CN107111322B - Holder and its operating method, control method, and the movable equipment using it - Google Patents
Holder and its operating method, control method, and the movable equipment using it Download PDFInfo
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- CN107111322B CN107111322B CN201680004520.7A CN201680004520A CN107111322B CN 107111322 B CN107111322 B CN 107111322B CN 201680004520 A CN201680004520 A CN 201680004520A CN 107111322 B CN107111322 B CN 107111322B
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- 238000000034 method Methods 0.000 title claims description 34
- 238000011017 operating method Methods 0.000 title claims description 32
- 238000009434 installation Methods 0.000 claims abstract description 385
- 230000033001 locomotion Effects 0.000 claims abstract description 143
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 230000005484 gravity Effects 0.000 claims description 66
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
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- 238000010586 diagram Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Studio Devices (AREA)
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Abstract
A kind of holder (100), including driving mechanism (40), the driving mechanism (40) they include: rotor assembly (43), comprising: installation part (432), for carrying external loading；And actuator (433), it is set on the installation part (431)；Stator (41) is rotationally connected to the actuator (433), and the stator includes spherical surface (411), and the spherical surface (411) is in contact with the actuator (433)；Wherein, the actuator (433) can drive the installation part (431) to rotate relative to the stator (41)；And first sensor (62), it is set on the rotor assembly (43), and the motion state for detecting the rotor assembly (43), the testing result of the first sensor (62) can be used in adjusting the movement of the runner assembly (43).
Description
Technical field
The present invention relates to a kind of holder and its operating methods, control method, and use the movable equipment of the holder.
Background technique
Under normal conditions, multiaxis electric platform, such as two axle The Cloud Terraces or three axis holders, the rotation of each axis is respectively by difference
Actuator driving, to realize the cooperative motion of holder in a plurality of directions.However, above-mentioned holder is due to including using respectively
In the actuator for driving each axis rotation, volume is relatively large, is unfavorable for the Miniaturization Design of the holder.
Summary of the invention
In view of the foregoing, it is necessary to a kind of holder that structure is relatively more compact be provided, there is a need to provide the holder
Operating method, control method, and using the holder movable equipment.
A kind of holder, including driving mechanism, the driving mechanism include: rotor assembly, comprising: installation part, for carrying
External loading；And actuator, it is set on the installation part；Stator is rotationally connected to the actuator, the stator
Including spherical surface, the spherical surface is in contact with the actuator；Wherein, the actuator can drive the installation part
Relative to the stator rotation；And first sensor, it is set on the rotor assembly, and for detecting the rotor assembly
Motion state, the testing result of the first sensor can be used in adjusting the movement of the runner assembly.
Further, the first sensor is following at least one of several: gyroscope, accelerometer.
Further, the motion state of the rotor assembly includes following at least one of several: rotational angle, rotation
Speed, angular speed, angular acceleration.
Further, the holder further includes processor, and the processor is electrically connected with the first sensor, the place
Reason device can adjust the movement of the rotor assembly according to the motion state that the first sensor obtains.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform.
Further, the processor can using the installation part relative to an object of reference position data to calibrate
State first sensor.
Further, the processor can be calibrated using the installation part relative to the position data of the attachment base
The first sensor.
Further, the holder further includes second sensor, and the second sensor is set on the attachment base, and
It is connected to the processor, the second sensor is used to sense the motion state of the holder entirety, and the processor can also
The first sensor is enough calibrated using the data that the second sensor is sensed.
Further, the processor can sense the installation part about first axle using the first sensor
And/or the attitude angle about second axis, the first axle are the yaw axis of the holder, the second axis is the cloud
The pitch axis of platform.
Further, the processor can sense the installation part about third axis using the second sensor
Attitude angle, the third axis are the roll axis of the holder.
Further, the processor can sense the attachment base about third axis using the second sensor
Attitude angle, the third axis are the roll axis of the holder.
Further, the processor can using the installation part attitude angle and the attachment base attitude angle come
Adjust orientation of the installation part relative to the attachment base.
Further, the processor can adjust the posture of the installation part according to the attitude angle of the attachment base
Angle, so that the installation part is aligned the attachment base.
Further, the application platform is following any one of several: remote-controlled movement device, vehicle, ship, fixation
Base station, handheld device.
Further, the external loading is following any one of several: image acquiring device, communication device, sensing
Device.
Further, the holder further includes actuated piece, the actuated piece be connected to the stator and the attachment base it
Between, and the relatively described attachment base movement of the stator can be driven.
Further, the actuated piece is rotary drive, and the actuated piece can drive the relatively described company of the stator
Joint chair is rotated around a first axle, and the first axle is the yaw axis of the holder.
Further, the actuated piece is rotating electric machine.
Further, the holder further includes second sensor, and the second sensor is electrically connected with the actuated piece, and
For sensing the motion state of the actuated piece.
Further, the installation part includes mounting portion and the support portion that is set on the mounting portion, the actuator
It is set on the support portion.
Further, the support portion is multiple, and the stator is set between multiple support portions, the mounting portion
For carrying the external loading, make the centre of sphere of the relatively described spherical surface of the whole center of gravity of the external loading and the holder
Offset.
Further, the mounting portion is annular, and the annular mounting portion is circumferentially positioned at the ball of the stator
Shape periphery.
Further, when the external loading is set on the mounting portion, the entirety of the external loading and the holder
The centre of sphere of the center of gravity along a first direction relative to the spherical surface deviates, and the first direction is parallel with the yaw axis of the holder
Or it is overlapped.
Further, balance element, the position energy of the relatively described installation part of the balance element are additionally provided on the installation part
Enough adjustment, to balance the whole center of gravity of the external loading and the holder.
Further, the balance element is multiple, and multiple balance elements are distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a first axle relative to the spherical surface the centre of sphere deviate, the first axle be the holder yaw
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a second axis relative to the spherical surface the centre of sphere deviate, the second axis be the holder pitching
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a third axis relative to the spherical surface the centre of sphere deviate, the third axis be the holder roll
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity be overlapped with the centre of sphere of the spherical surface.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator is for driving the installation part opposite
In the stator rotation, so that the attitude angle of the installation part meets object attitude angle.
Further, the holder further includes processor, and the processor is connect with the actuator, and for calculating institute
Required input torque when actuator drives the installation part to the object attitude angle is stated, and the driving can be controlled
Part drives the installation part rotation.
Further, the holder further includes the proportional-integral derivative controller (PID control being connected to the processor
Device), the processor can obtain the input torque by feedback control loop using the PID controller.
Further, the PID controller is set on the installation part.
Further, the peace that the PID controller can be detected according to the object attitude angle and the first sensor
Difference between the practical attitude angle of piece installing is come input angular velocity needed for obtaining the actuator.
Further, the peace that the PID controller can be detected according to the input angular velocity and the first sensor
Difference between the actual angular speed of piece installing obtains the input torque needed for the actuator.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator can drive the installation part opposite
It is rotated in the stator around an at least axis.
Further, the axis of the relatively described stator rotation of the installation part includes at least any axis below: the cloud
The yaw axis of platform, the roll axis of the holder, the holder pitch axis.
Further, the actuator is piezoelectric actuator.
Further, the piezoelectric actuator is multiple, and multiple piezoelectric actuators are intervally installed in the peace
In piece installing, the stator is set between multiple piezoelectric actuators.
Further, circumferential row of multiple piezoelectric actuators along an outer circle of the spherical surface of the stator
Column setting.
Further, multiple piezoelectric actuators are evenly distributed on the circumference of the outer circle.
Further, the stator is rotatably connected at a connecting seat, and the stator can be opposite around a first axle
The attachment base rotation；Multiple piezoelectric actuators are arranged along one first circumferential arrangement, and can drive the installation part around
One second axis and the relatively described stator rotation of a third axis.
Further, the stator is connected on a connecting seat by actuated piece, and the stator can be in the actuated piece
Driving under around the first axle rotate, the first axle be the holder yaw axis.
Further, the second axis and the third axis are respectively the pitch axis and roll axis of the holder.
Further, the stator is fixedly connected to a connecting seat, and multiple piezoelectric actuators are along one second circumference
It is arranged, and the installation part can be driven around a first axle, a second axis and the relatively described stator of a third axis
Rotation.
Further, the first axle, the second axis and the third axis are respectively the yaw of the holder
Axis, pitch axis and roll axis.
Further, the holder is electric platform, is powered by external power supply.
Further, the holder is three axis electric platforms.A kind of movable equipment, including fuselage and be set to described
Holder described in holder on fuselage includes driving mechanism, and the driving mechanism includes: stator, is connected to the fuselage, described fixed
Attached bag includes spherical surface；Rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set to the peace
In piece installing, and offset with the spherical surface of the stator；Wherein, the actuator can drive the installation part opposite
It in the stator rotation and first sensor, is set on the rotor assembly, and the fortune for detecting the rotor assembly
Dynamic state, the testing result of the first sensor can be used in adjusting the movement of the runner assembly.
Further, the first sensor is following at least one of several: gyroscope, accelerometer.
Further, the motion state of the rotor assembly includes following at least one of several: rotational angle, rotation
Speed, angular speed, angular acceleration.
Further, the holder further includes processor, and the processor is electrically connected with the first sensor, the place
Reason device can adjust the movement of the rotor assembly according to the motion state that the first sensor obtains.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform.
Further, the processor can using the installation part relative to an object of reference position data to calibrate
State first sensor.
Further, the processor can be calibrated using the installation part relative to the position data of the attachment base
The first sensor.
Further, the holder further includes second sensor, and the second sensor is set on the attachment base, and
It is connected to the processor, the second sensor is used to sense the motion state of the holder entirety, and the processor can also
The first sensor is enough calibrated using the data that the second sensor is sensed.
Further, the processor can sense the installation part about first axle using the first sensor
And/or the attitude angle about second axis, the first axle are the yaw axis of the holder, the second axis is the cloud
The pitch axis of platform.
Further, the processor can sense the installation part about third axis using the second sensor
Attitude angle, the third axis are the roll axis of the holder.
Further, the processor can sense the attachment base about third axis using the second sensor
Attitude angle, the third axis are the roll axis of the holder.
Further, the processor can using the installation part attitude angle and the attachment base attitude angle come
Adjust orientation of the installation part relative to the attachment base.
Further, the processor can adjust the posture of the installation part according to the attitude angle of the attachment base
Angle, so that the installation part is aligned the attachment base.
Further, the application platform is following any one of several: remote-controlled movement device, vehicle, ship, fixation
Base station, handheld device.
Further, the external loading is following any one of several: image acquiring device, communication device, sensing
Device.
Further, the holder further includes actuated piece, the actuated piece be connected to the stator and the attachment base it
Between, and the relatively described attachment base movement of the stator can be driven.
Further, the actuated piece is rotary drive, and the actuated piece can drive the relatively described company of the stator
Joint chair is rotated around a first axle, and the first axle is the yaw axis of the holder.
Further, the actuated piece is rotating electric machine.
Further, the holder further includes second sensor, and the second sensor is electrically connected with the actuated piece, and
For sensing the motion state of the actuated piece.
Further, the installation part includes mounting portion and the support portion that is set on the mounting portion, the actuator
It is set on the support portion.
Further, the support portion is multiple, and the stator is set between multiple support portions, the mounting portion
For carrying the external loading, make the centre of sphere of the relatively described spherical surface of the whole center of gravity of the external loading and the holder
Offset.
Further, the mounting portion is annular, and the annular mounting portion is circumferentially positioned at the ball of the stator
Shape periphery.
Further, when the external loading is set on the mounting portion, the entirety of the external loading and the holder
The centre of sphere of the center of gravity along a first direction relative to the spherical surface deviates, and the first direction is parallel with the yaw axis of the holder
Or it is overlapped.
Further, balance element, the position energy of the relatively described installation part of the balance element are additionally provided on the installation part
Enough adjustment, to balance the whole center of gravity of the external loading and the holder.
Further, the balance element is multiple, and multiple balance elements are distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a first axle relative to the spherical surface the centre of sphere deviate, the first axle be the holder yaw
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a second axis relative to the spherical surface the centre of sphere deviate, the second axis be the holder pitching
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a third axis relative to the spherical surface the centre of sphere deviate, the third axis be the holder roll
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity be overlapped with the centre of sphere of the spherical surface.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator is for driving the installation part opposite
In the stator rotation, so that the attitude angle of the installation part meets object attitude angle.
Further, the holder further includes processor, and the processor is connect with the actuator, and for calculating institute
Required input torque when actuator drives the installation part to the object attitude angle is stated, and the driving can be controlled
Part drives the installation part rotation.
Further, the holder further includes the proportional-integral derivative controller (PID control being connected to the processor
Device), the processor can obtain the input torque by feedback control loop using the PID controller.
Further, the PID controller is set on the installation part.
Further, the peace that the PID controller can be detected according to the object attitude angle and the first sensor
Difference between the practical attitude angle of piece installing is come input angular velocity needed for obtaining the actuator.
