CN208299634U

CN208299634U - A kind of motor, holder and unmanned vehicle

Info

Publication number: CN208299634U
Application number: CN201721838928.2U
Authority: CN
Inventors: 颜世智
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2017-12-22
Filing date: 2017-12-22
Publication date: 2018-12-28
Anticipated expiration: 2027-12-22

Abstract

The utility model relates to holder technical fields, more particularly to a kind of motor, holder and unmanned vehicle, the holder are provided with the first Inertial Measurement Unit for carrying carrier on carrier, for sensing the first attitude angle of the posture of characterization carrier, holder includes: attachment base；Driving assembly；And second Inertial Measurement Unit；Processor is used to receive the first attitude angle from the first Inertial Measurement Unit, receives the second attitude angle from the second Inertial Measurement Unit, and determines the angle position of electric machine assembly according to the first attitude angle and the second attitude angle.Therefore the utility model need to can only determine the current location of the rotor of measured motor to be checked by the posture direction and attitude angle for obtaining carrier, the current location that rotor is directly measured by the sensor on each motor is not needed, interference so as to avoid motor to sensor, so that the angle that measurement obtains is more accurate, identified rotor-position also will be more acurrate.

Description

A kind of motor, holder and unmanned vehicle

Technical field

The utility model embodiment is related to holder technical field more particularly to a kind of motor, holder and unmanned vehicle.

Background technique

In the prior art, referring to Fig. 1, carrying out the rotor position information for needing to merge motor when motor control, therefore, electricity Machine is generally provided with physical sensors, these physical sensors are used to detect the position of the rotor of motor, and by the position of rotor Confidence breath feeds back to electric machine controller, to control motor.Holder is the support equipment of installation, establishing shot device, For the multiaxis holder comprising multiple motors, the motor to each axis is needed to control, with the rotation by adjusting motor Gyration and realize the steady function of increasing to filming apparatus.

The inventor of the utility model has found in the process of implementing the utility model, the prior art has the following problems: Since physical sensors are generally all set on the motor of each axis of holder in the prior art, physical sensors are easy to By the interference of motor-field, cause the angular error measured larger, so that the rotor of the motor of each axis finally obtained There is also relatively large deviations for position；On the other hand, this is also in the structure size for virtually increasing motor and multiaxis holder, so that electric The assembly technology of machine and multiaxis holder becomes more complicated and difficulty.A kind of measurement angle accuracy is being improved so can provide Meanwhile and can reduce the size of motor and multiaxis holder, reduce the assembly of motor and multiaxis holder and technique are required it is novel Holder be very it is necessary to.

Utility model content

The technical problem to be solved by the present invention is to provide a kind of motor, holder and unmanned vehicles, solve existing skill Physical sensors are set on the motor of each axis of holder in art, lead to interference of the physical sensors vulnerable to motor-field, are surveyed The larger problem of the angular error measured, and the structure size of motor and multiaxis holder is larger in the prior art, motor and more The more complicated and difficult technical problem of the assembly technology of axis holder.

In order to solve the above-mentioned technical problem, the utility model embodiment provides a kind of motor, comprising:

Pedestal is provided with the first rotation hole；

First bearing is fixed on first rotation hole；

Terminal plate is fixed on the pedestal；

Stator is fixed on the terminal plate；

Rotor；

Shaft is fixed after one end passes through the first bearing with the rotor.

Optionally, the rotor includes magnet ring and shell；

The magnet ring is mutually fixed with the shell, and one end of the shaft is mutually fixed with the shell.

Optionally, the magnet ring is between the shell and pedestal；

Container is arranged towards a surface of the pedestal in the shell；

The stator is contained in the container of the shell.

Optionally, the pedestal is provided with fixed part towards a surface of the rotor；

The terminal plate and stator are socketed on the fixed part.

Optionally, the fixed part is provided with the second rotation hole, and second rotation hole is connected to first rotation hole；

After one end of the shaft sequentially passes through the first bearing, fixed part and the second rotation hole, with the shell It is fixed.

Optionally, the motor further includes second bearing；

The second bearing is fixed in second rotation hole, and one end of the shaft passes through the second bearing.

Optionally, the pedestal is provided with the first clamping portion and the second clamping portion towards a surface of the rotor；

First clamping portion and the second clamping portion are clamped and fastened on the terminal plate.

Optionally, the fixed form between the stator and the terminal plate is to be fixed or glue is fixed.

In order to solve the above-mentioned technical problem, the utility model embodiment also provides a kind of holder, for carrying carrier, institute It states and is provided with the first Inertial Measurement Unit on carrier, for sensing the first attitude angle for characterizing the posture of the carrier, The holder includes:

Attachment base, for being connected to a movable equipment；

Driving assembly, one end are flexibly connected with the attachment base, and the other end is flexibly connected with the carrier, for driving Move the carrier rotation；And

Second Inertial Measurement Unit, for sensing the second attitude angle for characterizing the posture of the holder entirety,

Processor is used to receive first attitude angle from first Inertial Measurement Unit, be used to from described second Property measuring unit receive second attitude angle, and electricity is determined according to first attitude angle and second attitude angle The angle position of thermomechanical components, wherein the electric machine assembly is each motor in the driving component.

Optionally, second Inertial Measurement Unit is arranged on the attachment base.

Optionally, first Inertial Measurement Unit is for detecting rotation of the carrier relative at most three rotary shafts Gyration；Second Inertial Measurement Unit is used to detect the whole rotation angle relative at most three rotary shafts of the holder Degree.

Optionally, first Inertial Measurement Unit includes the first gyroscope, and second Inertial Measurement Unit includes the Two gyroscopes.

Optionally, first Inertial Measurement Unit is also used to detect the carrier relative at most three kinematic axis Acceleration；Second Inertial Measurement Unit is also used to detect the whole acceleration relative at most three kinematic axis of the holder Degree.

Optionally, first Inertial Measurement Unit includes the first accelerometer, and second Inertial Measurement Unit includes Second accelerometer.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle；Wherein, institute The rotor that carrier is installed on first spindle motor is stated, the stator of first spindle motor connects the attachment base.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle；Wherein, institute The stator that carrier is installed on first spindle motor is stated, the rotor of first spindle motor connects the attachment base.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle, and is driven The second spindle motor that the carrier is rotated around the second axis is moved, the processor handles first attitude angle and described second Attitude angle is with the angle position of the determination electric machine assembly, comprising: the processor handles first attitude angle and institute The second attitude angle is stated with the rotor-position of determination first spindle motor.

Optionally, first spindle motor is motor described in the 6th aspect as above.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle, and is driven The second spindle motor that the carrier is rotated around the second axis is moved, the first axle is vertical with second axis；Wherein, the carrying Object is installed on the rotor of first spindle motor, and the stator of first spindle motor connects the rotor of second spindle motor, institute The stator for stating the second spindle motor connects the attachment base.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle, and is driven The second spindle motor that the carrier is rotated around the second axis is moved, the first axle is vertical with second axis；Wherein, the carrying Object is installed on the stator of first spindle motor, and the rotor of first spindle motor connects the stator of second spindle motor, institute The rotor for stating the second spindle motor connects the attachment base.

