CN106494635A - The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform - Google Patents
The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform Download PDFInfo
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- CN106494635A CN106494635A CN201611221539.5A CN201611221539A CN106494635A CN 106494635 A CN106494635 A CN 106494635A CN 201611221539 A CN201611221539 A CN 201611221539A CN 106494635 A CN106494635 A CN 106494635A
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- 238000007667 floating Methods 0.000 title claims abstract description 49
- 238000004804 winding Methods 0.000 claims description 39
- 230000000694 effects Effects 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 10
- 230000005389 magnetism Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F6/00—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The present invention proposes a kind of floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform, and the floating obstacle avoidance apparatus of the magnetic include the floating component of magnetic and avoidance module；The floating component of the magnetic includes driver part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；Attitudes vibration of the driver part according to the avoidance module, drives, and adjusts the avoidance module to targeted attitude with floating rotation of magnetic by the outer rotor.The floating obstacle avoidance apparatus of the magnetic of the present invention and magnetic floating clouds platform, can self-adaptative adjustment attitude, more stable.
Description
Technical field
The present invention relates to the technology such as avoidance, more particularly to a kind of floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform.
Background technology
Unmanned plane vision navigation system has the technology of complicated unknown flight environment of vehicle Real-time modeling set, autonomous positioning and navigation special
Point.Unmanned aerial vehicle platform, can be by carrying the multiple sensors such as visible image capturing head, infrared camera and range finder using laser simultaneously
Collection multidimensional flight environment of vehicle information, using data interaction and the cooperated computing framework of airborne processor and earth station, real-time reconstruction
The threedimensional model of unknown flight environment of vehicle, realizes being independent of the autonomous positioning of any outside location equipment (such as GPS etc.) and from main view
Feel avoidance, tracking and landing, can be widely applied to the complicated unknown flight environment of vehicle of communication environment and scout, monitor and detection, disaster
The applications such as scene search and rescue.
The vision obstacle avoidance system major part that applies on unmanned plane at present is single direction, the spirit 4 of such as DJI,
The products such as the TyphoonH of YUNEEC.
These avoidance schemes are all that optical pickocff is fixed on above unmanned plane body.And being fixed on body has two
Shortcoming：1. the vibrations of unmanned plane body are big, the optical image information also high dither therewith that can so cause sensor collection to come,
Thus high-resolution avoidance camera cannot be applied, cause to be difficult to tell very tiny barrier, such as electric wire etc.；2. fly
Row opportunity figure state can change, and can so cause the camera lens of avoidance module be directed at the plane of heading always, it is impossible to real
Existing avoidance during flight.It is to limit attitudes vibration angle of the unmanned plane in motion process that tradition solves this method, also
It is to limit unmanned plane during flying speed, causes flight experience bad, and the avoidance in the case of body vibration cannot be realized.
Content of the invention
The technical problem to be solved is to provide a kind of floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform, being capable of self adaptation tune
Whole attitude, more stable.
For solving the above problems, the present invention proposes a kind of floating obstacle avoidance apparatus of magnetic, including the floating component of magnetic and avoidance module；Described
The floating component of magnetic includes driver part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；The drive division
Attitudes vibration of the part according to the avoidance module, drives, with logical
Cross floating rotation of magnetic of the outer rotor and the avoidance module is adjusted to targeted attitude.
According to one embodiment of present invention, in the circumference that the avoidance module includes be arranged in the outer rotor and direction
The avoidance camera lens in outside, the field range formed by whole avoidance camera lenses cover the four corner in circumference, to realize that omnidirectional keeps away
Barrier.
According to one embodiment of present invention, the avoidance camera lens includes four pairs of binocular heads or six pairs of binocular heads,
It is evenly spaced apart ring to be located in the circumference of the outer rotor.
According to one embodiment of present invention, the driver part includes：It is fixed on the permanent magnetism of the inner side of the outer rotor
Body；It is fixed on the coil windings in the outside of the inner stator；And control module, for the attitudes vibration according to the avoidance module
And control the coil windings energization and produce different magnetic force changes, accordingly rotated under magnetic buoyancy effect with controlling the permanent magnet
And dynamic balance is kept, so as to drive the avoidance module to adjust to targeted attitude.
