CN206407153U - Magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform - Google Patents
Magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform Download PDFInfo
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- CN206407153U CN206407153U CN201621439778.3U CN201621439778U CN206407153U CN 206407153 U CN206407153 U CN 206407153U CN 201621439778 U CN201621439778 U CN 201621439778U CN 206407153 U CN206407153 U CN 206407153U
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Abstract
Obstacle avoidance apparatus and magnetic floating clouds platform are floated the utility model proposes a kind of magnetic, the magnetic, which floats obstacle avoidance apparatus, includes the floating component of magnetic and avoidance module；The magnetic, which floats component, includes driving part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；The driving part drives between the outer rotor and the inner stator according to the attitudes vibration of the avoidance module and occurs magnetic force change, to adjust the avoidance module to targeted attitude by floating rotate of the magnetic of the outer rotor.Magnetic of the present utility model floats obstacle avoidance apparatus and magnetic floating clouds platform, can adaptively adjust posture, more stable.
Description
Technical field
The utility model is related to the technologies such as avoidance, more particularly to a kind of magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform.
Background technology
Unmanned plane vision navigation system has complicated unknown flight environment of vehicle Real-time modeling set, autonomous positioning and the technology of navigation special
Point.Unmanned aerial vehicle platform, can be by carrying the multiple sensors such as visible image capturing head, infrared camera and laser range finder simultaneously
Gather multidimensional flight environment of vehicle information, data interaction and cooperated computing framework using airborne processor and earth station, real-time reconstruction
The threedimensional model of unknown flight environment of vehicle, is realized independent of the autonomous positioning of any outside location equipment (such as GPS) and from main view
Feel avoidance, tracking and land, can be widely applied to the complicated unknown flight environment of vehicle scouting of communication environment, monitoring and detection, disaster
The applications such as scene search and rescue.
The vision obstacle avoidance system applied on current unmanned plane is largely single direction, such as DJI spirit 4,
The products such as YUNEEC TyphoonH.
These avoidance schemes are all that optical sensor is fixed on above unmanned plane body.And being fixed on body has two
Shortcoming：1. the vibrations of unmanned plane body are big, the optical image information also high dither therewith that can so cause sensor collection to come,
High-resolution avoidance camera can not be thus applied, causes to be difficult to tell very tiny barrier, such as electric wire；2. fly
Row opportunity figure state can change, and can so cause the camera lens of avoidance module and can not be directed at the plane of heading always, it is impossible to real
Existing avoidance during flight.It is the attitudes vibration angle for limiting unmanned plane in motion process that tradition, which solves this method, also
It is limitation unmanned plane during flying speed, causes flight experience bad, and the avoidance in the case of body vibration can not be realized.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of magnetic and floats obstacle avoidance apparatus and magnetic floating clouds platform, can be adaptive
Posture should be adjusted, it is more stable.
To solve the above problems, obstacle avoidance apparatus is floated the utility model proposes a kind of magnetic, including magnetic floats component and avoidance module；
The magnetic, which floats component, includes driving part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；It is described to drive
Dynamic component drives between the outer rotor and the inner stator according to the attitudes vibration of the avoidance module and occurs magnetic force change,
To adjust the avoidance module to targeted attitude by floating rotate of the magnetic of the outer rotor.
According to one embodiment of the present utility model, the avoidance module include be arranged in the circumference of the outer rotor and
Towards the avoidance camera lens in outside, the four corner in field range covering circumference that whole avoidance camera lenses are formed is complete to realize
To avoidance.
According to one embodiment of the present utility model, the avoidance camera lens includes four pairs of binocular heads or six pairs of binoculars
Head, is evenly spaced apart ring and is located in the circumference of the outer rotor.
According to one embodiment of the present utility model, the driving part includes：It is fixed on the inner side of the outer rotor
Permanent magnet；It is fixed on the coil windings in the outside of the inner stator；And control module, for the posture according to the avoidance module
Change and control the coil windings to be powered and produce different magnetic force changes, with control the permanent magnet under magnetic buoyancy effect it is corresponding
Rotate and keep dynamic balance, so as to drive the avoidance module to adjust to targeted attitude.