Optionally, the processor handles first attitude angle and second attitude angle with the determination motor The angle position of component, comprising: the processor handles first attitude angle and second attitude angle to determine State the rotor-position of the first spindle motor and/or the rotor-position of second spindle motor.

Optionally, first spindle motor and/or second spindle motor are motor described in the 6th aspect as above.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle, driving institute The second spindle motor that carrier is rotated around the second axis, and the third spindle motor that the driving carrier is rotated around third axis are stated, The first axle, second axis and the third axis are vertical two-by-two；Wherein, the carrier is installed on first spindle motor Rotor, the stator of first spindle motor connects the rotor of second spindle motor, the stator connection of second spindle motor The stator of the rotor of the third spindle motor, the third spindle motor connects the attachment base.

Optionally, the driving component includes the first spindle motor for driving the carrier to rotate around first axle, driving institute The second spindle motor that carrier is rotated around the second axis, and the third spindle motor that the driving carrier is rotated around third axis are stated, The first axle, second axis and the third axis are vertical two-by-two；Wherein, the carrier is installed on first spindle motor Stator, the rotor of first spindle motor connects the stator of second spindle motor, the rotor connection of second spindle motor The rotor of the stator of the third spindle motor, the third spindle motor connects the attachment base.

Optionally, first spindle motor and/or second spindle motor and/or the third spindle motor are the as above 6th Motor described in aspect.

Optionally, the carrier is image acquiring device.

Optionally, the movable equipment is following any one of several: unmanned vehicle, remote-controlled movement device, vehicle , ship, fixed base stations, handheld device.

In order to solve the above-mentioned technical problem, the utility model embodiment also provides a kind of unmanned vehicle, including fuselage and Holder as described above.

In the utility model embodiment, carrier is fixed on the motor of holder, motor is used to control the appearance of carrier State, the first Inertial Measurement Unit is provided on carrier, and the first Inertial Measurement Unit first obtains the measured motor institute to be checked of holder It is corresponding then to detect carrier currently in the attitude angle in the posture direction for adjusting the posture direction of carrier posture, The current location of the rotor of measured motor to be checked is finally calculated according to the attitude angle.Therefore the utility model need to only pass through acquisition The posture direction of carrier and attitude angle can determine the current location of the rotor of measured motor to be checked, not need through each motor On sensor directly to measure the current location of rotor, the interference so as to avoid motor to sensor obtains so that measuring Angle it is more accurate, identified rotor-position also will be more acurrate, simultaneously as without on each motor be arranged physics pass Sensor reduces physical sensors the space occupied on motor, reduces and want to the production requirement of each motor and mounting process It asks, reduces the volume of motor and holder, further improve the assembly efficiency and qualification rate of horizontal stage electric machine and holder.

Detailed description of the invention

One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove Non- to have special statement, composition does not limit the figure in attached drawing.

Fig. 1 is the schematic diagram of cradle head control in the prior art and motor control；

Fig. 2 is the structural schematic diagram for the holder that an embodiment of the present invention provides；

Fig. 3 is the first Inertial Measurement Unit in an embodiment of the present invention, the second Inertial Measurement Unit and processor Annexation figure；

Fig. 4 is that the utility model detects the pitch angle of carrier in the method first embodiment of motor rotor position and is positive 30 The schematic diagram of degree；

Fig. 5 is that the utility model detects the pitch angle of carrier in the method first embodiment of motor rotor position and is negative 30 The schematic diagram of degree；

Fig. 6 is the schematic perspective view for the motor that an embodiment of the present invention provides；

Fig. 7 is the configuration schematic diagram of motor shown in fig. 6；

Fig. 8 is the structural schematic diagram of pedestal in motor configuration schematic diagram shown in Fig. 7；

Fig. 9 is the quick-fried structural schematic diagram according to terminal plate in structural schematic diagram of motor shown in Fig. 7；

Figure 10 is the configuration schematic diagram of motor in the prior art；

Figure 11 is the structural schematic diagram of the terminal plate of motor shown in Fig. 10；

Figure 12 is a kind of unmanned vehicle that an embodiment of the present invention provides；

Figure 13 is the schematic diagram of cradle head control and motor control in the utility model；

Figure 14 is a kind of flow chart of the embodiment for the method that the utility model detects motor rotor position；

Figure 15 is the flow chart of another embodiment for the method that the utility model detects motor rotor position；

Figure 16 is a kind of schematic diagram of the embodiment for the device that the utility model detects motor rotor position；

Figure 17 is the schematic diagram of another embodiment for the device that the utility model detects motor rotor position；

Figure 18 is the schematic diagram for the electronic equipment that an embodiment of the present invention provides.

Specific embodiment

What is be described below is some in multiple possible embodiments of the utility model, it is desirable to provide to the utility model Basic understanding, it is no intended to confirm the crucial or conclusive element of the utility model or limit the range of desired protection.Hold It is intelligible to be, technical solution according to the present utility model, under the connotation for not changing the utility model, the one of this field As technical staff can propose other implementations being replaced mutually.Therefore, following specific embodiments and attached drawing are only to this The exemplary illustration of the technical solution of utility model, and be not to be construed as the whole of the utility model or be considered as practical new to this Type technical solution defines or limits.

In following description, for the clear and simplicity of description, in the accompanying drawings do not own air-conditioner control system Component is shown one by one, and it is to be fully able to realize the multiple of the utility model that emphasis, which shows those of ordinary skill in the art, in attached drawing Component, and to those skilled in the art, perhaps multipart operation is all familiar and apparent.

The inventive concept that the utility model is more fully understood in order to facilitate reader, is first described holder, please refers to figure 2, holder 100 includes: attachment base 30, driving assembly 10, the first Inertial Measurement Unit 51, the second Inertial Measurement Unit 52 and processing Device 53.

One end of driving assembly 10 is flexibly connected with attachment base 30, and the other end is flexibly connected with carrier 200, with carrying Carrier 200, driving assembly 10 can drive the posture for changing carrier 200, and in the present embodiment, carrier 200 is chosen as Image collecting device, such as: camera.Referring to Fig. 3, the first Inertial Measurement Unit 51 and the second Inertial Measurement Unit 52 difference It is connect with processor 53, processor 53 is used to obtain the measurement number of the first Inertial Measurement Unit 51 and the second Inertial Measurement Unit 52 According to and be analyzed and processed.

In some embodiments, holder 100 can be an axis holder, then driving assembly 10 include driving carrier 200 around First spindle motor 11 of first axle rotation；Wherein, carrier 200 is installed on the rotor of the first spindle motor 11, the first spindle motor 11 Stator connect attachment base 30.Certainly, in other embodiments, carrier 200 can also be installed on determining for the first spindle motor 11 The rotor of son, the first spindle motor 11 connects attachment base 30.

In some embodiments, holder 100 can be two axis holders again, then driving assembly 10 includes driving carrier 200 The first spindle motor 11 rotated around first axle, and the second spindle motor 12 that driving carrier 200 is rotated around the second axis, first axle It is vertical with the second axis.Wherein, carrier 200 is installed on the rotor of the first spindle motor 11, the stator connection of the first spindle motor 11 the The stator of the rotor of two spindle motors 12, the second spindle motor 12 connects attachment base 30.