According to one embodiment of present invention, one end of the inner stator is flexibly connected with the outer rotor, described default
The other end of son is extend out to outside the outer rotor.
According to one embodiment of present invention, the outer rotor opens up windowing for the position that the inner stator stretches out,
Extending area of the bore of the windowing more than the inner stator.
According to one embodiment of present invention, one end of the inner stator is connected by universal joint with the outer rotor.
According to one embodiment of present invention, the other end of the inner stator by connecting rod extend out to the outer rotor it
Outward, and it is connected in not manned mobile device.
According to one embodiment of present invention, the not manned mobile device is unmanned plane.
According to one embodiment of present invention, the outer rotor is in hollow ball-shape, and permanent magnet form fit ground ring sets
Inner side in the outer rotor；The inner stator corresponds to the position of the coil windings in spherical inner core, the coil windings shape
Matchingly ring is located at the outside of the spherical inner core to shape；The permanent magnet and the coil windings are oppositely arranged, and between the two
There is equidistant gap.
According to one embodiment of present invention, also include attitude transducer, be fixedly installed with respect to the avoidance module, in order to
Sense the attitudes vibration of the avoidance module, and attitude signal is transmitted to the driver part.
The present invention also provides a kind of magnetic floating clouds platform, including：Driver part, inner stator and outer rotor；The driver part root
According to the attitudes vibration of the outer rotor, drive, with by described
The magnetic of outer rotor floats and rotates and adjust the outer rotor to targeted attitude.
According to one embodiment of present invention, the driver part includes：It is fixed on the permanent magnetism of the inner side of the outer rotor
Body；It is fixed on the coil windings in the outside of the inner stator；And control module, for the attitudes vibration according to the outer rotor
Control the coil windings and be powered to produce different magnetic force changes, with control the permanent magnet under magnetic buoyancy effect corresponding rotation and
Dynamic balance is kept, so as to drive the outer rotor to adjust to targeted attitude.
According to one embodiment of present invention, one end of the inner stator is flexibly connected with the outer rotor, described default
The other end of son is extend out to outside the outer rotor.
According to one embodiment of present invention, the outer rotor opens up windowing for the position that the inner stator stretches out,
Extending area of the bore of the windowing more than the inner stator.
According to one embodiment of present invention, one end of the inner stator is connected by universal joint with the outer rotor.
According to one embodiment of present invention, the other end of the inner stator by connecting rod extend out to the outer rotor it
Outward, and it is connected in not manned mobile device.
According to one embodiment of present invention, the not manned mobile device is unmanned plane.
According to one embodiment of present invention, the outer rotor is in hollow ball-shape, and permanent magnet form fit ground ring sets
Inner side in the outer rotor；The inner stator corresponds to the position of the coil windings in spherical inner core, the coil windings shape
Matchingly ring is located at the outside of the spherical inner core to shape；The permanent magnet and the coil windings are oppositely arranged, and between the two
There is equidistant gap.
According to one embodiment of present invention, also include attitude transducer, be fixedly installed on the outer rotor, in order to feel
The attitudes vibration of the outer rotor is answered, and attitude signal is transmitted to the driver part.
According to one embodiment of present invention, also include head camera, be arranged on the outer rotor.
After using above-mentioned technical proposal, the present invention is had the advantages that compared to existing technology：
According to the different attitudes vibrations of avoidance module, in the floating component of magnetic, different magnetic buoyancy are produced, default by adjusting
Position relationship between son and outer rotor, reaches magnetic buoyancy balance, to keep the targeted attitude of the avoidance module on outer rotor, real
Existing avoidance module attitude-adaptive adjustment, can cause avoidance module attitude stabilization in use, no matter not manned shifting
The how action of dynamic device, with can keeping avoidance module stability towards the direction of required detecting, the figure that avoidance module is collected
As with more stable, thus the optical lens of higher resolution can be adopted, more tiny barrier can also be differentiated clearly, from
And more effectively realize avoidance, and no longer the action of not manned mobile device is caused to constrain；
The adjustment of attitude is controlled with the effect of magnetic buoyancy, as the control for magnetic buoyancy can be accomplished relatively accurately, separately
The action that lower adjustment outer rotor is ordered about in external dynamic balance effect is fast quickly in reaction, enters action with not manned mobile device substantially
While work, strain action is carried out, thus the pose adjustment of avoidance module is more accurately and fast.