According to one embodiment of the present utility model, one end of the inner stator is flexibly connected with the outer rotor, described
The other end of inner stator is extend out to outside the outer rotor.
According to one embodiment of the present utility model, the position that the outer rotor is used for inner stator stretching is opened up out
Window, the bore of the windowing is more than the extending area of the inner stator.
According to one embodiment of the present utility model, one end of the inner stator is connected with the outer rotor by universal joint
Connect.
According to one embodiment of the present utility model, the other end of the inner stator extend out to described outer turn by connecting rod
Outside son, and it is connected in not manned mobile device.
According to one embodiment of the present utility model, the not manned mobile device is unmanned plane.
According to one embodiment of the present utility model, the outer rotor is in hollow ball-shape, the permanent magnet form fit
Ring is located at the inner side of the outer rotor；The position of the inner stator correspondence coil windings is in spherical inner core, the coil around
Ring is located at the outside of the spherical inner core with organizing form fit；The permanent magnet and the coil windings are oppositely arranged, and both
Between have equidistant gap.
According to one embodiment of the present utility model, in addition to attitude transducer, relatively described avoidance module is fixedly installed,
Attitudes vibration to sense the avoidance module, and attitude signal is transmitted to the driving part.
The utility model also provides a kind of magnetic floating clouds platform, including：Driving part, inner stator and outer rotor；The drive division
Part drives between the outer rotor and the inner stator according to the attitudes vibration of the outer rotor and occurs magnetic force change, to pass through
The magnetic of the outer rotor, which is floated, to be rotated and adjusts the outer rotor to targeted attitude.
According to one embodiment of the present utility model, the driving part includes：It is fixed on the inner side of the outer rotor
Permanent magnet；It is fixed on the coil windings in the outside of the inner stator；And control module, for being become according to the posture of the outer rotor
Change and control the coil windings to be powered and produce different magnetic force changes, to control the permanent magnet accordingly to turn under magnetic buoyancy effect
Move and keep dynamic balance, so as to drive the outer rotor to adjust to targeted attitude.
According to one embodiment of the present utility model, one end of the inner stator is flexibly connected with the outer rotor, described
The other end of inner stator is extend out to outside the outer rotor.
According to one embodiment of the present utility model, the position that the outer rotor is used for inner stator stretching is opened up out
Window, the bore of the windowing is more than the extending area of the inner stator.
According to one embodiment of the present utility model, one end of the inner stator is connected with the outer rotor by universal joint
Connect.
According to one embodiment of the present utility model, the other end of the inner stator extend out to described outer turn by connecting rod
Outside son, and it is connected in not manned mobile device.
According to one embodiment of the present utility model, the not manned mobile device is unmanned plane.
According to one embodiment of the present utility model, the outer rotor is in hollow ball-shape, the permanent magnet form fit
Ring is located at the inner side of the outer rotor；The position of the inner stator correspondence coil windings is in spherical inner core, the coil around
Ring is located at the outside of the spherical inner core with organizing form fit；The permanent magnet and the coil windings are oppositely arranged, and both
Between have equidistant gap.
According to one embodiment of the present utility model, in addition to attitude transducer, it is fixedly installed on the outer rotor, uses
To sense the attitudes vibration of the outer rotor, and attitude signal is transmitted to the driving part.
