CN205066678U - 角位移检测装置、电机转角控制系统、云台和飞行器 - Google Patents

角位移检测装置、电机转角控制系统、云台和飞行器 Download PDF

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CN205066678U
CN205066678U CN201520832857.XU CN201520832857U CN205066678U CN 205066678 U CN205066678 U CN 205066678U CN 201520832857 U CN201520832857 U CN 201520832857U CN 205066678 U CN205066678 U CN 205066678U
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magnet
angular displacement
detecting device
displacement detecting
combination
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陈发展
樊永谦
张正力
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to PCT/CN2016/093608 priority patent/WO2017071362A1/zh
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for panning and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

本实用新型涉及电机检测领域，尤其涉及一种角位移检测装置、电机转角控制系统、云台和飞行器，本实用新型提供的角位移检测装置包括组合磁体、霍尔传感器和传动部件，所述组合磁体包括依次叠置的第一磁体、弱磁体层和第二磁体，所述第一磁体和所述第二磁体的磁极方向相反且平行于弱磁体层；所述传动部件与所述组合磁体连接，并带动所述组合磁体旋转，或者，所述传动部件与所述霍尔传感器连接，并带动所述霍尔传感器旋转。本实用新型提供的角位移检测装置将两个磁体组合在一起，形成一个磁极互相交错的组合磁体，增加了磁体两极的磁场强度，减少磁场扩散，使得本实用新型提供的角位移检测装置能够降低磁场对周边信号的干扰。

Description

角位移检测装置、电机转角控制系统、云台和飞行器
【技术领域】
本实用新型涉及电机检测领域，尤其涉及一种角位移检测装置、电机转角控制系统、云台与飞行器。
【背景技术】
传统的电机角位移检测系统中，大多是采用霍尔传感器针对单个磁体磁极变化进行检测，而单个磁体的磁感应线过于分散，当单个磁体应用到需要传输其他信号的设备上时，过于分散的磁感应线会干扰其他信号的传输，如电机在应用无人机上时，电机角位移检测系统中过于分散的磁感应线会严重干扰无人机的无线信号。
【发明内容】
本实用新型旨在解决单个磁体的磁感应线过于分散会干扰其他信号的传输的问题，提供一种角位移检测装置、电机转角控制系统、云台与飞行器。
为解决上述技术问题，本实用新型提供以下技术方案：
一方面，本实用新型提供一种角位移检测装置，包括：
组合磁体，包括依次叠置的第一磁体、弱磁体层和第二磁体，所述第一磁体和所述第二磁体的磁极方向相反且平行于弱磁体层；霍尔传感器，检测所述组合磁体的角位移；以及传动部件，所述传动部件与所述组合磁体连接，并带动所述组合磁体旋转，或者，所述传动部件与所述霍尔传感器连接，并带动所述霍尔传感器旋转。
在一些实施例中，所述第一磁体和所述第二磁体的形状相同。
在一些实施例中，所述第一磁体、弱磁体层和所述第二磁体为中心对称的形状。
在一些实施例中，所述第一磁体、弱磁体层和所述第二磁体为圆盘形状。
在一些实施例中，所述第一磁体、所述弱磁体层和所述第二磁体的大小相同，所述第一磁体和所述第二磁体的厚度相等。
在一些实施例中，所述第一磁体和/或第二磁体采用磁粉冲压成型之后进行充磁制得。
在一些实施例中，所述组合磁体外表面设置有采用导磁材料制成的保护层。
第二方面，本实用新型提供一种电机转角控制系统，包括控制器，电机马达，以及以上所述的角位移检测装置，
所述控制器分别与所述电机马达和所述角位移检测装置连接，控制所述电机马达的角位移，并接收所述角位移检测装置的检测结果；所述电机马达还与所述角位移检测装置通过所述传动部件连接，并通过所述角位移检测装置检测角位移。
第三方面，本实用新型提供一种云台，包括多个电机，以及以上所述的电机转角控制系统，所述电机转角控制系统分别与多个电机连接，并分别控制所述多个电机转动。
第四方面，本实用新型提供一种飞行器，包括拍摄装置，机身主体，以及以上所述的云台，所述拍摄装置安装在所述云台上，所述云台与所述机身主体连接。
本实用新型的有益效果在于，本实用新型提供的角位移检测装置将两个磁体组合在一起，形成一个磁极互相交错的组合磁体，增加了磁体两极的磁场强度，减少磁场扩散，使得本实用新型提供的角位移检测装置能够降低磁场对周边信号的干扰。
【附图说明】
图1为本实用新型一个实施例的角位移检测装置的结构示意图。
图2为本实用新型一个实施例的角位移检测装置中组合磁体的结构示意图。
图3为单个磁体的磁场分布图。
图4为本实用新型一个实施例的组合磁体的磁场分布图。
图5为本实用新型另一个实施例的电机转角控制系统的架构示意图。
附图标记：1、组合磁体；101、第一磁体；102、弱磁体层；103、第二磁体；2、霍尔传感器；3、传动部件；4、角位移检测装置；5、控制器；6、电机马达。
【具体实施方式】
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本实用新型，并不用于限定本实用新型。
实施例1
请参阅图1，为本实用新型一个实施例的角位移检测装置的结构示意图。
如图1所示，角位移检测装置，包括组合磁体1，霍尔传感器2和传动部件3。
组合磁体1包括依次叠置的第一磁体101、弱磁体层102和第二磁体103，第一磁体101和第二磁体103的磁极方向相反且平行于弱磁体层102；霍尔传感器2用以检测组合磁体1的角位移；传动部件3与组合磁体1连接，并带动组合磁体1旋转，或者传动部件3与霍尔传感器2连接，并带动霍尔传感器2旋转。
弱磁体层102用于屏蔽第一磁体101和第二磁体103相邻面的磁感线。
优选地，第一磁体101和第二磁体103的形状相同，以达到磁场最快的收敛。
优选地，第一磁体101、弱磁体层102和第二磁体103为中心对称的形状，使得组合磁体的磁场规律分布，方便霍尔传感器对组合磁体角位移的检测。
图2为组合磁体1的结构示意图，本实施例中，第一磁体101、弱磁体层102和第二磁体103均为圆盘形状，本领域技术人员应该理解，第一磁体1、弱磁体层2和第二磁体3也可以设置为长条形或者其他形状，本实施例形状的设置并不用于限定本实用新型。
优选地，第一磁体101、弱磁体层102和第二磁体103的大小相同，第一磁体101和第二磁体103的厚度相等。这样的设置使得组合磁体的磁场规律分布，以达到磁场最快的收敛。
优选地，第一磁体101和/或第二磁体103采用磁粉冲压成型之后进行充磁制得组合磁体1，具体为，第一磁体101和第二磁体103在包括有弱磁体层102的同一模具中进行磁粉冲压成型，之后再对第一磁体101和第二磁体103进行充磁，这样一体成型的方式制取的组合磁体1，可以根据需要来对第一磁体101和第二磁体进行充磁103，可调节性大，而且一体成型的组合磁体1更加牢固，不容易被损坏。
优选地，所述组合磁体1外表面设置有保护层，保护层可以采用导磁材料制成，具体可以为白锌层，用以防止组合磁体被意外刮伤，保护组合磁体1的磁性。
本实用新型提供的组合磁体能够增加磁体两极的磁场强度，减少磁场扩散，具体原理如下：
请参阅图3和图4，分别为单个磁体的磁场分布图和本实用新型提供的组合磁体的磁场分布图，磁感线的疏密程度表示磁场强度的大小，而组合磁体的磁感线的密集程度高于单个磁体的磁感线，因此组合磁体的磁场强度要高于单个磁体的磁场强度；磁体的磁感线遵守就近磁场或就强磁场的原则，由磁体N极发出的磁感线会在相邻的S极处收敛，组合磁体的第一磁体和第二磁体的N极附近拥有相邻的两个S极，相较于单个磁体的单个S极，磁场的扩散量更少。
实施例2
请参阅图5，为本实用新型另一个实施例的电机转角控制系统的架构示意图。
如图5所示，电机转角控制系统包括控制器5，电机马达6，以及本实用新型提供的角位移检测装置4，
控制器5分别与电机马达6和角位移检测装置4连接，用于控制电机马达6的角位移，并接收角位移检测装置4的检测结果；
电机马达6还与角位移检测装置4通过传动部件3连接，并通过所述角位移检测装置4检测电机马达6的角位移。
本实用新型提供的电机转角控制系统使用本实用新型提供的角位移检测装置可以增加磁体两极的磁场强度，减少磁场扩散，降低磁场对周边信号的干扰。
实施例3
一种云台，包括多个电机，以及本实用新型提供的电机转角控制系统，
所述电机转角控制系统分别与多个电机连接，并分别控制所述多个电机转动。
所述电机转角控制系统与实施例2提供的电机转角控制系统相同，此处不再赘述。
实施例4
一种飞行器，包括拍摄装置，机身主体，以及本实用新型提供的云台，
所述拍摄装置安装在所述云台上，所述云台与所述机身主体连接。
所述云台与实施例3提供的云台相同，此处不再赘述。
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