Further, the peace that the PID controller can be detected according to the input angular velocity and the first sensor
Difference between the actual angular speed of piece installing obtains the input torque needed for the actuator.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator can drive the installation part opposite
It is rotated in the stator around an at least axis.
Further, the axis of the relatively described stator rotation of the installation part includes at least any axis below: the cloud
The yaw axis of platform, the roll axis of the holder, the holder pitch axis.
Further, the actuator is piezoelectric actuator.
Further, the piezoelectric actuator is multiple, and multiple piezoelectric actuators are intervally installed in the peace
In piece installing, the stator is set between multiple piezoelectric actuators.
Further, circumferential row of multiple piezoelectric actuators along an outer circle of the spherical surface of the stator
Column setting.
Further, multiple piezoelectric actuators are evenly distributed on the circumference of the outer circle.
Further, the stator is rotatably connected at a connecting seat, and the stator can be opposite around a first axle
The attachment base rotation；Multiple piezoelectric actuators are arranged along one first circumferential arrangement, and can drive the installation part around
One second axis and the relatively described stator rotation of a third axis.
Further, the stator is connected on a connecting seat by actuated piece, and the stator can be in the actuated piece
Driving under around the first axle rotate, the first axle be the holder yaw axis.
Further, the second axis and the third axis are respectively the pitch axis and roll axis of the holder.
Further, the stator is fixedly connected to a connecting seat, and multiple piezoelectric actuators are along one second circumference
It is arranged, and the installation part can be driven around a first axle, a second axis and the relatively described stator of a third axis
Rotation.
Further, the first axle, the second axis and the third axis are respectively the yaw of the holder
Axis, pitch axis and roll axis.
Further, the holder is electric platform, is powered by external power supply.
Further, the holder is three axis electric platforms.A kind of cloud platform control method, for controlling holder, the cloud
Platform includes driving mechanism, and the driving mechanism includes: rotor assembly, comprising: installation part, for carrying external loading；And it drives
Moving part is set on the installation part；And stator, it is rotationally connected to the actuator, the stator includes spherical watch
Face, the spherical surface are in contact with the actuator；And first sensor, it is set on the rotor assembly, and be used for
Detect the motion state of the rotor assembly.The control method of the holder includes: to obtain the installation using first sensor
The motion state of part；And it according to the motion state, controls the actuator and the relatively described stator of installation part is driven to turn
It is dynamic.
Further, before the motion state for obtaining the installation part, the first sensor is calibrated.
Further, position when being calibrated to the first sensor, using the installation part relative to an object of reference
Data are set to calibrate the first sensor.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform, when being calibrated to the first sensor, using the installation part relative to the attachment base
Position data calibrates the first sensor.
Further, control the actuator drive the installation part relatively the stator rotation when, utilize the installation
The attitude angle of part and the attitude angle of the attachment base adjust orientation of the installation part relative to the attachment base.
Further, the attitude angle of the installation part is adjusted according to the attitude angle of the attachment base, so that the installation
Part is aligned the attachment base.
Further, the holder further includes second sensor, and the second sensor is whole for sensing the holder
Motion state；When calibrating to the first sensor, the data sensed using the second sensor are to calibrate
State first sensor.
Further, control the actuator drive the installation part relatively the stator rotation when, the installation part
Attitude angle meets object attitude angle.
Further, before controlling the actuator driving relatively described stator rotation of installation part, the drive is calculated
Moving part required input torque when driving the installation part to the object attitude angle.
Further, the input torque is obtained by feedback control loop using PID controller.
Further, the peace detected using the PID controller according to the object attitude angle and the first sensor
Difference between the practical attitude angle of piece installing is come input angular velocity needed for obtaining the actuator.
Further, the installation part detected using PID controller according to the input angular velocity and the first sensor
Actual angular speed between difference come input torque needed for obtaining the actuator.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform；Before the motion state for obtaining the installation part, the installation part is adjusted relative to the attachment base
Orientation.
Further, the installation part is obtained about a first axle and a second axis using the first sensor
Attitude angle, and orientation of the installation part relative to the attachment base is adjusted according to the attitude angle.
Further, the step of orientation of the installation part relative to the attachment base being adjusted according to attitude angle packet
It includes: controlling the installation part movement, meet the installation part respectively about the attitude angle of a first axle and a second axis
Preset posture angle.
Further, the step of adjusting orientation of the installation part relative to the attachment base according to the attitude angle is also wrapped
Include: the holder further includes the second sensor being set on the attachment base, obtains the attachment base using second sensor
Appearance of the installation part about the third axis is obtained about the attitude angle of a third axis, and using the first sensor
State angle.
Further, the step of adjusting orientation of the installation part relative to the attachment base according to the attitude angle is also wrapped
It includes: the attitude angle about the third axis of attitude angle and the installation part according to the attachment base about the third axis
Between difference, adjust the attitude angle of the installation part, the installation part made to be aligned the attachment base.
A kind of holder, including driving mechanism, the driving mechanism include: rotor assembly, comprising: installation part, for carrying
External loading；And actuator, it is set on the installation part；And stator, it is rotationally connected to the actuator, it is described
Stator includes spherical surface, and the spherical surface is in contact with the actuator.Wherein, the actuator can drive the peace
External loading center of gravity relative to the stator of the piece installing relative to the stator rotation, on the installation part and the installation part
It is at equilibrium state.
Further, the installation part includes mounting portion and the support portion that is set on the mounting portion, the actuator
It is set on the support portion.
Further, the support portion is multiple, and the stator is set between multiple support portions, the mounting portion
For carrying the external loading, make the centre of sphere of the relatively described spherical surface of the whole center of gravity of the external loading and the holder
Offset.
Further, the mounting portion is annular, and the annular mounting portion is circumferentially positioned at the ball of the stator
Shape periphery.
Further, when the external loading is set on the mounting portion, the entirety of the external loading and the holder
The centre of sphere of the center of gravity along a first direction relative to the spherical surface deviates, and the first direction is parallel with the yaw axis of the holder
Or it is overlapped.
Further, balance element, the position energy of the relatively described installation part of the balance element are additionally provided on the installation part
Enough adjustment, to balance the center of gravity of the external loading.
Further, the balance element is multiple, and multiple balance elements are distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a first axle relative to the spherical surface the centre of sphere deviate, the first axle be the holder yaw
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a second axis relative to the spherical surface the centre of sphere deviate, the second axis be the holder pitching
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a third axis relative to the spherical surface the centre of sphere deviate, the third axis be the holder roll
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity be overlapped with the centre of sphere of the spherical surface.
Further, first sensor is provided on the installation part, the first sensor is for detecting the rotor
The motion state of component.
Further, the first sensor is following at least one of several: gyroscope, accelerometer.
Further, the motion state of the rotor assembly includes following at least one of several: rotational angle, rotation
Speed, angular speed, angular acceleration.
Further, the holder further includes processor, and the processor is connect with the first sensor, the processing
Device can adjust the movement of the rotor assembly according to the motion state that the first sensor obtains.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform.
Further, the application platform is following any one of several: remote-controlled movement device, vehicle, ship, fixation
Base station, handheld device.
Further, the external loading is following any one of several: image acquiring device, communication device, sensing
Device.
Further, the holder further includes actuated piece, the actuated piece be connected to the stator and the attachment base it
Between, and the relatively described attachment base movement of the stator can be driven.
Further, the actuated piece is rotary drive, and the actuated piece can drive the relatively described company of the stator
Joint chair is rotated around a first axle, and the first axle is the yaw axis of the holder.
Further, the actuated piece is rotating electric machine.
Further, the holder further includes second sensor, and the second sensor is electrically connected with the actuated piece, and
For sensing the motion state of the actuated piece.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator can drive the installation part opposite
It is rotated in the stator around an at least axis.
Further, the axis of the relatively described stator rotation of the installation part includes at least any axis below: the cloud
The yaw axis of platform, the roll axis of the holder, the holder pitch axis.
Further, the actuator is piezoelectric actuator.
Further, the piezoelectric actuator is multiple, and multiple piezoelectric actuators are intervally installed in the peace
In piece installing, the stator is set between multiple piezoelectric actuators.
Further, circumferential row of multiple piezoelectric actuators along an outer circle of the spherical surface of the stator
Column setting.
Further, multiple piezoelectric actuators are evenly distributed on the circumference of the outer circle.
Further, the stator is rotatably connected at a connecting seat, and the stator can be opposite around a first axle
The attachment base rotation；Multiple piezoelectric actuators are arranged along one first circumferential arrangement, and can drive the installation part around
One second axis and the relatively described stator rotation of a third axis.
Further, the stator is connected on a connecting seat by actuated piece, and the stator can be in the actuated piece
Driving under around the first axle rotate, the first axle be the holder yaw axis.
Further, the second axis and the third axis are respectively the pitch axis and roll axis of the holder.
Further, the stator is fixedly connected to a connecting seat, and multiple piezoelectric actuators are along one second circumference
It is arranged, and the installation part can be driven around a first axle, a second axis and the relatively described stator of a third axis
Rotation.
Further, the first axle, the second axis and the third axis are respectively the yaw of the holder
Axis, pitch axis and roll axis.
Further, the holder is electric platform, is powered by external power supply.
Further, the holder is three axis electric platforms.
A kind of movable equipment comprising fuselage and the holder being set on the fuselage.The holder includes driving
Mechanism, the driving mechanism include: stator, are connected to the fuselage, and the stator includes spherical surface；Rotor assembly, comprising:
Installation part, for carrying external loading；And actuator, it is set on the installation part, and the spherical shape with the stator
Surface offsets.Wherein, the actuator can drive the installation part relative to the stator rotation, the installation part and institute
The external loading stated on installation part is at equilibrium state relative to the center of gravity of the stator.
Further, the installation part includes mounting portion and the support portion that is set on the mounting portion, the actuator
It is set on the support portion.
Further, the support portion is multiple, and the stator is set between multiple support portions, the mounting portion
For carrying the external loading, make the centre of sphere of the relatively described spherical surface of the whole center of gravity of the external loading and the holder
Offset.
Further, the mounting portion is annular, and the annular mounting portion is circumferentially positioned at the ball of the stator
Shape periphery.
Further, when the external loading is set on the mounting portion, the entirety of the external loading and the holder
The centre of sphere of the center of gravity along a first direction relative to the spherical surface deviates, and the first direction is parallel with the yaw axis of the holder
Or it is overlapped.
Further, balance element, the position energy of the relatively described installation part of the balance element are additionally provided on the installation part
Enough adjustment, to balance the center of gravity of the external loading.
Further, the balance element is multiple, and multiple balance elements are distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a first axle relative to the spherical surface the centre of sphere deviate, the first axle be the holder yaw
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a second axis relative to the spherical surface the centre of sphere deviate, the second axis be the holder pitching
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity along a third axis relative to the spherical surface the centre of sphere deviate, the third axis be the holder roll
Axis；
And/or the position of the relatively described installation part of the balance element can adjust, and make the external loading and the holder
Whole center of gravity be overlapped with the centre of sphere of the spherical surface.
Further, first sensor is provided on the installation part, the first sensor is for detecting the rotor
The motion state of component.
Further, the first sensor is following at least one of several: gyroscope, accelerometer.
Further, the motion state of the rotor assembly includes following at least one of several: rotational angle, rotation
Speed, angular speed, angular acceleration.
Further, the holder further includes processor, and the processor is connect with the first sensor, the processing
Device can adjust the movement of the rotor assembly according to the motion state that the first sensor obtains.
Further, the holder further includes attachment base, and the stator is connected on the attachment base, and the attachment base is used
In connecting an application platform.
Further, the application platform is following any one of several: remote-controlled movement device, vehicle, ship, fixation
Base station, handheld device.
Further, the external loading is following any one of several: image acquiring device, communication device, sensing
Device.
Further, the holder further includes actuated piece, the actuated piece be connected to the stator and the attachment base it
Between, and the relatively described attachment base movement of the stator can be driven.
Further, the actuated piece is rotary drive, and the actuated piece can drive the relatively described company of the stator
Joint chair is rotated around a first axle, and the first axle is the yaw axis of the holder.
Further, the actuated piece is rotating electric machine.
Further, the holder further includes second sensor, and the second sensor is electrically connected with the actuated piece, and
For sensing the motion state of the actuated piece.
Further, the actuator is piezoelectric actuator, and the piezoelectric actuator can drive the installation part opposite
It is rotated in the stator around an at least axis.
Further, the axis of the relatively described stator rotation of the installation part includes at least any axis below: the cloud
The yaw axis of platform, the roll axis of the holder, the holder pitch axis.
Further, the actuator is piezoelectric actuator.
Further, the piezoelectric actuator is multiple, and multiple piezoelectric actuators are intervally installed in the peace
In piece installing, the stator is set between multiple piezoelectric actuators.