According to one embodiment of the present utility model, in addition to head camera, it is arranged on the outer rotor.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art：
According to the different attitudes vibrations of avoidance module, different magnetic buoyancy are produced in magnetic floats component, it is default by adjusting
Position relationship between son and outer rotor, reaches that magnetic buoyancy is balanced, real to keep the targeted attitude of the avoidance module on outer rotor
Existing avoidance module attitude-adaptive adjustment, can cause the attitude stabilization of avoidance module in use, no matter not manned move
How dynamic device acts, with can keeping avoidance module stability towards the direction of required detecting, the figure that avoidance module is collected
As can be with more stable, thus the optical lens of higher resolution can be used, can also differentiate clear to more tiny barrier, from
And avoidance is more effectively realized, and the action no longer to not manned mobile device causes constraint；
The adjustment of posture is controlled with the effect of magnetic buoyancy, because the control for magnetic buoyancy can accomplish relatively accurate, separately
External dynamic balance effect drives the action of lower adjustment outer rotor fast quickly in reaction, enters action with not manned mobile device substantially
While work, carry out strain action, thus avoidance module pose adjustment more accurately and fast.
Brief description of the drawings
Fig. 1 floats the dimensional structure diagram of obstacle avoidance apparatus for the magnetic of the utility model embodiment；
Fig. 2 floats the dimensional structure diagram of obstacle avoidance apparatus for the magnetic of the utility model embodiment；
Fig. 3 floats the cross-sectional view of obstacle avoidance apparatus for the magnetic of the utility model embodiment.
Description of symbols in figure：
11- inner stators, 12- outer rotors, 13- coil windings, 14- permanent magnets, 15- connecting rods, 2- avoidance modules, 3- is universal
Section, 4- installation portions.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.
Many details are elaborated in the following description to fully understand the utility model.But this practicality is new
Type can be implemented with being much different from other manner described here, and those skilled in the art can be new without prejudice to this practicality
Similar popularization is done in the case of type intension, therefore the utility model is not limited by following public specific implementation.
Referring to Fig. 1-3, in one embodiment, magnetic, which floats obstacle avoidance apparatus, includes the floating component of magnetic and avoidance module 2.Magnetic floats component
Including driving part, inner stator 11 and outer rotor 12.Avoidance module 2 is provided with outer rotor 12.
Avoidance module 2 is used for detecting the barrier in the surrounding environment of not manned mobile device.Avoidance module 2 can be used
Various avoidance sensors, e.g. IR evading obstacle sensors, laser range sensor, ultrasonic distance-measuring sensor etc., are preferably adopted
With optical sensor, magnetic, which floats obstacle avoidance apparatus, can cause optical lens attitude stabilization, retain towards a direction.
In one embodiment, avoidance module is arranged on outer rotor 12, then is arranged on not manned move by inner stator 11
On dynamic device, not manned mobile device can be for example unmanned plane, realize the avoidance of whole unmanned plane, will compared to prior art
For collision avoidance module is directly anchored on unmanned plane body, no matter how airframe vibrates or how posture changes, avoidance
Module 2 adjusts posture by magnetic buoyancy effect, stablizes always in the plane of heading, very tiny so as to tell
Barrier, realize avoidance during unmanned plane during flying, do not limit the attitudes vibration angle during unmanned plane during flying or flight also
Speed, flight experience is more preferable.It is appreciated that not manned mobile device is not restricted to unmanned plane, for example, it can also be robot
Deng.
Driving part occurs magnetic force and become according to the attitudes vibration of avoidance module 2 between driving outer rotor 12 and inner stator 11
Change, to adjust avoidance module 2 to targeted attitude by floating rotate of the magnetic of outer rotor 12.The attitudes vibration of avoidance module 2 is phase
For targeted attitude, when not manned mobile device attitudes vibration, the floating obstacle avoidance apparatus of magnetic thereon can also follow action,
Attitudes vibration thus occurs for avoidance module 2, and when detecting the attitudes vibration of avoidance module 2, driving part controls outer rotor immediately
The 12 relative activities of inner stator 11, are adjusted on targeted attitude.
According to the different attitudes vibrations of avoidance module 2, different magnetic buoyancy are produced in magnetic floats component, it is default by adjusting
Position relationship between son 11 and outer rotor 12, reaches that magnetic buoyancy is balanced, to keep the target of the avoidance module 2 on outer rotor 12
Posture, realizes that the attitude-adaptive of avoidance module 2 is adjusted, no matter can cause the attitude stabilization of avoidance module 2 in use
How not manned mobile device acts, and can keep direction of the avoidance module 2 stably towards required detecting, avoidance module 2
The image collected can be with more stable, thus can use the optical lens of higher resolution, and more tiny barrier also can
Differentiate clear, so that avoidance is more effectively realized, and also the action no longer to not manned mobile device causes constraint.