It is to be understood that can also be connected using different aforesaid ways between the first spindle motor and the second spindle motor It connects, such as: carrier 200 is installed on the stator of the first spindle motor 11, and the rotor of the first spindle motor 11 connects the second spindle motor 12 Stator, the rotor of the second spindle motor 12 connects attachment base 30.

In some embodiments, holder 100 or three axis holders, then driving assembly 10 includes driving carrier 200 The second spindle motor 12 that the first spindle motor 11, the driving carrier 200 rotated around first axle is rotated around the second axis, and driving The third spindle motor 13 that carrier 200 is rotated around third axis, first axle, the second axis and third axis are vertical two-by-two；Wherein, carrier 200 are installed on the rotor of the first spindle motor 11, and the stator of the first spindle motor 11 connects the rotor of the second spindle motor 12, the second axis electricity The rotor of the stator connection third spindle motor 13 of machine 12, the stator of third spindle motor 13 connect attachment base 30.

It is to be understood that can also be using different above-mentioned between the first spindle motor, the second spindle motor and third spindle motor Mode is attached, such as: carrier 200 is installed on the stator of the first spindle motor 11, the rotor connection of the first spindle motor 11 the The stator of two spindle motors 12, the stator of the rotor connection third spindle motor 13 of the second spindle motor 12, the rotor of third spindle motor 13 Connect attachment base 30.

Attachment base 30 is for being connected to a movable equipment, and movable equipment can drive holder 100 mobile, to change Become the whole posture of holder 100.In some embodiments, movable equipment be unmanned vehicle, remote-controlled movement device, vehicle, Ship, fixed base stations, handheld device etc..

First Inertial Measurement Unit 51 is set to carrier 200, and first of the posture for sensing characterization carrier 200 Attitude angle.Wherein, the first Inertial Measurement Unit 51 includes the first gyroscope and the first accelerometer, and the first gyroscope is for examining Survey rotation angle of the carrier 200 relative at most three rotary shafts, the first accelerometer for detect carrier 200 relative to The acceleration of at most three kinematic axis, rotation angle and/or carrier by carrier 200 relative at most three rotary shafts 200 determine the first attitude angle relative to the acceleration of at most three kinematic axis.Certainly, for carrier 200 relative at most The rotation angles of three rotary shafts, which does not limit, only show that those skilled in the art can also be used other by gyroscope detection Detection device with detection rotation angle is detected to obtain, likewise, for detection carrier 200 relative at most three The acceleration of a kinematic axis is also not limited to only to detect by accelerometer, it can also be used in those skilled in the art There is the detection device of detection acceleration to be detected to obtain for it.

The setting of second Inertial Measurement Unit 52 is in attachment base 30, for characterizing the second posture of the whole posture of holder 100 Angle.Certainly, the second Inertial Measurement Unit 52 is not limited to be set on attachment base 30, and the second Inertial Measurement Unit 52 can also It is arranged in other positions, as long as it can detect the whole posture of holder 100.Wherein, the second Inertial Measurement Unit 52 wraps The second gyroscope and the second accelerometer are included, the second gyroscope is whole relative at most three rotary shafts for detecting holder 100 Rotation angle, the second accelerometer is used to detect the whole acceleration relative at most three kinematic axis of holder 100, passes through The whole acceleration relative to the rotation angle of at most three rotary shafts and/or relative at most three kinematic axis of holder 100 is true Fixed second attitude angle.Certainly, the rotation angle relative at most three rotary shafts whole for holder 100, which does not limit, only leads to Cross what gyroscope detection obtained, those skilled in the art can also be used other detection devices with detection rotation angle and examine It measures, likewise, being also not limited to for the whole acceleration relative at most three kinematic axis of detection holder 100 only logical Cross what accelerometer detected, those skilled in the art can also be used other detection devices with detection acceleration and examine It measures.

Processor 53 is used to receive first attitude angle from first Inertial Measurement Unit 51, be used to from described second Property measuring unit 52 receive second attitude angle, and determined according to first attitude angle and second attitude angle The angle position of the electric machine assembly.Wherein, electric machine assembly is specially each motor in driving assembly 10.

Processor 53 determines that the angle position of the electric machine assembly is specific according to the first attitude angle and the second attitude angle Are as follows: processor 53 determines the position of the rotor of electric machine assembly according to the first attitude angle and the second attitude angle.Wherein, work as holder 100 be an axis holder when, the rotor of the electric machine assembly according to determined by the first attitude angle and the second attitude angle of processor 53 Position be first motor axis rotor-position；When holder 100 is two axis holder, processor 53 is according to the first attitude angle Position with the rotor of electric machine assembly determined by the second attitude angle is the rotor-position and/or described second of the first spindle motor The rotor-position of spindle motor；When holder 100 is three axis holder, processor 53 is according to the first attitude angle and the second attitude angle The position of the rotor of electric machine assembly determined by spending is the rotor-position of the first spindle motor and/or the rotor of second spindle motor The rotor-position of position and/or third spindle motor.

It should be understood that attachment base 30 can be used for connecting irremovable object, and such as: on wall, work as attachment base 30 when connecting irremovable object, then illustrate the whole posture of holder 100 be it is fixed, it is immutable.Therefore, it can examine in advance The whole second angle posture of holder 100 is surveyed, and has stored second angle posture, processor 53 passes through the first inertia measurement list After member 51 detects the first angle posture of carrier, according to first angle posture and the second angle appearance being stored in advance State calculates the angle position of electric machine assembly in holder 100.I.e. are as follows: only need that the first Inertial Measurement Unit is arranged on holder 100 51, unit 52 is surveyed woth no need to which the second inertia is arranged.

In addition, above-mentioned described first spindle motor, second spindle motor and the third spindle motor are following several Any one of: pitching spindle motor, roll spindle motor, course spindle motor.Wherein, pitching spindle motor is for adjusting carrier 200 Pitch angle, roll spindle motor is used to adjust the roll angle of carrier 200, and course spindle motor is for adjusting the inclined of carrier 200 Boat angle.Wherein, the yaw angle of carrier 200, roll angle and pitch angle all have positive and negative point, and positive and negative represents carrier 200 different motion directions, such as: as shown in figure 4, representing carrier 200 if the pitch angle of carrier 200 is positive 30 degree Direction is upward；As shown in figure 5, representing being directed downward for carrier 200 if the pitch angle of carrier 200 is negative 30 degree.When So, can also also there be positive and negative, and the rotation direction of the rotor of motor to the rotation direction of the rotor of each motor of holder 100 Positive and negative definition and the positive and negative definition of attitude angle of carrier 200 match, such as: it is suitable with the rotor of third motor 13 When rotation represent just, represented with the rotation of rotor inverse time of third motor 13 it is negative, when the rotation of the up time of third motor 13, carrier 200 move upward in the pitch direction, and when the rotation of the inverse time of third motor 13, carrier 200 is transported downward in the pitch direction It is dynamic.