Further, circumferential row of multiple piezoelectric actuators along an outer circle of the spherical surface of the stator
Column setting.
Further, multiple piezoelectric actuators are evenly distributed on the circumference of the outer circle.
Further, the stator is rotatably connected at a connecting seat, and the stator can be opposite around a first axle
The attachment base rotation；Multiple piezoelectric actuators are arranged along one first circumferential arrangement, and can drive the installation part around
One second axis and the relatively described stator rotation of a third axis.
Further, the stator is connected on a connecting seat by actuated piece, and the stator can be in the actuated piece
Driving under around the first axle rotate, the first axle be the holder yaw axis.
Further, the second axis and the third axis are respectively the pitch axis and roll axis of the holder.
Further, the stator is fixedly connected to a connecting seat, and multiple piezoelectric actuators are along one second circumference
It is arranged, and the installation part can be driven around a first axle, a second axis and the relatively described stator of a third axis
Rotation.
Further, the first axle, the second axis and the third axis are respectively the yaw of the holder
Axis, pitch axis and roll axis.
Further, the holder is electric platform, is powered by external power supply.
Further, the holder is three axis electric platforms.A kind of operating method of holder, the holder include driving machine
Structure, the driving mechanism include: rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set to institute
It states on installation part；And stator, it is rotationally connected to the actuator, the stator includes spherical surface, the spherical watch
Face is in contact with the actuator.The operating method includes: that external loading is set on the installation part, makes the outside
It loads and is in equilibrium state relative to the center of gravity of the stator；And the control actuator drives the installation part relatively described
Stator rotation, to drive the external loading to move.
Further, the operating method further include: the stator is connected in an application platform.
Further, the stator is connected in the application platform by a connecting seat.
Further, when the stator being connected on the attachment base, fix the relatively described attachment base of the stator
Setting.
Further, control the actuator drive the installation part relatively the stator rotation when, the installation part energy
Enough around a first axle, a second axis and the relatively described stator rotation of a third axis.
Further, the first axle, the second axis and the third axis are respectively the yaw of the holder
Axis, pitch axis and roll axis.
Further, when the stator being connected on the attachment base, enable the stator around a first axle phase
The attachment base is rotated, the first axle is the yaw axis of the holder.
Further, the application platform is following any one of several: remote-controlled movement device, vehicle, ship, fixation
Base station, handheld device.
Further, the operating method further include: the motion state of the rotor assembly is detected using first sensor,
To control the installation part rotation according to the motion state.
Further, the first sensor is following at least one of several: gyroscope, accelerometer.
Further, the motion state of the rotor assembly includes following at least one of several: rotational angle, rotation
Speed, angular speed, angular acceleration.
Further, the operating method further include: control the installation part using processor and rotate, the processor with
The first sensor electrical connection, the motion state that the processor can be obtained according to the first sensor adjust institute
State the movement of rotor assembly.
The generally spherical in shape driver of the driving mechanism that above-mentioned holder, rotor assembly and stator are constituted, the holder
The movement that each axis of the holder is driven by spherical drive device, make the structure of the holder it is more compact with respect to traditional heads,
Volume is relatively small, is conducive to the Miniaturization Design of the holder.
Detailed description of the invention
Fig. 1 is the schematic diagram of the movable equipment in embodiment of the present invention.
Fig. 2 is the schematic diagram of the unmanned vehicle in embodiment of the present invention.
Fig. 3 is the stereoscopic schematic diagram of the holder of movable equipment shown in Fig. 1.
Fig. 4 is the schematic diagram of the driving mechanism of holder shown in Fig. 3.
Fig. 5 is the feedback control loop schematic diagram of holder shown in Fig. 3.
Fig. 6 is the control flow schematic diagram of the initialization of calibration of holder shown in Fig. 3.
Fig. 7 is the flow diagram of the operating method of the holder in embodiment of the present invention.
Fig. 8 is the flow diagram of the control method of the holder in embodiment of the present invention.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
Embodiment of the present invention provides a kind of holder, including driving mechanism, and the driving mechanism includes: rotor assembly, packet
It includes: installation part, for carrying external loading；And actuator, it is set on the installation part；Stator is rotationally connected to
The actuator, the stator include spherical surface, and the spherical surface is in contact with the actuator；Wherein, the driving
Part can drive the installation part relative to the stator rotation；And first sensor, it is set on the rotor assembly, and
For detecting the motion state of the rotor assembly.
Embodiment of the present invention also provides a kind of movable equipment, including fuselage and the cloud being set on the fuselage
Holder described in platform includes driving mechanism, and the driving mechanism includes: stator, is connected to the fuselage, and the stator includes spherical shape
Surface；Rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set on the installation part, and with
The spherical surface of the stator offsets；Wherein, the actuator can drive the installation part relative to the stator
Rotation and first sensor, are set on the rotor assembly, and the motion state for detecting the rotor assembly.
Embodiment of the present invention also provides a kind of cloud platform control method, and for controlling holder, the holder includes driving machine
Structure, the driving mechanism include: rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set to institute
It states on installation part；And stator, it is rotationally connected to the actuator, the stator includes spherical surface, the spherical watch
Face is in contact with the actuator；And first sensor, it is set on the rotor assembly, and for detecting the rotor set
The motion state of part.The control method of the holder includes: that the motion state of the installation part is obtained using first sensor；With
And it according to the motion state, controls the actuator and drives the relatively described stator rotation of installation part.
Embodiment of the present invention also provides a kind of holder, including driving mechanism, and the driving mechanism includes: rotor assembly,
It include: installation part, for carrying external loading；And actuator, it is set on the installation part；And stator, rotationally
It is connected to the actuator, the stator includes spherical surface, and the spherical surface is in contact with the actuator.Wherein, institute
Stating actuator can drive the installation part relative to the stator rotation, and the outside on the installation part and the installation part is negative
It carries and is at equilibrium state relative to the center of gravity of the stator.
Embodiment of the present invention also provides a kind of movable equipment comprising fuselage and the cloud being set on the fuselage
Platform.The holder includes driving mechanism, and the driving mechanism includes: stator, is connected to the fuselage, and the stator includes spherical shape
Surface；Rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set on the installation part, and with
The spherical surface of the stator offsets.Wherein, the actuator can drive the installation part relative to the stator
It rotates, the external loading on the installation part and the installation part is at equilibrium state relative to the center of gravity of the stator.
Embodiment of the present invention also provides a kind of operating method of holder, and the holder includes driving mechanism.The driving
Mechanism includes: rotor assembly, comprising: installation part, for carrying external loading；And actuator, it is set on the installation part；
And stator, it is rotationally connected to the actuator, the stator includes spherical surface, the spherical surface and the driving
Part is in contact.The operating method includes: that external loading is set on the installation part, makes the external loading relative to institute
The center of gravity for stating stator is in equilibrium state；And the control actuator drives the relatively described stator rotation of installation part, with
The external loading is driven to move.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 and Fig. 2 is please referred to, the embodiment of the present invention provides a kind of movable equipment 300, the movable equipment 300
Including fuselage 310 and the holder 100 being connected on the fuselage 310.The holder 100 is such as schemed for carrying external loading
As acquisition device etc., to allow the movable equipment 300 to carry out camera shooting operation.
It is appreciated that the external loading can be but be not limited to down any one of several: image acquiring device leads to
Interrogate device, sensor.The movable equipment 300 can be but be not limited to for unmanned vehicle, unmanned vehicle or unmanned boat etc..
In the present embodiment, the movable equipment 300 is illustrated by taking unmanned vehicle 500 (please referring to Fig. 2) as an example.It is described nobody
Aircraft 500 includes rack 510 and the dynamical system being set in the rack 510.
In embodiments of the present invention, the unmanned vehicle 500 is rotor craft, and the dynamical system is rotor group
Part 530.Specifically in the illustrated embodiment, the unmanned vehicle 500 is quadrotor, i.e., there are four rotor groups for tool
The aircraft of part 530.The rotor assemblies 530 include motor 531 and the propeller 533 being connected with the motor 531.It is described
Motor 531 can drive the propeller 533 to rotate, to provide the power of flight for the unmanned vehicle 500.It can manage
Solution, the unmanned vehicle 500 or six rotorcraft, eight-rotary wing aircraft, 12 rotor crafts etc., even,
The unmanned vehicle 500 can be single rotor aircraft；In addition, in other embodiments, the unmanned vehicle 500
It can be Fixed Wing AirVehicle or fixed-wing-rotor mixing aircraft.
The unmanned vehicle 500 further includes master controller, Inertial Measurement Unit (IMU, Inertial
Measurement unit) and electron speed regulator.In present embodiment, the master controller and the Inertial Measurement Unit collection
At together.
The master controller can be flight controller, be used to control the whole flight of the unmanned vehicle 500 and make
Industry, including flying speed, flight attitude etc. are also used to control the filming apparatus 200 and execute shooting operation.The inertia measurement
Unit and the master controller are electrically connected, and are used to detect the posture of the unmanned vehicle 500.The electron speed regulator is set
It sets in the rack 510, and is electrically connected with the master controller and the Inertial Measurement Unit.The electronic speed regulation
Device can adjust the velocity of rotation of the motor 531 under the control of the master controller.Specifically, the electronic speed regulation
Device can be to be multiple, and multiple electron speed regulators are connected with the motor 531 of the rotor assemblies 530 respectively, and for adjusting
The velocity of rotation of the motor 531 is saved, to adjust flying speed, the flight attitude of the unmanned vehicle 500.
Please refer to Fig. 3, in the present embodiment, the holder 100 is electric platform, specifically, the holder
100 be three axis electric platforms.The holder 100 includes connection component 20 and driving mechanism 40, and the holder 100 passes through described
Connection component 20 is connected to the fuselage 310 of the movable equipment 300, and the driving mechanism 40 is set to the connection component 20
On, and for installing external loading.
The connection component 20 is detachably mounted on the fuselage 310, is used to install the driving mechanism 40, and
For driving the driving mechanism 40 to rotate relative to the fuselage 310 around first axle Y.The first axle Y is described removable
The course axis of dynamic equipment 300, while being the yaw axis of the holder 100.Specifically in the illustrated embodiment, the connection component
20 include attachment base 21, actuated piece 23 and connecting rod 25.
The attachment base 21 is connected to the fuselage 310.It is appreciated that in other some embodiments, when described
When holder 100 is applied in other equipment/application platforms, e.g., when the holder 100 is applied in handheld device or unmanned vehicle
When, the attachment base 21 can be used for connecting the equipment/application platforms such as the corresponding handheld device or unmanned vehicle.The application
Platform can be but be not limited to following any one of several: remote-controlled movement device, ship, fixed base stations, hand-held is set vehicle
It is standby.
The actuated piece 23 is set on the attachment base 21, and is connected to the attachment base 21 and the driving mechanism
Between 40 mechanisms.In the present embodiment, the actuated piece 23 is rotary drive, and the actuated piece 23 can drive described
Driving mechanism 40 is rotated relative to the attachment base 21 around the first axle Y.Specifically, the actuated piece 23 is electric rotating
Machine.
The connecting rod 25 is arranged on the actuated piece 23, and for connecting the driving mechanism 40.It is appreciated that
In other embodiments, the connecting rod 25 be can be omitted, and the driving mechanism 40 is directly arranged at the actuated piece
23 driving end.Even, in some embodiments, the attachment base 21 also can be omitted, and directly by the driving mechanism
40 are connected to the fuselage 310 or the application platform by the actuated piece 23, and enable the driving mechanism 40 in institute
Under the driving for stating actuated piece 23, rotated relative to the fuselage 310 or the application platform.It can also be appreciated that some
In embodiment, the actuated piece 23 be can be omitted, and the driving mechanism 40 is directly connected to the fuselage 310 or institute
State application platform.
Specifically in the present embodiment, the connecting rod 25 is arranged in far from the actuated piece 23 in the driving mechanism 40
One end.The driving mechanism 40 includes stator 41 and rotor assembly 43, and the stator 41 is connected to the connecting rod 25, described
Rotor assembly 43 is rotatably connected on the stator 41.
In the present embodiment, the driving mechanism 40 is spherical drive device, and the stator 41 is spherical stator, packet
Spherical surface 411 is included, the spherical surface 411 is connected to the connecting rod 25.It is appreciated that the stator 41 can be hemisphere
Shape can be whole spherical shape, or Part-spherical, it is not limited to described by the embodiment of the present invention.
The rotor assembly 43 is arranged adjacent to the stator 41, and generally around around the stator 41.The rotor
Component 43 includes installation part 431 and the actuator 433 being set on the installation part 431.
Please refer to Fig. 4, the installation part 431 includes mounting portion 4311 and support portion 4313.The mounting portion
4311 for installing the external loading, and the support portion 4313 is set on the mounting portion 4311, and is used to support described
Actuator 433.