In one embodiment, avoidance module 2 includes being arranged in the circumference of outer rotor 12 and towards the avoidance mirror in outside
Head, the four corner in field range covering circumference that whole avoidance camera lenses can be photographed, to realize omnidirectional's avoidance, can be visited
Measure the barrier in all directions.More specifically, avoidance camera lens can include four pairs of binocular heads or six pairs of binocular heads,
Ring is evenly spaced apart to be located in the circumference of outer rotor.In fig. 1-3, avoidance camera lens includes six pairs of binocular heads, and outer rotor is used for
The position for setting avoidance camera lens is in positive six prismsby type, and each pair is arranged on a side of positive six prismsby.
Existing avoidance module can only detect a direction, be typically only capable to the barrier in the environment of detection front, if desired
Surrounding environment is detected, then needs control rotation detection position just to detect, it is more troublesome in control, easily produce unstable
Interference, and can not realize while detecting environment in omnidirectional.The utility model embodiment is all provided with binocular in the circumferential
Head, without controlling its rotation detection position, keeps static state can at every moment to detect surrounding environment, realizes omnidirectional simultaneously
Obstacle detection；And the binocular head set, similar human eye may be such that the image detected has depth, realize three-dimensional imaging, right
The resolution of barrier is become apparent from, and the distance of barrier can be determined by the parallax between binocular head, accomplishes more accurately to keep away
Barrier, overcomes the problem of existing avoidance module is present.
In one embodiment, referring to 1 and Fig. 3, driving part includes：Permanent magnet 14, coil windings 13 and control module
(not shown).Permanent magnet 14 is fixed on the inner side of outer rotor 12, and coil windings 13 are fixed on the outside of inner stator 11, coil
Winding 13 can be acted to permanent magnet 14 after the power-up, occur magnetic buoyancy change, and the direction in magnetic field can be detected with Hall element
With change, to control both poised states.Control module is according to the attitudes vibration of avoidance module 2, and control coil winding 13
It is powered and produces different magnetic force changes, because magnetic force change causes power uneven, permanent magnet 14 is accordingly rotated under magnetic buoyancy effect
And dynamic balance is kept, so as to drive avoidance module 2 to adjust to targeted attitude.
The adjustment of posture is controlled with the effect of magnetic buoyancy, because the control for magnetic buoyancy can accomplish relatively accurate, separately
External dynamic balance effect drives the action of lower adjustment outer rotor 12 fast quickly in reaction, is carried out substantially with not manned mobile device
While action, carry out strain action, thus avoidance module 2 pose adjustment more accurately and fast.
In one embodiment, one end of inner stator 11 is flexibly connected with outer rotor 12, and the other end of inner stator 11 stretches out
, can be for the not manned mobile device of connection or other devices to outside outer rotor 12.Can be with the other end of inner stator 11
One connecting rod 15 is set, extend out to by connecting rod 15 outside outer rotor 12, installation portion 4 can also be set in connecting rod 15,
It is connected to by installation portion 4 in not manned mobile device.
The position that outer rotor 12 is used for the stretching of inner stator 11 opens up windowing, and the bore of windowing is more than the stretching of inner stator 11
Position (connecting rod 15), so that the rotation of outer rotor 12 is unlikely to the influence by inner stator 11.One end of inner stator 11 with it is outer
Rotor 12 is connected by universal joint 3 so that can be rotated relatively freely between inner stator 11 and outer rotor 12 on multi-direction, is protected
The connection of inner stator 11 and outer rotor 12 is demonstrate,proved, while ensureing that inner stator can adjust.