It is worth noting that: since holder 100 is the posture by the rotor rotation of electric machine assembly to drive carrier 200 Variation therefore can be by the second attitude angle that obtain the first attitude angle and holder 100 of carrier 200 whole, and root The angle position of the rotor in the electric machine assembly of holder 100 is calculated according to the first attitude angle and the second attitude angle counterplot.Therefore, In the present embodiment, motor of the motor without Hall sensor as holder 100 can be used, is provided with a kind of no Hall biography as follows The motor of sensor.

Please refer to Fig. 6 and Fig. 7, the motor 70 include: pedestal 71, first bearing 72, terminal plate 73, stator 74, rotor 75, Shaft 76 and second bearing 77, wherein first bearing 72, second bearing 77 and terminal plate 73 are fixed on pedestal 71, stator 74 It is fixed on terminal plate 73, shaft 76 is fixed after passing through first bearing 72 and second bearing 77 with rotor 75.

For pedestal 71, referring to Fig. 8, pedestal 71 is provided with the first rotation hole (not shown), the first rotation hole is for solid Determine first bearing 72；Pedestal 71 is provided with fixed part 711 towards a surface of the rotor 75, and fixed part 711 is used for and wiring Plate 73 and stator 74 are socketed, so that pedestal 71, terminal plate 73 and 74 three of stator are fixed together；Fixed part 711 is provided with Second rotation hole 712, the second rotation hole 712 are connected to the first rotation hole；One end of shaft 76 sequentially pass through first bearing 72, It is fixed with rotor 75, wherein to have between rotor 75 and terminal plate, pedestal 71 after fixed part 711 and the second rotation hole 712 Gap, rotor 75 and rotor 75 can be rotated relative to terminal plate 73, pedestal 71.

Further, pedestal 71 is additionally provided with the first clamping portion 713 and the second clamping portion 714 towards a surface of rotor 75, First clamping portion 713 and the second clamping portion 714 are clamped and fastened on terminal plate 73, so that pedestal 71 and terminal plate 73 is fixed more Add securely.

It is to be understood that can also be used between pedestal 71, terminal plate 73 and stator 74 in other alternate embodiments Other way is fixed, such as: pedestal 71 is not provided with fixed part 711, and terminal plate 73 and stator 74 are fixed on after being stacked by glue Pedestal 71, or, terminal plate 73 and stator 74 are fixedly welded on pedestal.

For first bearing 72, the shape of the cross section of first bearing 72 is chosen as annulus, then shaft 76 be cylinder, first The shape of the cross section of rotation hole is circle, and the outer diameter of first bearing 72 is equal with the first rotation bore dia, first bearing 72 Internal diameter is equal with the radius of shaft 76.Certainly, the shape of the cross section of first bearing 72 may be other shapes, as long as first Bearing 72 is adapted with shaft 76, is no longer repeated one by one herein.

For terminal plate 73, on 73 firm banking 71 of terminal plate, specifically, being set on terminal plate 73 further referring to Fig. 9 It is equipped with fixation hole 731, fixed part 711 is socketed after passing through the fixation hole 731 with terminal plate 73 and stator 74；On terminal plate 73 also It is provided with the first clamping groove 732 and the second clamping groove 733 to match respectively with the first clamping portion 713 and the second clamping portion 714, First clamping groove 732 is for accommodating the first clamping portion 713, and the second clamping groove 733 is for accommodating the second clamping portion 714；It is optional The cross section of ground, the first clamping portion 713 and the second clamping portion 714 is triangle, the first clamping groove 731 and the second clamping groove 732 shape is also triangle.

For stator 74, stator 74 is fixed with 73 phase of terminal plate, optionally, the fixation side between stator 74 and terminal plate 73 Formula is to be fixed or glue is fixed.In some embodiments, stator 74 is coil.

For rotor 75, rotor 75 includes magnet ring 751 and shell 752, wherein magnet ring 751 is fixed with 752 phase of shell, magnetic Ring 751 is between shell 752 and pedestal 71；Further, a container is arranged towards a surface of pedestal 71 in shell 752 (not shown), container are used for housing stator 74, and optionally, the shape of container is circle.

Vicarious for second 77, second bearing 77 is fixed in the second rotation hole 712, optionally, the cross of second bearing 77 The shape in section is annulus, and the shape of the cross section of the second rotation hole 712 is circle, the outer diameter of second bearing 77 and the second rotation 712 diameter of hole is equal.

It is fixed with rotor 75 after one end of shaft 76 passes through first bearing 72 and second bearing 77 for shaft 76, into One step, one end and 752 phase of shell of shaft 76 are fixed.

It is worth noting that: referring to Fig. 10, be the configuration schematic diagram of horizontal stage electric machine 80 in the prior art, it is existing Horizontal stage electric machine 80 in technology includes: pedestal 81, first bearing 82, terminal plate 83, stator 84, rotor 85, shaft 86, second Bearing 87 and tabletting 88.Wherein, first bearing 82, second bearing 87 and terminal plate 83 are fixed on pedestal 81, stator 84 and pressure Piece 88 is fixed on terminal plate 83, and shaft 86 passes through, terminal plate 83 fixed with rotor 85 after first bearing 82 and second bearing 87 On be additionally provided with Hall sensor 831, rotor 85 includes magnet ring 851 and shell 852.Figure 11 further shows holder shown in Fig. 10 The structure of the terminal plate 83 of motor 80.

Due to only needing the first Inertial Measurement Unit 51 by being installed on carrier 200 that can obtain in the utility model The posture direction of carrier 200 and attitude angle, therefore do not need directly to measure rotor by the sensor on each motor Current location, so, compared with the prior art in horizontal stage electric machine 80, the composed structure of motor 70 in the utility model embodiment It only include pedestal 71, first bearing 72, terminal plate 73, stator 74, rotor 75, shaft 76 and second bearing 77, without again Hall sensor 831 and tabletting 88 are installed and simplify the internal structure and electricity of motor 70 to reduce the weight of motor 70 The production of machine 70 and installation procedure, while also reducing the cost of production motor 70.

Figure 12 is please referred to, an embodiment of the present invention also provides a kind of unmanned vehicle 400, and unmanned vehicle 400 wraps Include fuselage and such as above-mentioned holder 100.

For the holder 100 of unmanned vehicle, the steady function of increasing in order to realize camera lens needs to acquire nobody in real time The posture information of aircraft 400 and the posture information of camera lens carry out data fusion, the rotor needs of each motor are calculated The direction of rotation compensated is rotated, then motor is controlled for example, by the electric machine controller of electron speed regulator etc.Nothing The posture information of people's aircraft 400 is obtained by being mounted on the second Inertial Measurement Unit 52 of the attachment base 30 of holder 100, camera lens Posture information obtained by the first Inertial Measurement Unit 51 for being mounted on camera lens.Inertial Measurement Unit include accelerometer and Gyro；Wherein, accelerometer is used for the component of acceleration of detection object, and gyro is used for the angle information of detection object, generally will IMU is mounted on the position of centre of gravity of object to be measured, and the triaxial attitude angle (or angular speed) of object is measured by the IMU and is added Speed.It should be understood that current Inertial Measurement Unit (IMU) includes accelerometer and gyroscope, discrete can be , it can also be integrated with formula, that is, on a single die accelerometer and gyroscope fusion.Wherein, accelerometer is for measuring The linear velocity of object, gyroscope are used to measure the angle of object.