Description of the drawings
Fig. 1 is the dimensional structure diagram that the magnetic of the embodiment of the present invention floats obstacle avoidance apparatus；
Fig. 2 is the dimensional structure diagram that the magnetic of the embodiment of the present invention floats obstacle avoidance apparatus；
Fig. 3 is the cross-sectional view that the magnetic of the embodiment of the present invention floats obstacle avoidance apparatus.
Description of symbols in figure：
11- inner stators, 12- outer rotors, 13- coil windings, 14- permanent magnets, 15- connecting rods, 2- avoidance modules, 3- are universal
Section, 4- installation portions.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Elaborate a lot of details in order to fully understanding the present invention in the following description.But the present invention can be with
Much it is different from alternate manner described here to implement, those skilled in the art can be in the situation without prejudice to intension of the present invention
Under do similar popularization, therefore the present invention be not embodied as being limited by following public.
Referring to Fig. 1-3, in one embodiment, the floating obstacle avoidance apparatus of magnetic include the floating component of magnetic and avoidance module 2.Magnetic floats component
Including driver part, inner stator 11 and outer rotor 12.Avoidance module 2 is provided with outer rotor 12.
Avoidance module 2 is used for detecting the barrier in the surrounding environment of not manned mobile device.Avoidance module 2 can be adopted
Various avoidance sensors, e.g. IR evading obstacle sensors, laser range sensor, ultrasonic distance-measuring sensor etc., preferably adopt
With optical pickocff, the floating obstacle avoidance apparatus of magnetic can cause optical lens attitude stabilization, retain towards a direction.
In one embodiment, avoidance module is arranged on not manned shifting on outer rotor 12, then by inner stator 11
On dynamic device, not manned mobile device can be for example unmanned plane, realize the avoidance of whole unmanned plane, will compared to prior art
For collision avoidance module is directly anchored on unmanned plane body, no matter how airframe vibrates or how attitude changes, avoidance
Module 2 acts on adjusting attitude by magnetic buoyancy, stable in the plane of heading always, very tiny such that it is able to tell
Barrier, realize avoidance during unmanned plane during flying, also do not limit the attitudes vibration angle during unmanned plane during flying or flight
Speed, flight experience are more preferable.It is appreciated that not manned mobile device is not restricted to unmanned plane, for example, can also be robot
Deng.
Attitudes vibration of the driver part according to avoidance module 2, drives
Change, avoidance module 2 is adjusted to targeted attitude with floating rotation of magnetic by outer rotor 12.The attitudes vibration of avoidance module 2 is phase
For targeted attitude, when not manned mobile device attitudes vibration, the floating obstacle avoidance apparatus of magnetic thereon also can follow action,
Avoidance module 2 thus occur attitudes vibration, detect avoidance module 2 attitudes vibration when, driver part controls outer rotor immediately
12 relative inner stator, 11 activity, is adjusted on targeted attitude.
According to the different attitudes vibrations of avoidance module 2, in the floating component of magnetic, different magnetic buoyancy are produced, default by adjusting
Position relationship between son 11 and outer rotor 12, reaches magnetic buoyancy balance, to keep the target of the avoidance module 2 on outer rotor 12
Attitude, realizes that 2 attitude-adaptive of avoidance module is adjusted, no matter can cause the attitude stabilization in use of avoidance module 2
The how action of not manned mobile device, can keep avoidance module 2 stably towards the direction of required detecting, avoidance module 2
The image for collecting with more stable, thus can adopt the optical lens of higher resolution, and more tiny barrier also can
It is clear to differentiate, and so as to more effectively realize avoidance, and no longer the action of not manned mobile device is caused to constrain.