In one embodiment, outer rotor 12 be in hollow ball-shape, the form fit of permanent magnet 14 ring be located at outer rotor 12
Inner side, inner stator 11 correspondence coil windings 13 position be in spherical inner core, the form fit of coil windings 13 ring be located at it is spherical in
The outside of core, permanent magnet 14 and coil windings 13 are oppositely arranged, and have equidistant gap between the two.
Referring to Fig. 3, outer rotor 12 is in hollow ball-shape, and inner surface is spherical, and permanent magnet 14 is attached to the inner side of outer rotor 12,
And be intervally arranged between multiple permanent magnets 14, the polarity of each permanent magnet 14 becomes according to the energization situation of change of coil windings 13
Change.Inner stator 11 set coil windings 13 position be in spherical inner core, coil windings 13 can by connect minor matters with it is spherical interior
Core is connected, and the shape of coil windings 13 is also spherical.Permanent magnet 14 and coil windings 13 are oppositely arranged, and are existed between the two
Gap, gap is everywhere apart from equal.
Each part is spherical in shape, it is ensured that outer rotor 12 and inner stator 11 occur all directions and relatively rotated, and also do not make both
Between depart from the mutual effect of contraction of magnetic buoyancy, so as to keep the stable adjustment of the posture of avoidance module 2 on outer rotor 12, i.e.,
Make UAV Maneuver larger, posture also can be smoothly adjusted.
In one embodiment, magnetic, which floats obstacle avoidance apparatus, also includes attitude transducer (not shown).Attitude transducer phase
Avoidance module 2 is fixedly installed, for example, can be arranged on outer rotor 12, the attitudes vibration to sense avoidance module 2, and will
Attitude signal is transmitted to driving part, and the control module of driving part receives control coil winding 13 after attitude signal and accordingly led to
Electricity, produces corresponding magnetic force change, and control posture resets to targeted attitude.
The utility model also provides a kind of magnetic floating clouds platform, including：Driving part, inner stator and outer rotor；The drive division
Part drives between the outer rotor and the inner stator according to the attitudes vibration of the outer rotor and occurs magnetic force change, to pass through
The magnetic of the outer rotor, which is floated, to be rotated and adjusts the outer rotor to targeted attitude.
According to one embodiment of the present utility model, the driving part includes：It is fixed on the inner side of the outer rotor
Permanent magnet；It is fixed on the coil windings in the outside of the inner stator；And control module, for being become according to the posture of the outer rotor
Change and control the coil windings to be powered and produce different magnetic force changes, to control the permanent magnet accordingly to turn under magnetic buoyancy effect
Move and keep dynamic balance, so as to drive the outer rotor to adjust to targeted attitude.
According to one embodiment of the present utility model, one end of the inner stator is flexibly connected with the outer rotor, described
The other end of inner stator is extend out to outside the outer rotor.
According to one embodiment of the present utility model, the position that the outer rotor is used for inner stator stretching is opened up out
Window, the bore of the windowing is more than the extending area of the inner stator.
According to one embodiment of the present utility model, one end of the inner stator is connected with the outer rotor by universal joint
Connect.
According to one embodiment of the present utility model, the other end of the inner stator extend out to described outer turn by connecting rod
Outside son, and it is connected in not manned mobile device.
According to one embodiment of the present utility model, the not manned mobile device is unmanned plane.
According to one embodiment of the present utility model, the outer rotor is in hollow ball-shape, the permanent magnet form fit
Ring is located at the inner side of the outer rotor；The position of the inner stator correspondence coil windings is in spherical inner core, the coil around
Ring is located at the outside of the spherical inner core with organizing form fit；The permanent magnet and the coil windings are oppositely arranged, and both
Between have equidistant gap.
According to one embodiment of the present utility model, in addition to attitude transducer, it is fixedly installed on the outer rotor, uses
To sense the attitudes vibration of the outer rotor, and attitude signal is transmitted to the driving part.
According to one embodiment of the present utility model, in addition to head camera, it is arranged on the outer rotor.