Meanwhile when electric machine controller controls motor, and need motor that its rotor position information is anti-in real time It feeds electric machine controller, is used for motor control.In the prior art, the angle information of the rotor of motor is by being mounted on motor Physical sensors obtain, the physical sensors of the rotor angle for obtaining motor for example, magnetic coder, rotation current potential Device, linear hall element etc..

It is worth noting that: it is please cradle head control in the prior art and motor control in conjunction with Fig. 1 and Figure 13, Fig. 1 Schematic diagram, Figure 13 be the utility model in the schematic diagram of cradle head control and motor control.In the prior art, each motor On be installed with Hall sensor, each measurement sensor obtains the mechanical angle information of corresponding motor, then passes through electric machine controller Cradle head controllor is fed back to, then direct torque information is calculated by cradle head controllor, then believed direct torque by cradle head controllor Breath passes to electric machine controller, and then generates motor control information by electric machine controller to control the operation of each motor.And In the utility model, an attitude transducer, respectively the first inertia measurement list have respectively been added on carrier 200 and holder 100 Member 51 and the second Inertial Measurement Unit 52, the appearance for the carrier 200 that cradle head controllor is measured according to the two attitude transducers State information and flight attitude information calculate motor rotor position, and then control the operating status of each motor 70.

In the embodiments of the present invention, by the second Inertial Measurement Unit 52 being arranged on holder 100 to be used to survey The posture for measuring holder entirety, the posture information for the entirety of holder 100 that will acquire are sent to electric machine controller, while by the appearance of camera lens State information is also sent to electric machine controller, the posture information and camera lens that electric machine controller utilizes acquired holder 100 whole Posture information carries out data fusion, calculates the rotor-position of motor, is used for motor control.To no longer need to by motor It is upper that the physical sensors such as magnetic coder, rotational potentiometer, linear hall element are set to detect the rotor-position of motor, it can subtract The overall dimensions of small machine size and holder.

For the flow chart of the method for the rotor-position of detection motor provided by the embodiment of the utility model, y please refers to Figure 13, In the present embodiment, the posture of holder is nonadjustable, specifically, this method comprises:

Step 201: obtaining corresponding to the measured motor to be checked of the holder for adjusting the posture of the carrier posture Direction；

Optionally, carrier is image acquiring device, such as camera lens, video camera, camera etc., or is other portable Formula electronic device, such as mobile phone, tablet computer etc., it is possible to understand that, carrier may be sensor etc..The holder can be used as The auxiliary device of photography, photograph, monitoring, sampling.

In the utility model embodiment, carrier is equipped with attitude transducer, and optionally, attitude transducer is first used Property measuring unit IMU, for obtaining the posture information of carrier, optionally, the first Inertial Measurement Unit IMU is located at carrier On lens board, posture information includes the posture direction of carrier, wherein posture direction includes yaw direction, rolling direction and bows Direction is faced upward, according to the above-mentioned description as described in holder it is found that the yaw direction of first axle motor control carrier, the second spindle motor control The pitch orientation of carrier processed, third spindle motor control the rolling direction of carrier.

Step 202: obtaining the attitude angle for characterizing the posture of the carrier；

In the utility model embodiment, the posture information that the first Inertial Measurement Unit obtains further includes attitude angle, appearance State angle includes yaw angle, roll angle and pitch angle, respectively corresponds yaw direction, rolling direction and pitch orientation.When holder After electric motor starting, and after adjusting carrier, carrier will deflection obtains one on YAW axis, ROLL axis and PITCH axis respectively Fixed mechanical angle, further, it is inclined on yaw direction that the mechanical angle that carrier deflects on YAW axis corresponds to carrier Boat angle, the mechanical angle that carrier deflects on ROLL axis correspond to roll angle of the carrier on rolling direction, and carrier exists The mechanical angle deflected on PITCH axis corresponds to the pitch angle of carrier in the pitch direction.

Wherein, attitude angle includes the posture first axle angle, θ that carrier deflects in first axle_PAnd/or in the second axis Posture the second axis angle, θ of upper deflection_RAnd/or the posture third axis angle, θ deflected on third axis_Y, wherein first axle, second Axis and third axis are vertical two-by-two.Motor includes the first spindle motor and/or the second spindle motor and/or third spindle motor.First axle electricity Machine, the second spindle motor and third spindle motor are following any one of several: pitching spindle motor, roll spindle motor, course axis electricity Machine.

Step 203: the rotor-position of the measured motor to be checked is calculated according to the attitude angle；

Specifically, according to the above-mentioned description as described in holder it is found that acquired attitude angle be divided into it is positive and negative, firstly, root According to the positive and negative of acquired attitude angle, the rotation direction of the rotor of each measured motor to be checked is determined, for example, if acquired yaw Angle is positive-angle, then explanation is on the basis of the visual angle for the origin position that YAW axis, ROLL axis and three axis of PITCH axis intersect, first The rotor clockwise of spindle motor rotates；It is opposite, if acquired yaw angle is negative angle, illustrate with YAW axis, ROLL axis and On the basis of the visual angle of the origin position of three axis of PITCH axis intersection, the rotor of the first spindle motor rotates counterclockwise；Similarly, Ke Yigen According to the rotation direction of roll angle and the positive and negative rotor for obtaining the second spindle motor and third spindle motor of pitch angle.

Secondly, after the rotation direction of rotor of each measured motor to be checked has been determined, further according to the absolute of the attitude angle Value, can determine the mechanical angle that the rotor of each measured motor to be checked is rotated, and the size of the absolute value of the attitude angle is pair The mechanical angle that the rotor for the measured motor to be checked answered is rotated, for example, if acquired yaw angle is negative angle, and the negative angle Absolute value be 30 °, then explanation is on the basis of the visual angle for the origin position that YAW axis, ROLL axis and three axis of PITCH axis intersect, the The rotor of one spindle motor has rotated 30 ° counterclockwise, similarly, can thoroughly deserve the second axis electricity according to roll angle and pitch angle The mechanical angle that the rotor of machine and third spindle motor is rotated.

Optionally, according to the absolute value of attitude angle, the mechanical angle that the rotor of motor is rotated is determined, comprising:

The mechanical angle for determining rotation described in the rotor of the first spindle motor is | θ_P|, and/or

The mechanical angle for determining rotation described in the rotor of the second spindle motor is | θ_R|, and/or

The mechanical angle for determining rotation described in the rotor of third spindle motor is | θ_Y|。

Finally, being determined each according to the rotation direction and mechanical angle of the rotor of each measured motor to be checked of above method acquisition The current location of the rotor of measured motor to be checked.Specifically, determination is each to be detected in this step in conjunction with the above-mentioned description as described in holder The case where current location of the rotor of motor, can be divided into following two:

The first situation: before the rotor motion of each measured motor to be checked, holder is in a reset condition, the reset condition In the mechanical angle of rotor of each measured motor to be checked when being zero degree, yaw angle, roll angle and the pitch angle of carrier are also Zero degree, therefore when the angle of the rotor in the Attitude Calculation motor by carrier, it does not need to carry out angle compensation, i.e., according to upper The rotation direction and mechanical angle for stating the rotor of each measured motor to be checked of method acquisition can directly determine each measured motor to be checked Rotor current location.