1.一种角位移检测装置，其特征在于，包括：
组合磁体，包括依次叠置的第一磁体、弱磁体层和第二磁体，所述第一磁体和所述第二磁体的磁极方向相反且平行于弱磁体层；
霍尔传感器，检测所述组合磁体的角位移；以及
传动部件，所述传动部件与所述组合磁体连接，并带动所述组合磁体旋转，或者，所述传动部件与所述霍尔传感器连接，并带动所述霍尔传感器旋转。
2.如权利要求1所述的角位移检测装置，其特征在于，所述第一磁体和所述第二磁体的形状相同。
3.如权利要求2所述的角位移检测装置，其特征在于，所述第一磁体、弱磁体层和所述第二磁体为中心对称的形状。
4.如权利要求3所述的角位移检测装置，其特征在于，所述第一磁体、弱磁体层和所述第二磁体为圆盘形状。
5.如权利要求1-4任一项所述的角位移检测装置，其特征在于，所述第一磁体、所述弱磁体层和所述第二磁体的大小相同，
所述第一磁体和所述第二磁体的厚度相等。
6.如权利要求1所述的角位移检测装置，其特征在于，所述第一磁体和/或第二磁体采用磁粉冲压成型之后进行充磁制得。
7.如权利要求1所述的角位移检测装置，其特征在于，所述组合磁体外表面设置有采用导磁材料制成的保护层。
8.一种电机转角控制系统，其特征在于，包括控制器，电机马达，以及如权利要求1-7任一项所述的角位移检测装置，
所述控制器分别与所述电机马达和所述角位移检测装置连接，控制所述电机马达的角位移，并接收所述角位移检测装置的检测结果；
所述电机马达还与所述角位移检测装置通过所述传动部件连接，并通过所述角位移检测装置检测角位移。
9.一种云台，其特征在于，包括多个电机，以及如权利要求8所述的电机转角控制系统，
所述电机转角控制系统分别与多个电机连接，并分别控制所述多个电机转动。
10.一种飞行器，其特征在于，包括拍摄装置，机身主体，以及如权利要求9所述的云台，
所述拍摄装置安装在所述云台上，所述云台与所述机身主体连接。
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