In one embodiment, avoidance module 2 includes in the circumference for be arranged in outer rotor 12 and the avoidance mirror towards outside
Head, the field range that whole avoidance camera lenses can be photographed cover the four corner in circumference, to realize omnidirectional's avoidance, can visit
Measure the barrier in all directions.More specifically, avoidance camera lens can include four pairs of binocular heads or six pairs of binocular heads,
It is evenly spaced apart ring to be located in the circumference of outer rotor.In fig. 1-3, avoidance camera lens includes that six pairs of binocular heads, outer rotor are used for
The position of avoidance camera lens is set in positive six prismsby type, each pair is arranged on a side of positive six prismsby.
Existing avoidance module can only detect a direction, be typically only capable to detect the barrier in the environment of front, if desired
Detection surrounding environment, then need control rotation detection position just detect, more bother, easily produce unstable in control
Interference, and cannot realize while detecting environment in omnidirectional.The embodiment of the present invention is all provided with binocular head, nothing in the circumferential
Its rotation detection position need to be controlled, is kept static and at every moment can be detected surrounding environment, realize omnidirectional's obstacle simultaneously
Detection；And the binocular head for arranging, human eye is similar to, can cause the image for detecting that there is depth, realize three-dimensional imaging, to obstacle
The resolution of thing becomes apparent from, the distance that can determine barrier by the parallax between binocular head, accomplishes more accurate avoidance, gram
The problem that existing avoidance module is present is taken.
In one embodiment, referring to 1 and Fig. 3, driver part includes：Permanent magnet 14, coil windings 13 and control module
(not shown).Permanent magnet 14 is fixed on the inner side of outer rotor 12, and coil windings 13 are fixed on the outside of inner stator 11, coil
Winding 13 can occur magnetic buoyancy change to 14 generation effect of permanent magnet after the power-up, can detect the direction in magnetic field with Hall element
With change, both poised states are controlled.Attitudes vibration of the control module according to avoidance module 2, and control coil winding 13
It is powered and produces different magnetic force changes, as magnetic force change causes power uneven, permanent magnet 14 is accordingly rotated under magnetic buoyancy effect
And dynamic balance is kept, so as to drive avoidance module 2 to adjust to targeted attitude.
The adjustment of attitude is controlled with the effect of magnetic buoyancy, as the control for magnetic buoyancy can be accomplished relatively accurately, separately
The action that lower adjustment outer rotor 12 is ordered about in external dynamic balance effect is fast quickly in reaction, carries out with not manned mobile device substantially
While action, strain action is carried out, thus the pose adjustment of avoidance module 2 is more accurately and fast.
In one embodiment, one end of inner stator 11 is flexibly connected with outer rotor 12, and the other end of inner stator 11 stretches out
To outside outer rotor 12, can be used to connect not manned mobile device or other devices.Can be with the other end of inner stator 11
One connecting rod 15 is set, and outside outer rotor 12 being extend out to by connecting rod 15, installation portion 4 can also be set in connecting rod 15,
It is connected in not manned mobile device by installation portion 4.
Outer rotor 12 opens up windowing, bore the stretching out more than inner stator 11 of windowing for the position that inner stator 11 stretches out
Position (connecting rod 15), so as to the rotation of outer rotor 12 is unlikely to be affected by inner stator 11.One end of inner stator 11 with outer
Rotor 12 is connected by universal joint 3 so that can be rotated relatively freely on multi-direction between inner stator 11 and outer rotor 12, is protected
Card inner stator 11 and the connection of outer rotor 12, while ensure that inner stator can adjust.
In one embodiment, in hollow ball-shape, 14 form fit of permanent magnet ground ring is located at outer rotor 12 to outer rotor 12
Inner side, the position of the corresponding coil windings 13 of inner stator 11 is in spherical inner core, and 13 form fit of coil windings ground ring is located at spherical interior
The outside of core, permanent magnet 14 and coil windings 13 are oppositely arranged, and have equidistant gap between the two.