In the present embodiment, the mounting portion 4311 is generally annular, and the annular mounting portion 4311 is around setting
In 411 periphery of the spherical surface of the stator 41.It is appreciated that in other implementations, the mounting portion 4311
Shape be not limited to annular, can be for other suitable structures, such as plate, bulk, strip etc..
In the present embodiment, the support portion 4313 be it is multiple, multiple support portions 4313 be intervally installed in
On the mounting portion 4311, the stator 41 is set between multiple support portions 4313.Specifically in embodiment illustrated
In, the support portion 4313 is set to the mounting portion 4311 towards the side of the connecting rod 25, multiple support portions
4313 are evenly spaced on the mounting portion 4311 of annular, and are looped around the spherical surface 411 of the stator 41
Except.
In the present embodiment, the actuator 433 is multiple, and each actuator 433 is set to the branch
On support part 431.Specifically, the actuator 433 and the supporting element 431 are three.Each actuator 433 is arranged
In the corresponding support portion 431 towards the side of the stator 41, and offset with the spherical surface 411.The driving
Part 433 can drive the installation part 431 to rotate relative to the stator 41,.
In the present embodiment, the actuator 433 is piezoelectric actuator, and the piezoelectric actuator can drive the peace
Piece installing 431 is rotated relative to the stator 41 around an at least axis.The axis that the installation part 431 is rotated relative to the stator 41
Including at least any axis below: the yaw axis of the holder 100, the roll axis of the holder 100, the holder 100 are bowed
Face upward axis.It is appreciated that in some embodiments, the support portion 4313 can be omitted, and directly by multiple actuators
433 are arranged on the mounting portion 4311, and multiple actuators 433 is made to be circumferentially positioned at the spherical shape of the stator 41
Except surface 411, and the actuator 433 is in contact with the spherical surface 411.
Specifically in the present embodiment, multiple actuators 433 are circumferentially positioned at the spherical watch of the stator 41
When except face 411, multiple actuators 433 are arranged along the circumferential array of an outer circle of the spherical surface 411.Specifically exist
In embodiment illustrated, multiple actuators 433 are evenly distributed on the circumference of the outer circle, and the outer circle deviates from institute
State the great circle of spherical surface 411, that is, the plane where the outer circle does not pass through the centre of sphere O of the spherical surface 411.It can manage
Solution, in some embodiments, the outer circle can be the great circle of the spherical surface 411, that is, the plane where the outer circle
The centre of sphere O of the spherical surface 411 can be passed through.
In some embodiments, when the stator 41 is rotatably connected on the attachment base 21, the stator
41 can rotate relative to the attachment base 21 around the first axle Y, at this point, multiple actuators 433 are along one first circumference
It is arranged, and the installation part 431 can be driven to rotate around a second axis P and a third axis R relative to the stator 41,
The second axis P and third axis R is respectively the pitch axis and roll axis of the holder 100.
It is appreciated that in another embodiment, it is more when the stator 41 is fixedly connected on the attachment base 21
A actuator 433 is arranged along one second circumferential arrangement, and the installation part 431 can be driven around the first axle Y, institute
It states second axis P and the third axis R is rotated relative to the stator 41.Second circumference and first circumference not phase
Together.
Further, the rotor assembly 43 further includes balance element 435, and institute is adjustably arranged in the balance element 435
It states on installation part 431, to balance the center of gravity of the external loading, that is, make the entirety weight of the external loading and the holder 100
The centre of sphere O of the relatively described spherical surface 411 of heart G reaches equilibrium state, so that each axis movement of the holder 100 is more flexible.
The equilibrium state, it should be appreciated that the whole center of gravity G of the external loading and the holder 100 can fall in the holder
On a 100 at least axis, e.g., the whole center of gravity G of the external loading and the holder 100 falls in the yaw of the holder 100
On axis/pitch axis/roll axis, make the yaw axis/pitch axis/roll axis rotation for driving the installation part 431 around the holder 100
The torque of Shi Suoxu is relatively small, and the rotational motion of the installation part 431 is more easily controlled, and it is whole to be conducive to the holder 100
The balance of body, and be conducive to the movement for accurately controlling the holder 100.
In the present embodiment, the balance element 435 is multiple, and multiple balance elements 435 are intervally installed in institute
It states on mounting portion 4311.Preferably, multiple balance elements 435 are evenly spaced on the mounting portion 4311.When described
Balance element 435 is arranged on the mounting portion 4311, and when being provided with the external loading on the mounting portion 4311, described flat
Weighing apparatus part 435 makes the centre of sphere O of the relatively described spherical surface 411 of the whole center of gravity G of the external loading and the holder 100 reach flat
Weighing apparatus.In the present embodiment, when the external loading is set on the mounting portion 4311, by adjusting the balance element 435
Installation position can be such that the whole center of gravity G of the external loading and the holder 100 falls on the first axle Y.It is preferred that
Ground, when the external loading is set on the mounting portion 4311, the edge whole center of gravity G of the external loading and the holder 100
The first axle Y is deviated relative to the centre of sphere O of the spherical surface 411.
It is appreciated that in some embodiments, can make described by adjusting the installation position of the balance element 435
The whole center of gravity G of external loading and the holder 100 is fallen on the second axis P and/or third axis R；Further
The whole center of gravity G of ground, the external loading and the holder 100 can be along the second axis P or the third axis R phase
Centre of sphere O offset to the spherical surface 411.It can also be appreciated that the external loading is set to the mounting portion 4311
When upper, by adjusting the installation position of the balance element 435, additionally it is possible to make the entirety of the external loading and the holder 100
Center of gravity G is overlapped with the centre of sphere O of the spherical surface 411, so that the whole center of gravity G phase of the external loading and the holder 100
Equilibrium state is reached to the stator 41, is more easily controlled rotational motion of the holder 100 on each axis and more flexible.
It is appreciated that in some embodiments, in order to balance the center of gravity of the external loading and the holder 100, institute
When stating external loading on the mounting portion 4311, it can make described outer by adjusting the installation position of the balance element 435
Centre of sphere O of the whole center of gravity of section load and the holder 100 along a first direction relative to the spherical surface 411 is deviated, described
First direction and the first axle Y are substantially parallel or are overlapped, that is, the yaw axis of the first direction and the holder 100 is big
It causes parallel or is overlapped.
Further, in order to control the movement of each axis of the holder 100, and the movement number of each axis of the holder 100 is calibrated
According to the holder 100 further includes processor 80 (please referring to Fig. 1), and the processor 80 can be according to the holder 100 in each axis
On real time kinematics state and real time position posture, further control and adjust the movement of the holder 100, make the cloud
The motion state and position and attitude of each axis of platform 100 meet target state and target position posture respectively.The processor
80 with 433 wired connection or wireless connection of actuator, and moved by controlling the actuator 433, to reach adjustment institute
State the purpose of the movement of holder 100.The processor 80 drives the installation part 431 opposite by controlling the actuator 433
It is rotated in the stator 41, so that the attitude angle of the installation part 431 meets object attitude angle.
Specifically, the processor 80 is driven the installation part 431 to the mesh by calculating the actuator 433
Required input torque when attitude angle is marked, and the actuator 433 can be controlled according to the input torque and drive the peace
Piece installing 431 rotates, so that the attitude angle of the installation part 431 meets the object attitude angle.
Further, the holder 100 further includes proportional-integral derivative controller (PID controller please refers to Fig. 1)
85, the PID controller 85 is set on the installation part 431, and is electrically connected with the processor 80, the processor 80
The input torque can be obtained by feedback control loop using the PID controller 85.
Further, in order to sense the motion state and position and attitude of the holder 100, so that the processor 80 is right
The control that the holder 100 moves is more accurate, and the holder 100 further includes first sensor 62 (please referring to Fig. 1) and second
Sensor 64 (please refers to Fig. 1), and the first sensor 62 and the second sensor 64 are wired with the processor 80 respectively
Connection is wirelessly connected.
In the present embodiment, the first sensor 62 is set on the installation part 431, and for detecting described turn
The motion state of sub-component 43, while the position and attitude for detecting the rotor assembly 43.Specifically in embodiment illustrated
In, the first sensor 62 is used to detect the motion state and position and attitude of the installation part 431, and the processor 80 can
The motion state and position and attitude that are obtained according to the first sensor 62 adjust the motion state of the rotor assembly 43
And position and attitude.Wherein, the motion state includes but is not limited to rotational angle and velocity of rotation.
Specifically, in order to which above-mentioned control process is elaborated, Fig. 5 shows the processing please refer to Fig. 5
Device 80 by the PID controller 85 using the first sensor 62 to the actuator 433 and the installation part 431 into
The feedback control loop schematic diagram of row control.The first sensor 62 connects with 85 wired connection of PID controller or wirelessly
It connects, the installation part that the PID controller 85 can be detected according to the object attitude angle and the first sensor 62
Difference between 431 practical attitude angle come input angular velocity needed for obtaining the actuator 433, and according further to
Difference between the actual angular speed for the installation part 431 that the input angular velocity and the first sensor 62 detect is to obtain
The input torque needed for actuator 433 is stated, to allow the processor 80 to control the drive according to the input torque
Moving part 433 moves, to achieve the purpose that the motion state and position and attitude that adjust the rotor assembly 43.
The first sensor 62 can be following at least one of several: gyroscope, accelerometer.Described first passes
Sensor 62 does not include optical sensor or magnetic field sensor.The motion state of installation part 431 described in the rotor assembly 43/ includes
It is at least one of several below: rotational angle, velocity of rotation, angular speed, angular acceleration.It is appreciated that implementing in others
In mode, to meet actual needs, the first sensor 62 be can be set in other suitable portions of the rotor assembly 43
Position is arranged on the actuator 433 etc. for example, being arranged on the balance element 435, to utilize the first sensor
The motion state of the 60 sensing rotor assembly 43.
In order to enable the processor 80 to more accurately control the movement of the holder 100, it is necessary in its control
At the beginning of the holder 100 moves, initialization of calibration is carried out to the holder 100.In embodiments of the present invention, the processor
80 can adjust 431 phase of installation part using the attitude angle of the installation part 431 and the attitude angle of the attachment base 21
For the orientation of the attachment base 21, to achieve the purpose that holder 100 described in initialization of calibration.Specifically, the processor 80
The installation part can be adjusted about the attitude angle of the second axis P and the third axis R according to the attachment base 21
431 attitude angle, so that the installation part 431 is aligned the attachment base 21.
Please refer to Fig. 6, in order to which above-mentioned initial calibration process is elaborated, Fig. 6 shows the initialization of holder 100
The control flow schematic diagram of calibration.Specifically in the illustrated embodiment, the control flow packet of 100 initialization of calibration of holder
Include following steps:
Step S101: attitude angle of the installation part 431 about the second axis P, the third axis R is obtained.Tool
For body, the processor 80 using the first sensor 62 obtain the installation part 431 about the second axis P and
The attitude angle of the third axis R.
Step S103: controlling the installation part 431 and move, and makes the installation part 431 about the second axis P and described
The attitude angle of third axis R meets preset posture angle respectively.Specifically, the processor 80 by the PID controller and
The first sensor 62 carries out closed-loop control to the actuator 433 and the installation part 431, makes the actuator 433
The installation part 431 is driven to move, to make the installation part 431 about the appearance of the second axis P and the third axis R
State angle meets preset posture angle respectively.Specifically in the present embodiment, the preset posture angle is 0 degree, and the processor 80 is controlled
After making the movement of installation part 431, attitude angle of the installation part 431 about the second axis P and the third axis R
It is 0 degree.
Step S105: attitude angle of the installation part 431 about the first axle Y is obtained.Specifically, the processing
Device 80 obtains attitude angle of the installation part 431 about the first axle Y using the first sensor 62.
Step S107: attitude angle of the attachment base 21 about the first axle Y is obtained.Specifically, the processing
Device 80 obtains attitude angle of the attachment base 21 about the first axle Y using the second sensor 64.
Step S109: calculate the attachment base 21 about the first axle Y attitude angle and the installation part 431 about
Difference between the attitude angle of the first axle Y.Specifically, the processor 80 calculates the difference.