Second situation: before the rotor motion of each measured motor to be checked, holder is in a reset condition, the reset condition Under the yaw angle of carrier, there are predetermined angulars for one or more in roll angle and pitch angle, then passing through carrier Attitude Calculation motor rotor angle when, need to compensate the predetermined angular, specifically, the compensation way be will be existing Predetermined angular is summed up with acquired corresponding attitude angle, for example, it is assumed that the yaw angle of the carrier under reset condition The roll angle and pitch angle for the carrier being negative under 20 ° and reset condition there are a predetermined angular, the predetermined angular are 0 °, At this point, by the yaw angle of the obtained carrier of Attitude Calculation to carrier be positive 20 ° and calculate resulting roll angle and Pitch angle is 0 °, then adds predetermined angular be positive 20 ° of the yaw angle of 20 ° of original yaw angle and the resulting angle of calculating that is negative With, show that final yaw angle is 0 °, i.e., finally determining yaw angle, roll angle and pitch angle is 0 °, thus at this time respectively to The rotor of detection motor position corresponding to each motor when being respectively positioned on holder in a state of nature, so that it is determined that each measured motor to be checked Rotor current location.

In the second embodiment of the method for the rotor-position of the motor of the above-mentioned holder of detection provided by the utility model, cloud Platform is fixed on unmanned vehicle, and when the posture of unmanned vehicle changes, the posture of holder be may also change accordingly, and please be joined Figure 14 is read, this method comprises:

Step 301: obtaining corresponding to the measured motor to be checked of the holder for adjusting the posture of the carrier posture Direction；

The partial content of this step please refers to the step 201 of first embodiment, wherein posture direction include yaw direction, Rolling direction and pitch orientation；

In the utility model embodiment, which can be applicable to but be not limited to, hold capture apparatus, unmanned vehicle, In the devices such as unmanned boat or unmanned vehicle, for example, holder can carrying image acquisition device, and be installed on unmanned vehicle, with Carry out work of taking photo by plane.Alternatively, holder carrying image acquisition device and can also be installed on one handle as hand-held capture apparatus It the work such as taken pictures, recorded a video, and allowing user that holder is manually operated to control the shooting angle of image acquiring device.

Step 302: obtaining the first attitude angle for characterizing the posture of the carrier, obtain and characterize the holder entirety Second attitude angle of posture；

Step 202 of the partial content of this step referring to first embodiment, wherein the first attitude angle is by being set to What the first Inertial Measurement Unit on carrier detected, the first attitude angle includes yaw angle, roll angle and pitch angle；

In the utility model embodiment, the second attitude angle is the second inertia by being arranged on the attachment base of holder What measuring unit obtained, certainly, the second Inertial Measurement Unit is not limited to be set on the attachment base of holder, also can be set In other positions, as long as it can detect the posture of holder entirety, such as the second Inertial Measurement Unit is arranged at nobody On aircraft, in other words, which is located on the parts connecting on holder mainboard or with holder, for surveying Holder and unmanned vehicle are measured currently in second attitude angle in the posture direction.

Step 303: according to first attitude angle and the second attitude angle, calculating the rotor of the measured motor to be checked Current location.

First attitude angle includes the first posture first axle angle, θ that carrier deflects in first axle_P1And/or second First posture the second axis angle, θ deflected on axis_R1And/or the first posture third axis angle, θ deflected on third axis_Y1；Second Attitude angle includes the second posture first axle angle, θ that holder integrally deflects in first axle_P2And/or deflected on the second axis Second posture the second axis angle, θ_R2And/or the second posture third axis angle, θ deflected on third axis_Y2, wherein first axle, Two axis and third axis are vertical two-by-two, also, calculate the difference of the first attitude angle and the second attitude angle, comprising: calculate first Posture first axle angle, θ_P1With the second posture first axle angle, θ_P2Difference, and/or calculate first posture the second axis angle, θ_R1With Second posture the second axis angle, θ_R2Difference, and/or calculate the first posture third axis angle, θ_Y1With the second posture third shaft angle degree θ_Y2Difference.The motor includes the first spindle motor and/or the second spindle motor and/or third spindle motor.First spindle motor, second Spindle motor and third spindle motor are following any one of several: pitch axis (PITCH axis) motor, roll axis (ROLL axis) electricity Machine, course axis (YAW axis) motor.Wherein, the first attitude angle is examined by the first Inertial Measurement Unit being set on carrier It measures；Second attitude angle detects to obtain by the second Inertial Measurement Unit being set on the holder.

When for uniaxial holder, it can select camera lens that there is rotary freedom on any one axis according to different needs, At this point, rotation angle of the camera lens on another two axis is 0.For twin shaft holder, similarly, there are two motors for tool, and camera lens is at two There is rotary freedom on axis, can just calculate the rotor-position of two motors, rotation angle of the camera lens on third axis It is 0.

Specifically, the difference of the first attitude angle and the second attitude angle is calculated first in the utility model embodiment, Calculation method is as follows:

Assuming that the angle difference that the carrier that the first Inertial Measurement Unit measures deflects on tri- axis of PITCH, ROLL, YAW For θ_P1、θ_R1、θ_Y1, angle that the unmanned vehicle that the second Inertial Measurement Unit measures deflects on tri- axis of PITCH, ROLL, YAW Respectively θ_P2、θ_R2、θ_Y2, then in fact, the angle that carrier deflects on tri- axis of PITCH, ROLL, YAW relative to unmanned vehicle Degree can be obtained by following formula:

1、θ_P=θ_P1-θ_P2

2、θ_R=θ_R1-θ_R2

3、θ_Y=θ_Y1-θ_Y2

θ in above-mentioned formula_P、θ_RAnd θ_YIt is the difference of the first attitude angle and the second attitude angle, and θ_P、θ_RAnd θ_YPoint Not Wei it is final determined by the mechanical angle that is deflected on tri- axis of PITCH, ROLL, YAW relative to unmanned vehicle of carrier；

Secondly, the rotation direction of the rotor of each measured motor to be checked is determined, further according to the absolute of difference according to the positive and negative of difference Value, determines the mechanical angle that the rotor of each measured motor to be checked is rotated；Finally, according to rotation direction and mechanical angle, determine to Detect the current location of the rotor of motor.

In the utility model embodiment, holder is securable on unmanned vehicle, and carrying is fixed on the motor of holder Object, motor is used to control the posture of carrier, first for adjusting carrier appearance corresponding to the measured motor to be checked of acquisition holder The posture direction of state, then carrier is detected currently in first attitude angle in posture direction, and, unmanned vehicle is currently in appearance Second attitude angle in state direction calculates the measured motor to be checked finally according to the first attitude angle and the second attitude angle The current location of rotor.The utility model according to the posture direction of acquired carrier, the first attitude angle of carrier and Second attitude angle of unmanned vehicle, determines the current location of the rotor of measured motor to be checked, wherein only needs to hold by being installed on The first Inertial Measurement Unit in loading can obtain posture direction and the attitude angle of carrier, therefore not need through each electricity Sensor on machine directly measures the current location of rotor, compared with the prior art in the sensor that passes through on each motor it is direct The mode of rotor current location is measured in side, reduces the occupied space for installing sensor, reduces the system to each control motor Make and the requirement of mounting process, reduces the volume of motor and holder, further improve horizontal stage electric machine and holder Assembly efficiency and qualification rate, in addition, during Attitude Calculation, it is also contemplated that unmanned vehicle movement will bring error, therefore The second Inertial Measurement Unit is added on unmanned vehicle, and the second attitude angle measured is also taken into account in Attitude Calculation, from And the not high problem of angle-measurement accuracy caused by avoiding due to unmanned vehicle movement, it improves in attitude measurement and obtains Angle accuracy.