Particular content on magnetic floating clouds platform of the present utility model may refer to magnetic in previous embodiment and float obstacle avoidance apparatus
Description, difference is, can be not provided with avoidance module on magnetic floating clouds platform and set miscellaneous part, for example, can set head phase
Machine, or avoidance module and head camera etc. can be set simultaneously.
Although the utility model is disclosed as above with preferred embodiment, it is not for limiting claim, Ren Heben
Art personnel are not being departed from spirit and scope of the present utility model, can make possible variation and modification, therefore
The scope that protection domain of the present utility model should be defined by the utility model claim is defined.
Claims (21)
1. a kind of magnetic floats obstacle avoidance apparatus, it is characterised in that float component and avoidance module including magnetic；The magnetic, which floats component, includes driving
Part, inner stator and outer rotor；The avoidance module is provided with the outer rotor；The driving part is according to the avoidance mould
The attitudes vibration of block, drives between the outer rotor and the inner stator and occurs magnetic force change, to pass through the magnetic of the outer rotor
Float and rotate and adjust the avoidance module to targeted attitude.
2. magnetic as claimed in claim 1 floats obstacle avoidance apparatus, it is characterised in that the avoidance module includes being arranged in described outer turn
In the circumference of son and towards the avoidance camera lens in outside, whole models in field range covering circumference that whole avoidance camera lenses are formed
Enclose, to realize omnidirectional's avoidance.
3. magnetic as claimed in claim 2 floats obstacle avoidance apparatus, it is characterised in that the avoidance camera lens include four pairs of binocular heads or
Person six is evenly spaced apart ring and is located in the circumference of the outer rotor to binocular head.
4. magnetic as claimed in claim 1 floats obstacle avoidance apparatus, it is characterised in that the driving part includes：It is fixed on described outer
The permanent magnet of the inner side of rotor；It is fixed on the coil windings in the outside of the inner stator；And control module, for being kept away according to
The attitudes vibration of barrier module and control the coil windings to be powered and produce different magnetic force changes, to control the permanent magnet floating in magnetic
Accordingly rotate under power effect and keep dynamic balance, so as to drive the avoidance module to adjust to targeted attitude.
5. the magnetic as described in claim 1 or 4 floats obstacle avoidance apparatus, it is characterised in that one end of the inner stator turns outside with described
Subactivity is connected, and the other end of the inner stator is extend out to outside the outer rotor.
6. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that the outer rotor is used for what the inner stator stretched out
Position opens up windowing, and the bore of the windowing is more than the extending area of the inner stator.
7. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that one end of the inner stator leads to the outer rotor
Cross universal joint connection.
8. magnetic as claimed in claim 5 floats obstacle avoidance apparatus, it is characterised in that the other end of the inner stator is stretched by connecting rod
Go out to outside the outer rotor, and be connected in not manned mobile device.
9. magnetic as claimed in claim 8 floats obstacle avoidance apparatus, it is characterised in that the not manned mobile device is unmanned plane.
10. magnetic as claimed in claim 4 floats obstacle avoidance apparatus, it is characterised in that the outer rotor is in hollow ball-shape, the permanent magnetism
Matchingly ring is located at the inner side of the outer rotor to shape；The position of the inner stator correspondence coil windings is in spherical interior
Core, the coil windings form fit ring be located at the outside of the spherical inner core；The permanent magnet and the coil windings phase
To setting, and there is equidistant gap between the two.
11. magnetic as claimed in claim 1 floats obstacle avoidance apparatus, it is characterised in that also including attitude transducer, relatively described avoidance
Module is fixedly installed, the attitudes vibration to sense the avoidance module, and attitude signal is transmitted to the driving part.
12. a kind of magnetic floating clouds platform, it is characterised in that including：Driving part, inner stator and outer rotor；The driving part according to
The attitudes vibration of the outer rotor, drives between the outer rotor and the inner stator and occurs magnetic force change, with by described outer
The magnetic of rotor, which is floated, to be rotated and adjusts the outer rotor to targeted attitude.