Step S111: it controls the installation part 431 and moves, make the installation part 431 about the first axle Y attitude angle
Meet preset posture angle, so that the installation part 431 be made to be aligned the attachment base 21.Specifically, the processor 80 passes through
The PID controller and the first sensor 62 carry out closed-loop control to the actuator 433 and the installation part 431, make
The actuator 433 drives the installation part 431 to move, to make the installation part 431 about the first axle Y posture
Angle meets preset posture angle.Specifically in the present embodiment, the preset posture angle is substantially equal to the attachment base 21 about institute
The attitude angle of first axle Y is stated, after the processor 80 controls the movement of installation part 431, the installation part 431 is about institute
State first axle Y attitude angle and the attachment base 21 about the difference between the attitude angle of the first axle Y be 0, thus
The installation part 431 is set to be aligned the attachment base 21.It is described in order to enable the first sensor 62 more precisely to sense
The motion state data and position and attitude data of holder 100, it is necessary to control the holder 100 in the processor 80 and move
At the beginning of, initialization of calibration is carried out to the first sensor 62.In embodiments of the present invention, the first sensor 62 is first
The control flow of beginningization calibration is roughly the same with the control flow of initialization of calibration of the holder 100.When the holder 100
Complete initialization of calibration after, the processor 80 can using the installation part 431 relative to an object of reference position data come
The first sensor 62 is calibrated, so that the data that the first sensor 62 senses are more accurate.The object of reference can be
Fixed object, such as ground, building；The object of reference may be movable object, such as the dress on the movable equipment 300
It sets.In the present embodiment, the object of reference is the attachment base 21, and the processor 80 can utilize the installation part
431 calibrate the first sensor 62 relative to the position data of the attachment base 21.Specifically, 80 energy of processor
Enough the installation part 431 is sensed about the second axis P and/or about the third axis using the first sensor 62
The attitude angle of R, and the first sensor 62 is calibrated according to the data that the first sensor 62 is sensed.
In the present embodiment, the second sensor 64 is arranged on the connection component 20, and with the actuated piece
23 electrical connections.The second sensor 64 is used to sense the motion state of the actuated piece 23, to allow 80 energy of processor
Enough movements that the actuated piece 23 is adjusted according to the motion state of the actuated piece 23.The second sensor 64 is following several
At least one of: gyroscope, accelerometer.The second sensor 4 does not include optical sensor or magnetic field sensor.The cause
The motion state of moving part 23 includes following at least one of several: rotational angle, velocity of rotation, angular speed, angular acceleration.
The processor 80 can also calibrate first sensing using the data that the second sensor 64 is sensed
Device 62.Specifically in the illustrated embodiment, the second sensor 64 is set on the attachment base 21, and for sensing
The motion state of the attachment base 21 and/or the actuated piece 23, to obtain the whole motion state of the holder 100.Specifically
For, the processor 80 can sense the attachment base 21 and/or the installation part 431 using the second sensor 64
About the attitude angle of the first axle Y, with allow the processor 80 according to the data that the second sensor 64 senses come
Calibrate the first sensor 62.
Referring to Fig. 7, embodiment of the present invention also provides a kind of operating method of holder, described based on above-mentioned holder
The operating method of holder is applied to holder as described above.The holder includes driving mechanism and first sensor, the drive
Motivation structure includes rotor assembly and stator, and the rotor assembly includes installation part and actuator；The installation part is outer for carrying
Section load, the actuator are set on the installation part, and the stator is rotationally connected to the actuator, the stator
Including spherical surface, the spherical surface is in contact with the actuator；The first sensor is set to the rotor assembly
On, and the motion state for detecting the rotor assembly.The operating method of the holder includes the following steps:
Step S201: the stator is connected in an application platform.Specifically, the stator is passed through a connecting seat
It is connected in the application platform, makes the relatively described attachment base fixed setting of the stator.The application platform is following several
Any one of: remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.It is appreciated that in other embodiments
In, when the stator is connected on the attachment base, the stator can be enable around the relatively described connection of a first axle Y
Seat rotation, the first axle Y are the yaw axis of the holder.
Step S203: external loading is set on the installation part, makes the external loading relative to the stator
Center of gravity is in equilibrium state.Specifically, the rotor assembly further includes balance element, institute is adjustably arranged in the balance element
It states on installation part；By adjusting the installation position of the balance element, make the whole center of gravity edge of the external loading and the holder
The first axle Y-direction is deviated relative to the centre of sphere of the spherical surface, to make the external loading relative to the stator
Center of gravity be in equilibrium state.It is appreciated that in some embodiments, it can be by adjusting the installing position of the balance element
It sets, is overlapped the whole center of gravity of the external loading and the holder with the centre of sphere of the spherical surface.
Step S205: the motion state of the rotor assembly is detected using first sensor.The first sensor be with
Under it is at least one of several: gyroscope, accelerometer.The first sensor does not include optical sensor or magnetic field sensing
Device.The motion state of the rotor assembly includes following at least one of several: rotational angle, velocity of rotation, angular speed, angle
Acceleration.
Step S207: it according to the motion state, controls the actuator and the relatively described stator of installation part is driven to turn
It is dynamic, to drive the external loading to move.Specifically, the holder further includes processor, the processor and described first
Sensor electrical connection；The actuator is controlled according to the motion state that the first sensor obtains by processor, is made
The actuator drives the relatively described stator rotation of installation part, at this point, the installation part can be around a first axle Y, one
Second axis P and a relatively described stator rotation of third axis R.The first axle Y, the second axis P and the third
Axis R is respectively the yaw axis, pitch axis and roll axis of the holder.
Referring to Fig. 8, embodiment of the present invention also provides a kind of control method of holder, described based on above-mentioned holder
The control method of holder is applied to holder as described above.The holder includes driving mechanism and first sensor, the drive
Motivation structure includes rotor assembly and stator, and the rotor assembly includes installation part and actuator；The installation part is outer for carrying
Section load, the actuator are set on the installation part, and the stator is rotationally connected to the actuator, the stator
Including spherical surface, the spherical surface is in contact with the actuator；The first sensor is set to the rotor assembly
On, and the motion state for detecting the rotor assembly.The operating method of the holder includes the following steps:
Step S301: initialization of calibration is carried out to the holder.Specifically, the holder further includes attachment base, it is described
Stator is connected on the attachment base, and the attachment base is for connecting an application platform；When being calibrated to the holder, utilize
The attitude angle of the installation part and the attitude angle of the attachment base adjust side of the installation part relative to the attachment base
Position, to calibrate the attitude angle of the holder.Further, the installation part is adjusted according to the attitude angle of the attachment base
Attitude angle, so that the installation part is aligned the attachment base.Specifically in the present embodiment, the holder further includes processor,
The processor is separately connected with the first sensor and the second sensor, and can control actuator driving institute
State installation part movement；The processor pass through using the first sensor obtain the installation part about the first axle Y,
The attitude angle of the second axis P and the third axis R control the installation part movement, make the installation part about described
The attitude angle of second axis P and the third axis R meet preset posture angle respectively, in the present embodiment, the default appearance
State angle is 0 degree；Also, the processor, which passes through, obtains the attachment base about the first axle using the second sensor
The attitude angle of line Y, and the attachment base is calculated about the attitude angle of the first axle Y and the installation part about described
Difference between the attitude angle of one axis Y, and adjust according to the difference appearance about the first axle Y of the installation part
State angle makes posture of the attachment base about the attitude angle and the installation part of the first axle Y about the first axle Y
Difference between angle is 0, so that the installation part is aligned the attachment base, to complete the calibration of the holder.
Step S303: initialization of calibration is carried out to the first sensor.Specifically, the calibration of the first sensor
Method is roughly the same with the calibration method of above-mentioned holder, when calibrating to the first sensor, utilizes the installation part phase
The first sensor is calibrated for the position data of an object of reference.In the present embodiment, described in the attachment base is used as
Object of reference, when being calibrated to the first sensor, using the installation part relative to the attachment base position data come
Calibrate the first sensor.In some embodiments, the holder further includes second sensor, and the second sensor is used
In the motion state for sensing the holder entirety；When being calibrated to the first sensor, it can also be passed using described second
The data that sensor is sensed calibrate the first sensor.
Step S305: the motion state of the installation part is obtained.Specifically, obtaining the installation using first sensor
The motion state of part.The motion state of the installation part includes but is not limited to: rotational angle, velocity of rotation, angular speed, angle accelerate
Degree.
Step S307: required input when the actuator drives the installation part to the object attitude angle is calculated
Torque.Specifically, the holder further includes the PID controller being connected to the processor, and when calculating the input torque, benefit
The input torque is obtained by feedback control loop with PID controller.Specifically in the present embodiment, the PID is utilized
Difference between the practical attitude angle for the installation part that controller is detected according to the object attitude angle and the first sensor come
Input angular velocity needed for obtaining the actuator, and passed using PID controller according to the input angular velocity and described first
Difference between the actual angular speed of the installation part of sensor detection is come input torque needed for obtaining the actuator.
Step S309: it according to the input torque, controls the actuator and the relatively described stator of installation part is driven to turn
It is dynamic, so that the attitude angle of the installation part is met object attitude angle.
The generally spherical in shape driver of the driving mechanism that above-mentioned holder, rotor assembly and stator are constituted, the holder
The movement that each axis of the holder is driven by spherical drive device, make the structure of the holder it is more compact with respect to traditional heads,
Volume is relatively small, is conducive to the Miniaturization Design of the holder.Meanwhile the holder includes being set up directly on the rotor
First sensor on component, the first sensor are used to detect the motion state of the rotor assembly, avoid described
Additional detection components (such as Hall element or Other Devices) is set in driving mechanism, further reduces the cloud
The volume of platform, and realize degree of precision and detect the rotational angle and rotational angular velocity that the holder moves in space.
In addition, the outside when external loading is set on the installation part, on the installation part and the installation part
It loads and is at equilibrium state relative to the center of gravity of the stator, the whole center of gravity of the external loading and the holder is opposite
The centre of sphere of the spherical surface reaches equilibrium state, so that each axis movement of the holder is more flexible, is conducive to the holder
Whole balance, and be conducive to the movement for accurately controlling the holder.
In embodiments of the present invention, the movable equipment is rotor craft, is used to carry camera, camera shooting
The filming apparatus such as machine carry out operation of taking photo by plane.It is appreciated that the movable equipment can be also used for ground mapping, Investigating and
The work such as rescue, aerial monitoring, polling transmission line.
Embodiment of above is only used to illustrate the technical scheme of the present invention and not to limit it, although referring to embodiment of above pair
The present invention is described in detail, those skilled in the art should understand that, technical solution of the present invention can be carried out
Modification or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.
Claims (179)
1. a kind of holder, including driving mechanism, which is characterized in that the driving mechanism includes:
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part；
Stator is rotationally connected to the actuator, and the stator includes spherical surface, the spherical surface and the driving
Part is in contact；Wherein, the actuator can drive the installation part relative to the stator rotation；And
First sensor is set on the rotor assembly, and the motion state for detecting the rotor assembly, and described first
The testing result of sensor can be used in adjusting the movement of the rotor assembly.
2. holder as described in claim 1, it is characterised in that: the first sensor is following at least one of several:
Gyroscope, accelerometer.
3. holder as described in claim 1, it is characterised in that: the motion state of the rotor assembly include it is following it is several in
It is at least one: rotational angle, velocity of rotation, angular speed, angular acceleration.
4. holder as described in claim 1, it is characterised in that: the holder further includes processor, the processor with it is described
First sensor electrical connection, the processor can turn according to the motion state adjustment that the first sensor obtains is described
The movement of sub-component.
5. holder as claimed in claim 4, it is characterised in that: the holder further includes attachment base, and the stator is connected to institute
It states on attachment base, the attachment base is for connecting an application platform.
6. holder as claimed in claim 5, it is characterised in that: the processor can be using the installation part relative to a ginseng
The first sensor is calibrated according to the position data of object.
7. holder as claimed in claim 5, it is characterised in that: the processor can be using the installation part relative to described
The position data of attachment base calibrates the first sensor.
8. holder as claimed in claim 5, it is characterised in that: the holder further includes second sensor, second sensing
Device is set on the attachment base, and is connected to the processor, and the second sensor is used to sense the holder entirety
Motion state, the processor can also calibrate the first sensor using the data that the second sensor is sensed.
9. holder as claimed in claim 8, it is characterised in that: the processor can sense institute using the first sensor
Installation part is stated about first axle and/or about the attitude angle of second axis, the first axle is the yaw axis of the holder,
The second axis is the pitch axis of the holder.
10. holder as claimed in claim 8, it is characterised in that: the processor can be sensed using the second sensor
Attitude angle of the installation part about third axis, the third axis are the roll axis of the holder.
11. holder as claimed in claim 8, it is characterised in that: the processor can be sensed using the second sensor
Attitude angle of the attachment base about third axis, the third axis are the roll axis of the holder.
12. holder as claimed in claim 5, it is characterised in that: the processor can utilize the attitude angle of the installation part
And the attitude angle of the attachment base adjusts orientation of the installation part relative to the attachment base.
13. holder as claimed in claim 12, it is characterised in that: the processor can be according to the attitude angle of the attachment base
The attitude angle of the installation part is adjusted, so that the installation part is aligned the attachment base.
14. holder as claimed in claim 5, it is characterised in that: the application platform is following any one of several: remote control
Mobile device, vehicle, ship, fixed base stations, handheld device.
15. holder as described in claim 1, it is characterised in that: the external loading is following any one of several: image
Acquisition device, communication device, sensor.
16. holder as claimed in claim 5, it is characterised in that: the holder further includes actuated piece, and the actuated piece is connected to
Between the stator and the attachment base, and the relatively described attachment base movement of the stator can be driven.