Figure 15 is please referred to, is the signal of the device of the rotor-position for the detection motor that an embodiment of the present invention provides Scheme, carrier is fixed on motor, and motor is used to control the posture of carrier, the device by driving carrier rotation 40 include: to obtain direction module 401, obtain angle module 402 and computing module 403.

Direction module 401 is obtained, for obtaining corresponding to the measured motor to be checked of holder for adjusting carrier posture Posture direction, posture direction include yaw, rolling and pitching；

Angle module 402 is obtained, for detecting carrier in the attitude angle in posture direction, attitude angle includes yaw Angle, roll angle and pitch angle；

Computing module 403, the position of the rotor for calculating measured motor to be checked according to attitude angle.

Wherein, computing module 403 includes: the first determination unit 4031, the second determination unit 4032 and third determination unit 4033；

First determination unit 4031, for determining the rotation side of the rotor of measured motor to be checked according to the positive and negative of attitude angle To；

Second determination unit 4032 determines that the rotor of measured motor to be checked is rotated for the absolute value according to attitude angle Mechanical angle；

Third determination unit 4033 determines the position of the rotor of measured motor to be checked according to rotation direction and mechanical angle.

It should be understood that since the Installation practice of the utility model 3rd embodiment and the method for first embodiment are real It applies example and is based on identical inventive concept, the technology contents of the method in first embodiment are equally applicable to the dress of 3rd embodiment It sets, therefore, in the device of 3rd embodiment herein with identical technology contents in the method for first embodiment and beneficial effect No longer repeat one by one.

Figure 16 is please referred to, is the signal of the device of the rotor-position for the detection motor that another embodiment of the utility model provides Figure, the motor are mounted on holder, carrier are fixed on motor, and motor is used for by driving the carrier to rotate The posture of the carrier is controlled, which includes: to obtain direction module 401, obtain angle module 402 and computing module 403。

Angle module 402 is obtained, for detecting carrier in first attitude angle in posture direction, and, unmanned flight In second attitude angle in posture direction, the first attitude angle and the second attitude angle include yaw angle, roll angle and bow device The elevation angle；

Computing module 403, for calculating the rotor of measured motor to be checked according to the first attitude angle and the second attitude angle Position.

Wherein, computing module 403 includes: computing unit 4034, the first determination unit 4031,4032 and of the second determination unit Third determination unit 4033.

Computing unit 4034, for calculating the difference of the first attitude angle and the second attitude angle；

First determination unit 4031, for determining the rotation direction of the rotor of measured motor to be checked according to the positive and negative of difference；

Second determination unit 4032 determines the machine that the rotor of measured motor to be checked is rotated for the absolute value according to difference Tool angle；

Third determination unit 4033, for determining the position of the rotor of measured motor to be checked according to rotation direction and mechanical angle It sets.

It should be understood that since the Installation practice of the utility model fourth embodiment and the method for second embodiment are real It applies example and is based on identical inventive concept, the technology contents of the method in second embodiment are equally applicable to the dress of fourth embodiment It sets, therefore, in the device of fourth embodiment herein with identical technology contents in the method for second embodiment and beneficial effect No longer repeat one by one.

Figure 17 is please referred to, is the schematic diagram for the electronic equipment that an embodiment of the present invention provides, the electronic equipment 60 packet Include: memory 61 and at least one processor 53, at least one processor 53 are connect with memory 61.

First Inertial Measurement Unit 51 is connect with the processor 53, and first Inertial Measurement Unit 51 is used for It is set on carrier, wherein the carrier is fixed on the motor of holder, and the motor of the holder is described for controlling The posture of carrier；

Second Inertial Measurement Unit 52 is connect with the processor 53, and second Inertial Measurement Unit 52 is used for It is set on the attachment base or unmanned vehicle of holder, wherein the attachment base of holder is fixedly connected with unmanned vehicle；

The company with the memory 61, the first Inertial Measurement Unit 51, the second Inertial Measurement Unit 52 respectively of processor 53 Connecing can be connected by bus or other modes, in Figure 17 for being connected by bus.

The memory 61 is stored with the instruction that can be executed by least one described processor 53, and described instruction program is by institute State at least one processor 53 execution so that at least one described processor 53 is able to carry out: step 201 shown in attached drawing 14 to 203, step 301 is to step 303 in attached drawing 15, module 401 to 403 in attached drawing 16, module 401 to 403 in attached drawing 17.

Memory 61 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey Sequence, non-volatile computer executable program and module, the step as performed by processor in the utility model embodiment are corresponding Program instruction/module.Memory 61 may include storing program area and storage data area, wherein storing program area can store Application program required for operating system, at least one function.In addition, memory 61 may include high random access storage Device, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or other are non-volatile Solid-state memory.In some embodiments, it includes the memory remotely located relative to processor 53 that memory 61 is optional, this A little remote memories can pass through network connection to air-conditioning.The example of above-mentioned network includes but is not limited to internet, enterprises Net, local area network, mobile radio communication and combinations thereof.

One or more of modules are stored in the memory 61, when by one or more of processors 53 When execution, execute: step 201 shown in attached drawing 14 to 203, step 301 is to step 303 in attached drawing 15, module 401 in attached drawing 16 To 403, module 401 to 403 in attached drawing 17.

The utility model embodiment provides a kind of non-volatile computer readable storage medium storing program for executing, the non-volatile calculating Machine readable storage medium storing program for executing is stored with computer executable instructions, when which is executed by electronic equipment, electronics Equipment executes: step 201 shown in attached drawing 14 to 203, in attached drawing 15 step 301 to step 303, in attached drawing 16 module 401 to 403, module 401 to 403 in attached drawing 17.

The utility model embodiment provides a kind of computer program product, including to be stored in non-volatile computer readable Calculation procedure on storage medium, the computer program include program instruction, when described program instruction is computer-executed When, execute the computer: step 201 shown in attached drawing 14 to 203, step 301 is to step 303, attached drawing 16 in attached drawing 15 Middle module 401 to 403, module 401 to 403 in attached drawing 17.

Method provided by the utility model embodiment can be performed in the said goods, has the corresponding functional module of execution method And beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to side provided by the utility model embodiment Method.

The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member It is physically separated with being or may not be, component shown as a unit may or may not be physics list Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs In some or all of the modules achieve the purpose of the solution of this embodiment.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Under the thinking of the utility model, it can also be combined between the technical characteristic in above embodiments or different embodiments, Step can be realized with random order, and there are many other variations of the different aspect of the utility model as described above, be Simplicity, they do not provide in details；Although the utility model is described in detail with reference to the foregoing embodiments, this The those of ordinary skill in field it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, Or equivalent replacement of some of the technical features；And these are modified or replaceed, and do not make the sheet of corresponding technical solution Matter departs from the scope of the technical solutions of the embodiments of the present invention.