Referring to Fig. 3, in hollow ball-shape, inner surface is spherical, and permanent magnet 14 is attached to the inner side of outer rotor 12 for outer rotor 12,
And be intervally arranged between multiple permanent magnets 14, the polarity of each permanent magnet 14 becomes according to the energization situation of change of coil windings 13
Change.It is in spherical inner core that inner stator 11 arranges the position of coil windings 13, and it is interior with spherical that coil windings 13 can pass through connection minor matters
Core connects, and the shape of coil windings 13 is also spherical.Permanent magnet 14 and coil windings 13 are oppositely arranged, and exist between the two
Gap, gap is everywhere apart from equal.
Each part is spherical in shape, it is ensured that outer rotor 12 and inner stator 11 occur all directions and relatively rotate, and also do not make both
Between depart from magnetic buoyancy mutual effect of contraction, such that it is able to keep the stable adjustment of 2 attitude of avoidance module on outer rotor 12, i.e.,
Make UAV Maneuver larger, attitude also smoothly can be adjusted.
In one embodiment, the floating obstacle avoidance apparatus of magnetic also include attitude transducer (not shown).Attitude transducer phase
Avoidance module 2 is fixedly installed, for example, can be arranged on outer rotor 12, in order to sense the attitudes vibration of avoidance module 2, and will
Attitude signal is transmitted to driver part, and after the control module of driver part receives attitude signal, control coil winding 13 is corresponding logical
Electricity, produces corresponding magnetic force change, and control attitude resets to targeted attitude.
The present invention also provides a kind of magnetic floating clouds platform, including：Driver part, inner stator and outer rotor；The driver part root
According to the attitudes vibration of the outer rotor, drive, with by described
The magnetic of outer rotor floats and rotates and adjust the outer rotor to targeted attitude.
According to one embodiment of present invention, the driver part includes：It is fixed on the permanent magnetism of the inner side of the outer rotor
Body；It is fixed on the coil windings in the outside of the inner stator；And control module, for the attitudes vibration according to the outer rotor
Control the coil windings and be powered to produce different magnetic force changes, with control the permanent magnet under magnetic buoyancy effect corresponding rotation and
Dynamic balance is kept, so as to drive the outer rotor to adjust to targeted attitude.
According to one embodiment of present invention, one end of the inner stator is flexibly connected with the outer rotor, described default
The other end of son is extend out to outside the outer rotor.
According to one embodiment of present invention, the outer rotor opens up windowing for the position that the inner stator stretches out,
Extending area of the bore of the windowing more than the inner stator.
According to one embodiment of present invention, one end of the inner stator is connected by universal joint with the outer rotor.
According to one embodiment of present invention, the other end of the inner stator by connecting rod extend out to the outer rotor it
Outward, and it is connected in not manned mobile device.
According to one embodiment of present invention, the not manned mobile device is unmanned plane.
According to one embodiment of present invention, the outer rotor is in hollow ball-shape, and permanent magnet form fit ground ring sets
Inner side in the outer rotor；The inner stator corresponds to the position of the coil windings in spherical inner core, the coil windings shape
Matchingly ring is located at the outside of the spherical inner core to shape；The permanent magnet and the coil windings are oppositely arranged, and between the two
There is equidistant gap.
According to one embodiment of present invention, also include attitude transducer, be fixedly installed on the outer rotor, in order to feel
The attitudes vibration of the outer rotor is answered, and attitude signal is transmitted to the driver part.
According to one embodiment of present invention, also include head camera, be arranged on the outer rotor.
Particular content with regard to the magnetic floating clouds platform of the present invention may refer to the description of the floating obstacle avoidance apparatus of magnetic in previous embodiment,
Difference is, can be not provided with avoidance module and arrange miscellaneous part on magnetic floating clouds platform, for example, can arrange head camera, or
Avoidance module and head camera etc. can be set simultaneously.
Although the present invention is disclosed as above with preferred embodiment, which is not any this area for limiting claim
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore of the invention
The scope that protection domain should be defined by the claims in the present invention is defined.