17. holder as claimed in claim 16, it is characterised in that: the actuated piece is rotary drive, the actuated piece energy
The stator is enough driven to rotate relative to the attachment base around a first axle, the first axle is the yaw axis of the holder.
18. holder as claimed in claim 17, it is characterised in that: the actuated piece is rotating electric machine.
19. holder as claimed in claim 17, it is characterised in that: the holder further includes second sensor, and described second passes
Sensor is electrically connected with the actuated piece, and the motion state for sensing the actuated piece.
20. holder as described in claim 1, it is characterised in that: the installation part includes mounting portion and is set to the installation
Support portion in portion, the actuator are set on the support portion.
21. holder as claimed in claim 20, it is characterised in that: the support portion be it is multiple, the stator is set to multiple
Between the support portion, the mounting portion makes the entirety of the external loading and the holder for carrying the external loading
Center of gravity is deviated relative to the centre of sphere of the spherical surface.
22. holder as claimed in claim 21, it is characterised in that: the mounting portion is annular, the annular mounting portion ring
Around the spherical surface periphery that the stator is arranged in.
23. holder as claimed in claim 21, it is characterised in that: described when the external loading is set on the mounting portion
The centre of sphere of the whole center of gravity of external loading and the holder along a first direction relative to the spherical surface deviates, the first party
To or coincidence parallel with the yaw axis of the holder.
24. holder as claimed in claim 21, it is characterised in that: be additionally provided with balance element, the balance on the installation part
The position of the relatively described installation part of part can adjust, to balance the whole center of gravity of the external loading and the holder.
25. holder as claimed in claim 24, it is characterised in that: the balance element be it is multiple, multiple balance elements are uniformly distributed
In on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a first axle relative to the spherical surface deviates, and the first axle is the yaw axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a second axis relative to the spherical surface deviates, and the second axis is the pitch axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a third axis relative to the spherical surface deviates, and the third axis is the roll axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The weight heart is overlapped with the centre of sphere of the spherical surface.
26. holder as described in claim 1, it is characterised in that: the actuator is piezoelectric actuator, the piezoelectric actuator
For driving the installation part relative to the stator rotation, so that the attitude angle of the installation part meets object attitude angle.
27. holder as claimed in claim 26, it is characterised in that: the holder further includes processor, the processor and institute
Actuator connection is stated, and required defeated when the actuator drives the installation part to the object attitude angle for calculating
Enter torque, and the actuator can be controlled and drive the installation part rotation.
28. holder as claimed in claim 27, it is characterised in that: the holder further includes the PID being connected to the processor
Controller, the processor can obtain the input torque by feedback control loop using the PID controller.
29. holder as claimed in claim 28, it is characterised in that: the PID controller is set on the installation part.
30. holder as claimed in claim 28, it is characterised in that: the PID controller can be according to the object attitude angle
And the difference between the practical attitude angle of the installation part of first sensor detection is come input needed for obtaining the actuator
Angular speed.
31. holder as claimed in claim 30, it is characterised in that: the PID controller can be according to the input angular velocity
And the difference between the actual angular speed of the installation part of the first sensor detection is described needed for the actuator to obtain
Input torque.
32. holder as described in claim 1, it is characterised in that: the actuator is piezoelectric actuator, the piezoelectric actuator
The installation part can be driven to rotate relative to the stator around an at least axis.
33. holder as claimed in claim 32, it is characterised in that: the axis of the relatively described stator rotation of the installation part is at least
Including any axis below: the yaw axis of the holder, the roll axis of the holder, the holder pitch axis.
34. holder as claimed in claim 16, it is characterised in that: the actuator is piezoelectric actuator.
35. holder as claimed in claim 34, it is characterised in that: the piezoelectric actuator is multiple, multiple piezoelectricity drives
Dynamic device is intervally installed on the installation part, and the stator is set between multiple piezoelectric actuators.
36. holder as claimed in claim 35, it is characterised in that: the ball of multiple piezoelectric actuators along the stator
The circumferential array of one outer circle on shape surface is arranged.
37. holder as claimed in claim 36, it is characterised in that: multiple piezoelectric actuators are evenly distributed on the outer circle
Circumference on.
38. holder as claimed in claim 36, it is characterised in that: the stator is rotatably connected at a connecting seat, described
Stator can be rotated around a first axle relative to the attachment base；Multiple piezoelectric actuators are set along one first circumferential arrangement
It sets, and the installation part can be driven around a second axis and the relatively described stator rotation of a third axis.
39. holder as claimed in claim 38, it is characterised in that: the stator is connected to a connecting seat by the actuated piece
On, the stator can rotate under the driving of the actuated piece around the first axle, and the first axle is the holder
Yaw axis.
40. holder as claimed in claim 39, it is characterised in that: the second axis and the third axis are respectively described
The pitch axis and roll axis of holder.
41. holder as claimed in claim 38, it is characterised in that: the stator is fixedly connected to a connecting seat, Duo Gesuo
It states piezoelectric actuator to be arranged along one second circumferential arrangement, and the installation part can be driven around a first axle, a second axis
And the relatively described stator rotation of third axis.
42. holder as claimed in claim 41, it is characterised in that: the first axle, the second axis and the third
Axis is respectively the yaw axis, pitch axis and roll axis of the holder.
43. holder as described in claim 1, it is characterised in that: the holder is electric platform, is powered by external power supply.
44. holder as claimed in claim 43, it is characterised in that: the holder is three axis electric platforms.
45. a kind of movable equipment, including fuselage and the holder being set on the fuselage, which is characterized in that the holder
Including driving mechanism, the driving mechanism includes:
Stator, is connected to the fuselage, and the stator includes spherical surface；
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part, and is offseted with the spherical surface of the stator；Wherein, the driving
Part can drive the installation part relative to the stator rotation, and
First sensor is set on the rotor assembly, and the motion state for detecting the rotor assembly, and described first
The testing result of sensor can be used in adjusting the movement of the rotor assembly.
46. movable equipment as claimed in claim 45, it is characterised in that: the first sensor be it is following it is several in extremely
Few one kind: gyroscope, accelerometer.
47. movable equipment as claimed in claim 45, it is characterised in that: the motion state of the rotor assembly includes following
It is at least one of several: rotational angle, velocity of rotation, angular speed, angular acceleration.
48. movable equipment as claimed in claim 45, it is characterised in that: the holder further includes processor, the processing
Device is electrically connected with the first sensor, the motion state tune that the processor can be obtained according to the first sensor
The movement of the whole rotor assembly.
49. movable equipment as claimed in claim 48, it is characterised in that: the holder further includes attachment base, the stator
It is connected on the attachment base, the attachment base is for connecting an application platform.
50. movable equipment as claimed in claim 49, it is characterised in that: the processor can utilize the installation part phase
The first sensor is calibrated for the position data of an object of reference.
51. movable equipment as claimed in claim 49, it is characterised in that: the processor can utilize the installation part phase
The first sensor is calibrated for the position data of the attachment base.
52. movable equipment as claimed in claim 49, it is characterised in that: the holder further includes second sensor, described
Second sensor is set on the attachment base, and is connected to the processor, and the second sensor is for sensing the cloud
The motion state of platform entirety, the processor can also calibrate described first using the data that the second sensor is sensed
Sensor.
53. movable equipment as claimed in claim 52, it is characterised in that: the processor can utilize first sensing
Device senses the installation part about first axle and/or about the attitude angle of second axis, and the first axle is the holder
Yaw axis, the second axis be the holder pitch axis.
54. movable equipment as claimed in claim 52, it is characterised in that: the processor can utilize second sensing
Device senses attitude angle of the installation part about third axis, and the third axis is the roll axis of the holder.
55. movable equipment as claimed in claim 52, it is characterised in that: the processor can utilize second sensing
Device senses attitude angle of the attachment base about third axis, and the third axis is the roll axis of the holder.
56. movable equipment as claimed in claim 49, it is characterised in that: the processor can utilize the installation part
Attitude angle and the attitude angle of the attachment base adjust orientation of the installation part relative to the attachment base.
57. movable equipment as claimed in claim 56, it is characterised in that: the processor can be according to the attachment base
Attitude angle adjusts the attitude angle of the installation part, so that the installation part is aligned the attachment base.
58. movable equipment as claimed in claim 49, it is characterised in that: the application platform be it is following it is several in any
Kind: remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.
59. movable equipment as claimed in claim 45, it is characterised in that: the external loading be it is following it is several in any
Kind: image acquiring device, communication device, sensor.
60. movable equipment as claimed in claim 49, it is characterised in that: the holder further includes actuated piece, the actuating
Part is connected between the stator and the attachment base, and can drive the relatively described attachment base movement of the stator.
61. movable equipment as claimed in claim 60, it is characterised in that: the actuated piece is rotary drive, the cause
Moving part can drive the stator to rotate relative to the attachment base around a first axle, and the first axle is the inclined of the holder
Navigate axis.
62. movable equipment as claimed in claim 61, it is characterised in that: the actuated piece is rotating electric machine.
63. movable equipment as claimed in claim 61, it is characterised in that: the holder further includes second sensor, described
Second sensor is electrically connected with the actuated piece, and the motion state for sensing the actuated piece.
64. movable equipment as claimed in claim 45, it is characterised in that: the installation part includes mounting portion and is set to institute
The support portion on mounting portion is stated, the actuator is set on the support portion.
65. the movable equipment as described in claim 64, it is characterised in that: the support portion is multiple, the stator setting
Between multiple support portions, the mounting portion makes the external loading and the holder for carrying the external loading
Whole center of gravity relative to the spherical surface the centre of sphere deviate.
66. the movable equipment as described in claim 65, it is characterised in that: the mounting portion is annular, the annular peace
Dress portion is circumferentially positioned at the spherical surface periphery of the stator.
67. the movable equipment as described in claim 65, it is characterised in that: the external loading is set on the mounting portion
When, the centre of sphere of the whole center of gravity of the external loading and the holder along a first direction relative to the spherical surface deviates, institute
State first direction it is parallel with the yaw axis of the holder or be overlapped.
68. the movable equipment as described in claim 65, it is characterised in that: be additionally provided with balance element, institute on the installation part
The position for stating the relatively described installation part of balance element can adjust, to balance the whole center of gravity of the external loading and the holder.
69. movable equipment as recited in claim 68, it is characterised in that: the balance element is multiple, multiple balances
Part is distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a first axle relative to the spherical surface deviates, and the first axle is the yaw axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a second axis relative to the spherical surface deviates, and the second axis is the pitch axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a third axis relative to the spherical surface deviates, and the third axis is the roll axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The weight heart is overlapped with the centre of sphere of the spherical surface.
70. movable equipment as claimed in claim 45, it is characterised in that: the actuator is piezoelectric actuator, the pressure
Electric drive is for driving the installation part relative to the stator rotation, so that the attitude angle of the installation part meets target appearance
State angle.
71. the movable equipment as described in claim 70, it is characterised in that: the holder further includes processor, the processing
Device is connect with the actuator, and required when the actuator drives the installation part to the object attitude angle for calculating
The input torque wanted, and the actuator can be controlled and drive the installation part rotation.
72. the movable equipment as described in claim 71, it is characterised in that: the holder further includes and PID controller, described
Processor can obtain the input torque by feedback control loop using the PID controller.
73. the movable equipment as described in claim 72, it is characterised in that: the PID controller is set to the installation part
On.
74. the movable equipment as described in claim 72, it is characterised in that: the PID controller can be according to the target
Difference between attitude angle and the practical attitude angle of the installation part of first sensor detection obtains needed for the actuator
Input angular velocity.
75. the movable equipment as described in claim 74, it is characterised in that: the PID controller can be according to the input
Difference between the actual angular speed of angular speed and the installation part of first sensor detection obtains needed for the actuator
The input torque.
76. movable equipment as claimed in claim 45, it is characterised in that: the actuator is piezoelectric actuator, the pressure
Electric drive can drive the installation part to rotate relative to the stator around an at least axis.
77. the movable equipment as described in claim 76, it is characterised in that: the axis of the relatively described stator rotation of the installation part
Line include at least any axis below: the yaw axis of the holder, the roll axis of the holder, the holder pitch axis.
78. movable equipment as claimed in claim 45, it is characterised in that: the actuator is piezoelectric actuator.
79. the movable equipment as described in claim 78, it is characterised in that: the piezoelectric actuator be it is multiple, it is multiple described
Piezoelectric actuator is intervally installed on the installation part, and the stator is set between multiple piezoelectric actuators.
80. the movable equipment as described in claim 79, it is characterised in that: multiple piezoelectric actuators are along the stator
The circumferential array of one outer circle of the spherical surface is arranged.
81. the movable equipment as described in claim 80, it is characterised in that: multiple piezoelectric actuators are evenly distributed on institute
It states on the circumference of outer circle.
