing a moving position detecting device in an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a detection output of a sensor in the moving position detecting device according to the present embodiment.

FIG. 3 is a plan view of a tripod head in the present embodiment.

FIG. 4 is a side view of a platform according to this embodiment.

FIG. 5 is a front view of a tripod head in the present embodiment.

FIG. 6 is an exploded perspective view of a platform according to the present embodiment.

FIG. 7 is a plan view showing the operation of the horizontal rotation drive unit in the platform of the present embodiment.

FIG. 8 is a side view showing the operation of the horizontal rotating unit in the platform according to the present embodiment.

FIG. 9 is a side view showing a vertical rotation drive unit in the platform of the present embodiment.

FIG. 10 is a side view showing the operation of the vertical rotation unit in the platform according to the present embodiment.

FIG. 11 is an enlarged perspective view showing a horizontal rotational position detection unit in the platform according to the present embodiment.

FIG. 12 is an enlarged perspective view showing a vertical rotation position detection unit in the platform according to the present embodiment.

FIG. 13 is an explanatory diagram showing a detection operation of a horizontal rotation position detection unit in the platform according to the present embodiment.

FIG. 14 is an explanatory diagram showing a detection operation of a vertical rotation position detection unit in the platform according to the present embodiment.

FIG. 15 is a block diagram showing the configuration of a limiter mechanism in the camera platform of this embodiment.

FIG. 16 is a flowchart showing the control operation of the CPU in the limiter mechanism of this embodiment.

FIG. 17 is a flowchart showing the control operation of the CPU at the time of resetting the reference position in the limiter mechanism of the present embodiment.

FIG. 18 is an enlarged perspective view showing a detected portion of a horizontal rotational position detecting portion according to another embodiment.

FIG. 19 is a perspective view showing the external appearance of a conference television receiver equipped with the platform of the present embodiment.

FIG. 20 is a block diagram showing a configuration of a conventional rotational position detecting device.

[Explanation of symbols]

R rotary plate S ¹ , S ² sensor 1 chassis lower part 2 video camera 3 horizontal rotary plate 3a, 3b, 19a ¹ , 19b ¹ edge 3c cutout 3d driven gear 4 support plate 5 gearbox 6 vertical rotary frame 7 horizontal rotary shaft 8a , 8b Vertical rotation shaft 12, 13, 15, 16 Photocoupler 20 Horizontal rotation motor 25 Vertical rotation motor 53 CPU

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H04N 5/222 B

Claims (5)

[Claims] 1. A moving body that reciprocates along a fixed trajectory, a detected portion formed on the moving body and having a certain range along the moving direction of the moving body, and a movement of the detected portion. First and second portions arranged along the moving direction of the detected portion so as to detect both ends of the detected portion in the moving direction, respectively. In a moving position detecting device including a detecting means, wherein the distance between the first and second detecting means is smaller than the distance between the detected portions, the moving body is set as a reference position within a moving range. In this case, the first detecting means is located at a position where one end of the detected part should be detected, and the second detecting means is located at a predetermined position between both ends of the detected part. A moving position detecting device characterized by being configured. 2. The moving position detecting device according to claim 1, wherein the detected part is provided as a notch in the moving body. 3. The moving position detecting device according to claim 1, wherein the detected portion is provided as a convex portion on the moving body. 4. The moving position detecting device according to claim 1, wherein the detected part is provided on the moving body as a light reflecting part. 5. The moving position detecting device according to claim 1, wherein the pan and / or tilt device is provided on a pan head of the camera.