Claims (21)
1. a kind of magnetic floats obstacle avoidance apparatus, it is characterised in that including the floating component of magnetic and avoidance module；The floating component of the magnetic includes driving
Part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；The driver part is according to the avoidance mould
The attitudes vibration of block, drives, with by the magnetic of the outer rotor
Float rotate and the avoidance module is adjusted to targeted attitude.
2. magnetic as claimed in claim 1 floats obstacle avoidance apparatus, it is characterised in that the avoidance module includes being arranged in described outer turn
In the circumference of son and avoidance camera lens towards outside, the field range formed by whole avoidance camera lenses covers the whole models in circumference
Enclose, to realize omnidirectional's avoidance.
3. floating obstacle avoidance apparatus of magnetic as claimed in claim 2, it is characterised in that the avoidance camera lens include four pairs of binocular heads or
Person six is evenly spaced apart ring and is located in the circumference of the outer rotor to binocular head.
4. magnetic as claimed in claim 1 floats obstacle avoidance apparatus, it is characterised in that the driver part includes：It is fixed on described outer
The permanent magnet of the inner side of rotor；It is fixed on the coil windings in the outside of the inner stator；And control module, for being kept away according to described
The attitudes vibration of barrier module and control the coil windings and be powered to produce different magnetic force changes, floating in magnetic to control the permanent magnet
Power effect is lower accordingly to be rotated and holding dynamic balance, so as to drive the avoidance module to adjust to targeted attitude.
5. the floating obstacle avoidance apparatus of magnetic as described in claim 1 or 4, it is characterised in that one end of the inner stator is turned with described outward
Subactivity connects, and the other end of the inner stator is extend out to outside the outer rotor.
6. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that the outer rotor is used for what the inner stator stretched out
Position opens up windowing, and the bore of the windowing is more than the extending area of the inner stator.
7. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that one end of the inner stator is logical with the outer rotor
Cross universal joint connection.
8. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that the other end of the inner stator is stretched by connecting rod
Outside going out to the outer rotor, and it is connected in not manned mobile device.
9. magnetic as claimed in claim 8 floats obstacle avoidance apparatus, it is characterised in that the not manned mobile device is unmanned plane.
10. floating obstacle avoidance apparatus of magnetic as claimed in claim 4, it is characterised in that the outer rotor is in hollow ball-shape, the permanent magnetism
Matchingly ring is located at the inner side of the outer rotor to shape；The position of the corresponding coil windings of the inner stator is in spherical interior
Core, coil windings form fit ground ring are located at the outside of the spherical inner core；The permanent magnet and the coil windings phase
To arranging, and there is equidistant gap between the two.
11. magnetic as claimed in claim 1 float obstacle avoidance apparatus, it is characterised in that also include attitude transducer, with respect to the avoidance
Module is fixedly installed, and in order to sense the attitudes vibration of the avoidance module, and attitude signal is transmitted to the driver part.
12. a kind of magnetic floating clouds platforms, it is characterised in that include：Driver part, inner stator and outer rotor；The driver part according to
The attitudes vibration of the outer rotor, drives, with by described outer
The magnetic of rotor floats and rotates and adjust the outer rotor to targeted attitude.
13. magnetic floating clouds platforms as claimed in claim 12, it is characterised in that the driver part includes：It is fixed on described outer turn
The permanent magnet of the inner side of son；It is fixed on the coil windings in the outside of the inner stator；And control module, for according to described outer turn
The attitudes vibration of son and control the coil windings and be powered to produce different magnetic force changes, made in magnetic buoyancy with controlling the permanent magnet
Dynamic balance is kept with lower corresponding rotation, so as to drive the outer rotor to adjust to targeted attitude.
The 14. magnetic floating clouds platforms as described in claim 12 or 13, it is characterised in that one end of the inner stator and the outer rotor
It is flexibly connected, the other end of the inner stator is extend out to outside the outer rotor.
15. magnetic floating clouds platforms as claimed in claim 14, it is characterised in that the outer rotor is used for the portion that the inner stator stretches out
Windowing is opened up at position, and the bore of the windowing is more than the extending area of the inner stator.