82. the movable equipment as described in claim 80, it is characterised in that: the stator is rotatably connected at a connection
Seat, the stator can be rotated around a first axle relative to the attachment base；Multiple piezoelectric actuators are along one first circumference
It is arranged, and the installation part can be driven around a second axis and the relatively described stator rotation of a third axis.
83. the movable equipment as described in claim 82, it is characterised in that: the stator is connected to a connection by actuated piece
On seat, the stator can be rotated under the driving of the actuated piece around the first axle, and the first axle is the cloud
The yaw axis of platform.
84. the movable equipment as described in claim 83, it is characterised in that: the second axis and third axis difference
For the pitch axis and roll axis of the holder.
85. the movable equipment as described in claim 82, it is characterised in that: the stator is fixedly connected to a connecting seat,
Multiple piezoelectric actuators are arranged along one second circumferential arrangement, and the installation part can be driven around a first axle, one
Two axis and the relatively described stator rotation of a third axis.
86. the movable equipment as described in claim 85, it is characterised in that: the first axle, the second axis and institute
State the yaw axis, pitch axis and roll axis that third axis is respectively the holder.
87. movable equipment as claimed in claim 45, it is characterised in that: the holder is electric platform, by external electrical
Source power supply.
88. the movable equipment as described in claim 87, it is characterised in that: the holder is three axis electric platforms.
89. a kind of cloud platform control method, for controlling holder, the holder includes driving mechanism, and the driving mechanism includes:
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part；And
Stator is rotationally connected to the actuator, and the stator includes spherical surface, the spherical surface and the driving
Part is in contact；And
First sensor is set on the rotor assembly, and the motion state for detecting the rotor assembly；
The control method of the holder includes:
The motion state of the installation part is obtained using first sensor；And
According to the motion state, controls the actuator and drive the relatively described stator rotation of installation part.
90. the cloud platform control method as described in claim 89, it is characterised in that: obtain the installation part motion state it
Before, the first sensor is calibrated.
91. the cloud platform control method as described in claim 90, it is characterised in that: when being calibrated to the first sensor,
The first sensor is calibrated relative to the position data of an object of reference using the installation part.
92. the cloud platform control method as described in claim 90, it is characterised in that: the holder further includes attachment base, described fixed
Son is connected on the attachment base, and the attachment base is for connecting an application platform, when being calibrated to the first sensor,
The first sensor is calibrated relative to the position data of the attachment base using the installation part.
93. the cloud platform control method as described in claim 92, it is characterised in that: control the actuator and drive the installation part
Relatively the stator rotation when, adjust the installation using the attitude angle of the installation part and the attitude angle of the attachment base
Orientation of the part relative to the attachment base.
94. the cloud platform control method as described in claim 93, it is characterised in that: adjusted according to the attitude angle of the attachment base
The attitude angle of the installation part, so that the installation part is aligned the attachment base.
95. the cloud platform control method as described in claim 90, it is characterised in that: the holder further includes second sensor, institute
Second sensor is stated for sensing the motion state of the holder entirety；When calibrating to the first sensor, institute is utilized
The data that second sensor is sensed are stated to calibrate the first sensor.
96. the cloud platform control method as described in claim 89, it is characterised in that: control the actuator and drive the installation part
Relatively the stator rotation when, the attitude angle of the installation part meets object attitude angle.
97. the cloud platform control method as described in claim 96, it is characterised in that: control the actuator and drive the installation part
Before the relatively described stator rotation, calculate required when the actuator drives the installation part to the object attitude angle
Input torque.
98. the cloud platform control method as described in claim 97, it is characterised in that: returned using PID controller by feedback control
Road obtains the input torque.
99. the cloud platform control method as described in claim 98, it is characterised in that: using the PID controller according to the mesh
The difference between the practical attitude angle of the installation part of attitude angle and first sensor detection is marked to obtain the actuator institute
The input angular velocity needed.
100. the cloud platform control method as described in claim 99, it is characterised in that: using PID controller according to the input angle
Difference between the actual angular speed of speed and the installation part of first sensor detection obtains needed for the actuator
Input torque.
101. the cloud platform control method as described in claim 89, it is characterised in that: the holder further includes attachment base, described fixed
Son is connected on the attachment base, and the attachment base is for connecting an application platform；Obtain the installation part motion state it
Before, adjust orientation of the installation part relative to the attachment base.
102. the cloud platform control method as described in claim 101, it is characterised in that: using described in first sensor acquisition
Installation part about a first axle and the attitude angle of a second axis, and according to the attitude angle adjust the installation part relative to
The orientation of the attachment base.
103. the cloud platform control method as described in claim 102, it is characterised in that: adjust the installation according to the attitude angle
The step of orientation of the part relative to the attachment base includes: the control installation part movement, makes the installation part about one first
The attitude angle of axis and a second axis meets preset posture angle respectively.
104. the cloud platform control method as described in claim 103, it is characterised in that: adjust the installation according to the attitude angle
The step of orientation of the part relative to the attachment base further include: the holder further includes that second be set on the attachment base passes
Sensor obtains attitude angle of the attachment base about a third axis using second sensor, and utilizes the first sensor
Obtain attitude angle of the installation part about the third axis.
105. the cloud platform control method as described in claim 104, it is characterised in that: adjust the installation according to the attitude angle
The step of orientation of the part relative to the attachment base further include: according to the attachment base about the attitude angle of the third axis and
The installation part adjusts the attitude angle of the installation part, makes the peace about the difference between the attitude angle of the third axis
Piece installing is aligned the attachment base.
106. a kind of holder, including driving mechanism, which is characterized in that the driving mechanism includes:
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part；And
Stator is rotationally connected to the actuator, and the stator includes spherical surface, the spherical surface and the driving
Part is in contact；
Wherein, the actuator can drive the installation part relative to the stator rotation, the installation part and the installation
External loading on part is at equilibrium state relative to the center of gravity of the stator.
107. the holder as described in claim 106, it is characterised in that: the installation part includes mounting portion and is set to the peace
Support portion in dress portion, the actuator are set on the support portion.
108. the holder as described in claim 107, it is characterised in that: the support portion be it is multiple, the stator is set to more
Between a support portion, the mounting portion makes the whole of the external loading and the holder for carrying the external loading
The weight heart is deviated relative to the centre of sphere of the spherical surface.
109. the holder as described in claim 108, it is characterised in that: the mounting portion is annular, the annular mounting portion
It is circumferentially positioned at the spherical surface periphery of the stator.
110. the holder as described in claim 108, it is characterised in that: when the external loading is set on the mounting portion, institute
It states the centre of sphere of the whole center of gravity of external loading and the holder along a first direction relative to the spherical surface to deviate, described first
Direction is parallel with the yaw axis of the holder or is overlapped.
111. the holder as described in claim 108, it is characterised in that: balance element is additionally provided on the installation part, it is described flat
The position of the weighing apparatus relatively described installation part of part can adjust, to balance the center of gravity of the external loading.
112. the holder as described in claim 111, it is characterised in that: the balance element be it is multiple, multiple balance elements are equal
It is distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a first axle relative to the spherical surface deviates, and the first axle is the yaw axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a second axis relative to the spherical surface deviates, and the second axis is the pitch axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a third axis relative to the spherical surface deviates, and the third axis is the roll axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The weight heart is overlapped with the centre of sphere of the spherical surface.
113. the holder as described in claim 106, it is characterised in that: first sensor is provided on the installation part, it is described
First sensor is used to detect the motion state of the rotor assembly.
114. the holder as described in claim 113, it is characterised in that: the first sensor be it is following it is several at least one
Kind: gyroscope, accelerometer.
115. the holder as described in claim 113, it is characterised in that: the motion state of the rotor assembly includes following several
At least one of: rotational angle, velocity of rotation, angular speed, angular acceleration.
116. the holder as described in claim 113, it is characterised in that: the holder further includes processor, the processor with
The first sensor connection, the processor can be according to the motion state adjustment that the first sensor obtains
The movement of rotor assembly.
117. the holder as described in claim 106, it is characterised in that: the holder further includes attachment base, the stator connection
In on the attachment base, the attachment base is for connecting an application platform.
118. the holder as described in claim 117, it is characterised in that: the application platform is following any one of several:
Remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.
119. the holder as described in claim 117, it is characterised in that: the external loading is following any one of several:
Image acquiring device, communication device, sensor.
120. the holder as described in claim 117, it is characterised in that: the holder further includes actuated piece, and the actuated piece connects
It is connected between the stator and the attachment base, and the relatively described attachment base movement of the stator can be driven.
121. the holder as described in claim 120, it is characterised in that: the actuated piece is rotary drive, the actuated piece
The stator can be driven to rotate relative to the attachment base around a first axle, the first axle is the yaw of the holder
Axis.
122. the holder as described in claim 121, it is characterised in that: the actuated piece is rotating electric machine.
123. the holder as described in claim 121, it is characterised in that: the holder further includes second sensor, and described second
Sensor is electrically connected with the actuated piece, and the motion state for sensing the actuated piece.
124. the holder as described in claim 106, it is characterised in that: the actuator is piezoelectric actuator, and the piezoelectricity drives
Dynamic device can drive the installation part to rotate relative to the stator around an at least axis.
125. the holder as described in claim 124, it is characterised in that: the axis of the relatively described stator rotation of the installation part is extremely
Less include any axis below: the yaw axis of the holder, the roll axis of the holder, the holder pitch axis.
126. the holder as described in claim 106, it is characterised in that: the actuator is piezoelectric actuator.
127. the holder as described in claim 126, it is characterised in that: the piezoelectric actuator is multiple, multiple piezoelectricity
Driver is intervally installed on the installation part, and the stator is set between multiple piezoelectric actuators.
128. the holder as described in claim 127, it is characterised in that: multiple piezoelectric actuators are along described in the stator
The circumferential array of one outer circle of spherical surface is arranged.
129. the holder as described in claim 128, it is characterised in that: multiple piezoelectric actuators are evenly distributed on described outer
On round circumference.
130. the holder as described in claim 128, it is characterised in that: the stator is rotatably connected at a connecting seat, institute
Stating stator can rotate around a first axle relative to the attachment base；Multiple piezoelectric actuators are set along one first circumferential arrangement
It sets, and the installation part can be driven around a second axis and the relatively described stator rotation of a third axis.
131. the holder as described in claim 130, it is characterised in that: the stator is connected to a connecting seat by actuated piece
On, the stator can rotate under the driving of the actuated piece around the first axle, and the first axle is the holder
Yaw axis.
132. the holder as described in claim 131, it is characterised in that: the second axis and the third axis are respectively institute
State the pitch axis and roll axis of holder.
133. the holder as described in claim 130, it is characterised in that: the stator is fixedly connected to a connecting seat, multiple
The piezoelectric actuator is arranged along one second circumferential arrangement, and the installation part can be driven around a first axle, one second axis
Line and the relatively described stator rotation of a third axis.
134. the holder as described in claim 133, it is characterised in that: the first axle, the second axis and described
Three axis are respectively the yaw axis, pitch axis and roll axis of the holder.
135. the holder as described in claim 106, it is characterised in that: the holder is electric platform, is supplied by external power supply
Electricity.
136. the holder as described in claim 135, it is characterised in that: the holder is three axis electric platforms.
137. a kind of movable equipment comprising fuselage and the holder being set on the fuselage, which is characterized in that the cloud
Platform includes driving mechanism, and the driving mechanism includes:
Stator, is connected to the fuselage, and the stator includes spherical surface；
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part, and is offseted with the spherical surface of the stator；
Wherein, the actuator can drive the installation part relative to the stator rotation, the installation part and the installation
External loading on part is at equilibrium state relative to the center of gravity of the stator.
138. the movable equipment as described in claim 137, it is characterised in that: the installation part includes mounting portion and is set to
Support portion on the mounting portion, the actuator are set on the support portion.
139. the movable equipment as described in claim 138, it is characterised in that: the support portion be it is multiple, the stator is set
It is placed between multiple support portions, the mounting portion makes the external loading and the cloud for carrying the external loading
The whole center of gravity of platform is deviated relative to the centre of sphere of the spherical surface.
140. the movable equipment as described in claim 139, it is characterised in that: the mounting portion is annular, and annular is described
Mounting portion is circumferentially positioned at the spherical surface periphery of the stator.
141. movable equipment as described in claim 139, it is characterised in that: the external loading is set on the mounting portion
When, the centre of sphere of the whole center of gravity of the external loading and the holder along a first direction relative to the spherical surface deviates, institute
State first direction it is parallel with the yaw axis of the holder or be overlapped.
142. movable equipment as described in claim 139, it is characterised in that: it is additionally provided with balance element on the installation part,
The position of the relatively described installation part of the balance element can adjust, to balance the center of gravity of the external loading.