13. magnetic floating clouds platform as claimed in claim 12, it is characterised in that the driving part includes：It is fixed on described outer turn
The permanent magnet of the inner side of son；It is fixed on the coil windings in the outside of the inner stator；And control module, for according to described outer turn
The attitudes vibration of son and control the coil windings to be powered and produce different magnetic force changes, to control the permanent magnet to make in magnetic buoyancy
Dynamic balance is kept with lower corresponding rotation, so as to drive the outer rotor to adjust to targeted attitude.
14. the magnetic floating clouds platform as described in claim 12 or 13, it is characterised in that one end of the inner stator and the outer rotor
It is flexibly connected, the other end of the inner stator is extend out to outside the outer rotor.
15. magnetic floating clouds platform as claimed in claim 14, it is characterised in that the outer rotor is used for the portion that the inner stator stretches out
Windowing is opened up at position, the bore of the windowing is more than the extending area of the inner stator.
16. magnetic floating clouds platform as claimed in claim 14, it is characterised in that one end of the inner stator passes through with the outer rotor
Universal joint is connected.
17. magnetic floating clouds platform as claimed in claim 14, it is characterised in that the other end of the inner stator is stretched out by connecting rod
Outside to the outer rotor, and it is connected in not manned mobile device.
18. magnetic floating clouds platform as claimed in claim 17, it is characterised in that the not manned mobile device is unmanned plane.
19. magnetic floating clouds platform as claimed in claim 13, it is characterised in that the outer rotor is in hollow ball-shape, the permanent magnet
Form fit ring be located at the inner side of the outer rotor；The position of the inner stator correspondence coil windings is in spherical inner core,
The coil windings form fit ring be located at the outside of the spherical inner core；The permanent magnet and the coil windings are set relatively
Put, and have equidistant gap between the two.
20. magnetic floating clouds platform as claimed in claim 12, it is characterised in that also including attitude transducer, is fixedly installed on described
On outer rotor, the attitudes vibration to sense the outer rotor, and attitude signal is transmitted to the driving part.
21. magnetic floating clouds platform as claimed in claim 12, it is characterised in that also including head camera, is arranged on the outer rotor
On.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621439778.3U CN206407153U (en) | 2016-12-26 | 2016-12-26 | Magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform |
| US15/687,253 US10053230B2 (en) | 2016-12-26 | 2017-08-25 | Magnetic levitation obstacle avoidance device and magnetic levitation holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621439778.3U CN206407153U (en) | 2016-12-26 | 2016-12-26 | Magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform |
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| Publication Number | Publication Date |
|---|---|
| CN206407153U true CN206407153U (en) | 2017-08-15 |
Family
ID=59552865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621439778.3U Active CN206407153U (en) | 2016-12-26 | 2016-12-26 | Magnetic floats obstacle avoidance apparatus and magnetic floating clouds platform |
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| Country | Link |
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| CN (1) | CN206407153U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494635A (en) * | 2016-12-26 | 2017-03-15 | 昊翔电能运动科技(昆山)有限公司 | The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform |
| CN108682187A (en) * | 2018-05-17 | 2018-10-19 | 彭美江 | A kind of floating obstacle avoidance apparatus of novel magnetic |
| CN109883541A (en) * | 2019-03-26 | 2019-06-14 | 北京交通大学 | A kind of three axis pose_adjusters of sealing |
-
2016
- 2016-12-26 CN CN201621439778.3U patent/CN206407153U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494635A (en) * | 2016-12-26 | 2017-03-15 | 昊翔电能运动科技(昆山)有限公司 | The floating obstacle avoidance apparatus of magnetic and magnetic floating clouds platform |
| CN108682187A (en) * | 2018-05-17 | 2018-10-19 | 彭美江 | A kind of floating obstacle avoidance apparatus of novel magnetic |
| CN109883541A (en) * | 2019-03-26 | 2019-06-14 | 北京交通大学 | A kind of three axis pose_adjusters of sealing |
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