16. magnetic floating clouds platforms as claimed in claim 14, it is characterised in that one end of the inner stator is passed through with the outer rotor
Universal joint connects.
17. magnetic floating clouds platforms as claimed in claim 14, it is characterised in that the other end of the inner stator is stretched out by connecting rod
To outside the outer rotor, and it is connected in not manned mobile device.
18. magnetic floating clouds platforms as claimed in claim 17, it is characterised in that the not manned mobile device is unmanned plane.
19. magnetic floating clouds platforms as claimed in claim 13, it is characterised in that the outer rotor be in hollow ball-shape, the permanent magnet
Form fit ground ring is located at the inner side of the outer rotor；The position of the corresponding coil windings of the inner stator is in spherical inner core,
Coil windings form fit ground ring is located at the outside of the spherical inner core；The permanent magnet and the coil windings are set relatively
Put, and have equidistant gap between the two.
20. magnetic floating clouds platforms as claimed in claim 12, it is characterised in that also include attitude transducer, are fixedly installed on described
On outer rotor, in order to sense the attitudes vibration of the outer rotor, and attitude signal is transmitted to the driver part.
21. magnetic floating clouds platforms as claimed in claim 12, it is characterised in that also include head camera, be arranged on the outer rotor
On.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611221539.5A CN106494635A (en) | 2016-12-26 | 2016-12-26 | The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform |
| US15/687,253 US10053230B2 (en) | 2016-12-26 | 2017-08-25 | Magnetic levitation obstacle avoidance device and magnetic levitation holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611221539.5A CN106494635A (en) | 2016-12-26 | 2016-12-26 | The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform |
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| Publication Number | Publication Date |
|---|---|
| CN106494635A true CN106494635A (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611221539.5A Pending CN106494635A (en) | 2016-12-26 | 2016-12-26 | The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108682187A (en) * | 2018-05-17 | 2018-10-19 | 彭美江 | A kind of floating obstacle avoidance apparatus of novel magnetic |
| CN108773495A (en) * | 2018-06-20 | 2018-11-09 | 徐祥胤 | A kind of floating avoidance equipment of magnetic |
| CN110091991A (en) * | 2019-04-15 | 2019-08-06 | 中国建筑第八工程局有限公司 | Gravity self-balancing laser range finder for small drone |
| CN110901936A (en) * | 2019-12-13 | 2020-03-24 | 珠海大横琴科技发展有限公司 | Unmanned aerial vehicle and airborne aerial photography image stabilizing cradle head thereof |
| WO2020228069A1 (en) * | 2019-05-15 | 2020-11-19 | 深圳傲科海科技有限公司 | Suspension control method, controller, support apparatus and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108682187A (en) * | 2018-05-17 | 2018-10-19 | 彭美江 | A kind of floating obstacle avoidance apparatus of novel magnetic |
| CN108773495A (en) * | 2018-06-20 | 2018-11-09 | 徐祥胤 | A kind of floating avoidance equipment of magnetic |
| CN110091991A (en) * | 2019-04-15 | 2019-08-06 | 中国建筑第八工程局有限公司 | Gravity self-balancing laser range finder for small drone |
| WO2020228069A1 (en) * | 2019-05-15 | 2020-11-19 | 深圳傲科海科技有限公司 | Suspension control method, controller, support apparatus and readable storage medium |
| CN110901936A (en) * | 2019-12-13 | 2020-03-24 | 珠海大横琴科技发展有限公司 | Unmanned aerial vehicle and airborne aerial photography image stabilizing cradle head thereof |
| CN112460195A (en) * | 2020-11-26 | 2021-03-09 | 湖南阿波罗智行科技有限公司 | Magnetic suspension buffer device for vehicle transportation |
| CN112460195B (en) * | 2020-11-26 | 2022-08-19 | 湖南阿波罗智行科技有限公司 | Magnetic suspension buffer device for vehicle transportation |
| WO2023272601A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市大疆创新科技有限公司 | Damping structure, movable platform, and load damping method |
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Application publication date: 20170315 |