143. movable equipment as described in claim 142, it is characterised in that: the balance element be it is multiple, it is multiple described flat
Weighing apparatus part is distributed on the installation part；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a first axle relative to the spherical surface deviates, and the first axle is the yaw axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a second axis relative to the spherical surface deviates, and the second axis is the pitch axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The centre of sphere of the weight heart along a third axis relative to the spherical surface deviates, and the third axis is the roll axis of the holder；
And/or the position of the relatively described installation part of the balance element can adjust, and make the whole of the external loading and the holder
The weight heart is overlapped with the centre of sphere of the spherical surface.
144. movable equipment as described in claim 137, it is characterised in that: be provided with the first sensing on the installation part
Device, the first sensor are used to detect the motion state of the rotor assembly.
145. movable equipment as described in claim 144, it is characterised in that: the first sensor be it is following it is several in
It is at least one: gyroscope, accelerometer.
146. movable equipment as described in claim 144, it is characterised in that: the motion state of the rotor assembly include with
Under it is at least one of several: rotational angle, velocity of rotation, angular speed, angular acceleration.
147. movable equipment as described in claim 144, it is characterised in that: the holder further includes processor, the place
Reason device is connect with the first sensor, the motion state tune that the processor can be obtained according to the first sensor
The movement of the whole rotor assembly.
148. movable equipment as described in claim 137, it is characterised in that: the holder further includes attachment base, described fixed
Son is connected on the attachment base, and the attachment base is for connecting an application platform.
149. movable equipment as described in claim 148, it is characterised in that: the application platform be it is following it is several in appoint
It is a kind of: remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.
150. movable equipment as described in claim 148, it is characterised in that: the external loading be it is following it is several in appoint
It is a kind of: image acquiring device, communication device, sensor.
151. movable equipment as described in claim 148, it is characterised in that: the holder further includes actuated piece, the cause
Moving part is connected between the stator and the attachment base, and can drive the relatively described attachment base movement of the stator.
152. movable equipment as described in claim 151, it is characterised in that: the actuated piece is rotary drive, described
Actuated piece can drive the stator to rotate relative to the attachment base around a first axle, and the first axle is the holder
Yaw axis.
153. movable equipment as described in claim 152, it is characterised in that: the actuated piece is rotating electric machine.
154. movable equipment as described in claim 152, it is characterised in that: the holder further includes second sensor, institute
It states second sensor to be electrically connected with the actuated piece, and the motion state for sensing the actuated piece.
155. movable equipment as described in claim 137, it is characterised in that: the actuator is piezoelectric actuator, described
Piezoelectric actuator can drive the installation part to rotate relative to the stator around an at least axis.
156. movable equipment as described in claim 155, it is characterised in that: the relatively described stator rotation of installation part
Axis include at least any axis below: the yaw axis of the holder, the roll axis of the holder, the holder pitch axis.
157. movable equipment as described in claim 137, it is characterised in that: the actuator is piezoelectric actuator.
158. movable equipment as described in claim 157, it is characterised in that: the piezoelectric actuator is multiple, Duo Gesuo
It states piezoelectric actuator to be intervally installed on the installation part, the stator is set between multiple piezoelectric actuators.
159. movable equipment as described in claim 158, it is characterised in that: multiple piezoelectric actuators are along the stator
The spherical surface an outer circle circumferential array setting.
160. movable equipment as described in claim 159, it is characterised in that: multiple piezoelectric actuators are evenly distributed on
On the circumference of the outer circle.
161. movable equipment as described in claim 159, it is characterised in that: the stator is rotatably connected at a connection
Seat, the stator can be rotated around a first axle relative to the attachment base；Multiple piezoelectric actuators are along one first circumference
It is arranged, and the installation part can be driven around a second axis and the relatively described stator rotation of a third axis.
162. movable equipment as described in claim 161, it is characterised in that: the stator is connected to a company by actuated piece
On joint chair, the stator can be rotated under the driving of the actuated piece around the first axle, and the first axle is described
The yaw axis of holder.
163. movable equipment as described in claim 162, it is characterised in that: the second axis and the third axis point
Not Wei the holder pitch axis and roll axis.
164. movable equipment as described in claim 161, it is characterised in that: the stator is fixedly connected to a connection
Seat, multiple piezoelectric actuators are arranged along one second circumferential arrangement, and the installation part can be driven around a first axle, one
Second axis and the relatively described stator rotation of a third axis.
165. movable equipment as described in claim 164, it is characterised in that: the first axle, the second axis and
The third axis is respectively the yaw axis, pitch axis and roll axis of the holder.
166. movable equipment as described in claim 137, it is characterised in that: the holder is electric platform, by outside
Power supply power supply.
167. movable equipment as described in claim 166, it is characterised in that: the holder is three axis electric platforms.
A kind of 168. operating methods of holder, the holder includes driving mechanism, and the driving mechanism includes:
Rotor assembly, comprising:
Installation part, for carrying external loading；And
Actuator is set on the installation part；And
Stator is rotationally connected to the actuator, and the stator includes spherical surface, the spherical surface and the driving
Part is in contact；
The operating method includes:
External loading is set on the installation part, the external loading is made to be in equilibrium-like relative to the center of gravity of the stator
State；And
It controls the actuator and drives the relatively described stator rotation of installation part, to drive the external loading to move.
169. operating method as described in claim 168, it is characterised in that: the operating method further include: by the stator
It is connected in an application platform.
170. operating method as described in claim 169, it is characterised in that: the stator is connected to institute by a connecting seat
It states in application platform.
171. operating method as described in claim 170, it is characterised in that: the stator is connected on the attachment base
When, make the relatively described attachment base fixed setting of the stator.
172. operating method as described in claim 171, it is characterised in that: control the actuator and drive the installation part phase
When to the stator rotation, the installation part can be relatively described fixed around a first axle, a second axis and a third axis
Son rotation.
173. operating method as described in claim 172, it is characterised in that: the first axle, the second axis and institute
State the yaw axis, pitch axis and roll axis that third axis is respectively the holder.
174. operating method as described in claim 170, it is characterised in that: the stator is connected on the attachment base
When, so that the stator is rotated around a first axle relative to the attachment base, the first axle is the yaw of the holder
Axis.
175. operating method as described in claim 169, it is characterised in that: the application platform be it is following it is several in any
Kind: remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.
176. operating method as described in claim 168, it is characterised in that: the operating method further include: passed using first
Sensor detects the motion state of the rotor assembly, to control the installation part rotation according to the motion state.
177. operating method as described in claim 176, it is characterised in that: the first sensor be it is following it is several in extremely
Few one kind: gyroscope, accelerometer.
178. operating method as described in claim 176, it is characterised in that: the motion state of the rotor assembly includes following
It is at least one of several: rotational angle, velocity of rotation, angular speed, angular acceleration.
179. operating method as described in claim 176, it is characterised in that: the operating method further include: utilize processor
Installation part rotation is controlled, the processor is electrically connected with the first sensor, and the processor can be according to described the
The motion state that one sensor obtains adjusts the movement of the rotor assembly.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/109527 WO2018107337A1 (en) | 2016-12-12 | 2016-12-12 | Pan-tilt, operation method and control method thereof, and mobile device using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107111322A CN107111322A (en) | 2017-08-29 |
| CN107111322B true CN107111322B (en) | 2019-02-22 |
Family
ID=59676534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004520.7A Expired - Fee Related CN107111322B (en) | 2016-12-12 | 2016-12-12 | Holder and its operating method, control method, and the movable equipment using it |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107111322B (en) |
| WO (1) | WO2018107337A1 (en) |
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| WO2018120059A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市大疆灵眸科技有限公司 | Control method and system for cradle head, cradle head, and unmanned aerial vehicle |
| CN108521814B (en) * | 2017-09-12 | 2021-10-15 | 深圳市大疆灵眸科技有限公司 | Control method and controller of cloud deck and cloud deck |
| WO2019056381A1 (en) * | 2017-09-25 | 2019-03-28 | 深圳市大疆灵眸科技有限公司 | Method for controlling gimbal head, gimbal head controller, and gimbal head |
| WO2019119215A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆灵眸科技有限公司 | Method of controlling gimbal, movable object, storage device, system of controlling gimbal, and gimbal |
| CN114183662A (en) * | 2017-12-23 | 2022-03-15 | 深圳市大疆创新科技有限公司 | Cloud deck calibration method and cloud deck equipment |
| CN108288924B (en) * | 2018-03-06 | 2019-10-18 | 金陵科技学院 | A kind of rotary type travelling wave spherical ultrasonic motor synchronous aligning stator supporting apparatus |
| CN110637266A (en) * | 2018-04-28 | 2019-12-31 | 深圳市大疆创新科技有限公司 | Cloud deck control method and cloud deck |
| CN110573786A (en) * | 2018-04-28 | 2019-12-13 | 深圳市大疆创新科技有限公司 | Stability augmentation device and handheld cloud platform device |
| CN108732922A (en) * | 2018-04-28 | 2018-11-02 | 桂林飞宇科技股份有限公司 | A kind of stabilizer control system and control method |
| CN110622090A (en) * | 2018-06-05 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Cloud deck and calibration method thereof, unmanned aerial vehicle and computing equipment |
| CN110914781A (en) * | 2018-07-27 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Control method and control device of holder, holder and moving trolley |
| CN110785725A (en) * | 2018-08-31 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Control method of holder, holder and mobile platform |
| CN109854906B (en) * | 2018-12-29 | 2024-03-26 | 北京旷视科技有限公司 | Multi-dimensional adjusting rack, image recognition testing system and testing method for multi-dimensional adjusting rack |
| CN111316029B (en) * | 2019-03-13 | 2022-01-11 | 深圳市大疆创新科技有限公司 | Cloud deck gravity center balancing method, cloud deck and client |
| CN110492786B (en) * | 2019-08-12 | 2021-05-14 | 东南大学 | Three-degree-of-freedom force interaction device based on multi-mode conversion type ultrasonic motor |
| CN110609576B (en) * | 2019-09-26 | 2022-09-02 | 浙江大华技术股份有限公司 | Cloud deck control method, device and system, control equipment and storage medium |
| CN112292650A (en) * | 2019-11-28 | 2021-01-29 | 深圳市大疆创新科技有限公司 | Cloud deck control method, control device and control system |
| CN111506119B (en) * | 2020-04-27 | 2023-02-14 | 中国科学院光电技术研究所 | Photoelectric pod device with non-orthogonal driving three-degree-of-freedom inner frame |
| CN113653888B (en) * | 2020-10-29 | 2023-03-21 | 怀化建南电子科技有限公司 | Adjustable fixing support for mounting instruments and meters |
| CN112776998B (en) * | 2021-01-13 | 2021-11-12 | 广州市赛皓达智能科技有限公司 | Acquisition assembly based on multispectral image and laser point cloud |
| CN114371740B (en) * | 2021-11-24 | 2024-03-22 | 北京特种机械研究所 | Spherical attitude control method, apparatus, device and computer readable storage medium |
| CN116719352A (en) * | 2023-08-04 | 2023-09-08 | 百鸟数据科技(北京)有限责任公司 | Unmanned ship cloud deck automatic steering method, system, computer equipment and storage medium |
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| US6718130B2 (en) * | 1999-05-28 | 2004-04-06 | David E. Grober | Stabilized camera and marker buoy for media coverage of aquatic events |
| DE19961684A1 (en) * | 1999-12-21 | 2001-06-28 | Philips Corp Intellectual Pty | Actuator with a ball and piezo-electric drives |
| JP4550850B2 (en) * | 2007-03-27 | 2010-09-22 | 株式会社東芝 | Piezoelectric motor system |
| JP4398990B2 (en) * | 2007-03-28 | 2010-01-13 | 株式会社東芝 | Drive mechanism |
| CN101774431A (en) * | 2010-01-22 | 2010-07-14 | 清华大学 | Spherical hanging type two freedom degree holder for unmanned device |
| US9156551B2 (en) * | 2011-08-29 | 2015-10-13 | Aerovironment, Inc. | Tilt-ball turret with gimbal lock avoidance |
| CN104679019A (en) * | 2013-11-26 | 2015-06-03 | 天津同创视讯科技有限公司 | Spherical PTZ (pan/tilt/zoom) and control device thereof |
| CN204062367U (en) * | 2014-05-19 | 2014-12-31 | 深圳紫光积阳科技有限公司 | A kind of ball-type wind resistance The Cloud Terrace |
| CN105438490B (en) * | 2015-12-04 | 2017-10-03 | 厦门汉航精密科技有限公司 | The long-focus camera wide-angle head-tracking of unmanned plane increases steady cradle head structure |
| CN105892218B (en) * | 2016-06-08 | 2017-11-10 | 极翼机器人(上海)有限公司 | A kind of pan and tilt head and its control system |
-
2016
- 2016-12-12 CN CN201680004520.7A patent/CN107111322B/en not_active Expired - Fee Related
- 2016-12-12 WO PCT/CN2016/109527 patent/WO2018107337A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018107337A1 (en) | 2018-06-21 |
| CN107111322A (en) | 2017-08-29 |
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