It should be noted that between modules, unit in air conditioning control device in the utility model embodiment The contents such as information exchange, implementation procedure, due to being based on same design with the utility model embodiment of the method, particular content is equally suitable For air conditioning control device.Modules in the utility model embodiment can be used as individual hardware or software realize, and And the combination for realizing the function of each unit is can according to need using individual hardware or software.

Claims

1. a kind of motor characterized by comprising

Pedestal is provided with the first rotation hole；

First bearing is fixed on first rotation hole；

Terminal plate is fixed on the pedestal；

Stator is fixed on the terminal plate；

Rotor；

Shaft is fixed after one end passes through the first bearing with the rotor.

2. motor according to claim 1, which is characterized in that

The rotor includes magnet ring and shell；

3. motor according to claim 2, which is characterized in that

The magnet ring is between the shell and pedestal；

Container is arranged towards a surface of the pedestal in the shell；

The stator is contained in the container of the shell.

4. motor according to claim 2 or 3, which is characterized in that

The pedestal is provided with fixed part towards a surface of the rotor；

The terminal plate and stator are socketed on the fixed part.

5. motor according to claim 4 characterized by comprising

The fixed part is provided with the second rotation hole, and second rotation hole is connected to first rotation hole；

After one end of the shaft sequentially passes through the first bearing, fixed part and the second rotation hole, fixed with the shell.

6. motor according to claim 5 characterized by comprising

The motor further includes second bearing；

7. motor according to claim 1 characterized by comprising

The pedestal is provided with the first clamping portion and the second clamping portion towards a surface of the rotor；

8. motor according to claim 1 characterized by comprising

Fixed form between the stator and the terminal plate is to be fixed or glue is fixed.

9. a kind of holder is provided with the first Inertial Measurement Unit, for sensing characterization for carrying carrier on the carrier First attitude angle of the posture of the carrier, which is characterized in that the holder includes:

Attachment base, for being connected to a movable equipment；

Driving assembly, one end are flexibly connected with the attachment base, and the other end is flexibly connected with the carrier, for driving State carrier rotation；And

Second Inertial Measurement Unit, for sensing the second attitude angle for characterizing the posture of the holder entirety；

Processor is used to receive first attitude angle from first Inertial Measurement Unit, survey from second inertia It measures unit and receives second attitude angle, and motor group is determined according to first attitude angle and second attitude angle The angle position of part, wherein the electric machine assembly is each motor in the driving component.

10. holder according to claim 9, which is characterized in that second Inertial Measurement Unit is arranged in the connection On seat.

11. holder according to claim 10, which is characterized in that first Inertial Measurement Unit is for detecting described hold Rotation angle of the loading relative at most three rotary shafts；Second Inertial Measurement Unit is for detecting the holder entirety phase For the rotation angle of at most three rotary shafts.

12. holder according to claim 11, which is characterized in that first Inertial Measurement Unit includes the first gyro Instrument, second Inertial Measurement Unit include the second gyroscope.

13. holder according to claim 9, which is characterized in that first Inertial Measurement Unit is also used to detect described Acceleration of the carrier relative at most three kinematic axis；It is whole that second Inertial Measurement Unit is also used to detect the holder Acceleration relative at most three kinematic axis.

14. holder according to claim 13, which is characterized in that first Inertial Measurement Unit includes the first acceleration Meter, second Inertial Measurement Unit include the second accelerometer.

15. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the First spindle motor of one axis rotation；Wherein, the carrier is installed on the rotor of first spindle motor, first spindle motor Stator connect the attachment base.

16. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the First spindle motor of one axis rotation；Wherein, the carrier is installed on the stator of first spindle motor, first spindle motor Rotor connect the attachment base.

17. holder according to claim 15, which is characterized in that the processor handles first attitude angle and institute The second attitude angle is stated with the angle position of the determination electric machine assembly, comprising: the processor handles first attitude angle Degree and second attitude angle are with the rotor-position of determination first spindle motor.

18. holder according to claim 15, which is characterized in that first spindle motor is any one of claim 1-8 The motor.

19. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the First spindle motor of one axis rotation, and the second spindle motor that the driving carrier rotate around the second axis, the first axle and Second axis is vertical；Wherein, the carrier is installed on the rotor of first spindle motor, the stator of first spindle motor The rotor of second spindle motor is connected, the stator of second spindle motor connects the attachment base.

20. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the First spindle motor of one axis rotation, and the second spindle motor that the driving carrier rotate around the second axis, the first axle and Second axis is vertical；Wherein, the carrier is installed on the stator of first spindle motor, the rotor of first spindle motor The stator of second spindle motor is connected, the rotor of second spindle motor connects the attachment base.

21. holder according to claim 12, which is characterized in that the driving component includes driving the carrier around the First spindle motor of one axis rotation, and the second spindle motor that the driving carrier is rotated around the second axis, at the processor First attitude angle and second attitude angle are managed with the angle position of the determination electric machine assembly, comprising: the place Reason device handle first attitude angle and second attitude angle with the rotor-position of determination first spindle motor and/or The rotor-position of second spindle motor.

22. the described in any item holders of 9-21 according to claim 1, which is characterized in that first spindle motor and/or described Two spindle motors are the described in any item motors of claim 1-8.

23. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the The second spindle motor that the first spindle motor, the driving carrier of one axis rotation are rotated around the second axis, and the driving carrying The third spindle motor that object is rotated around third axis, the first axle, second axis and the third axis are vertical two-by-two；Wherein, institute The rotor that carrier is installed on first spindle motor is stated, the stator of first spindle motor connects turning for second spindle motor Son, the stator of second spindle motor connect the rotor of the third spindle motor, described in the stator connection of the third spindle motor Attachment base.

24. holder according to claim 9, which is characterized in that the driving component includes driving the carrier around the The second spindle motor that the first spindle motor, the driving carrier of one axis rotation are rotated around the second axis, and the driving carrying The third spindle motor that object is rotated around third axis, the first axle, second axis and the third axis are vertical two-by-two；Wherein, institute The stator that carrier is installed on first spindle motor is stated, the rotor of first spindle motor connects determining for second spindle motor Son, the rotor of second spindle motor connect the stator of the third spindle motor, described in the rotor connection of the third spindle motor Attachment base.

25. the holder according to claim 23 or 24, which is characterized in that the processor handles first attitude angle With second attitude angle with the angle position of the determination electric machine assembly, comprising: the processor handles first appearance State angle and second attitude angle are with the rotor-position of determination first spindle motor and/or turn of second spindle motor Sub- position.

26. the holder according to claim 23 or 24, which is characterized in that first spindle motor and/or second axis Motor and/or the third spindle motor are the described in any item motors of claim 1-8.

27. according to the described in any item holders of claim 9-21, which is characterized in that the carrier is image acquiring device.

28. such as the described in any item holders of claim 9-21, it is characterised in that: the movable equipment be it is following it is several in It is any: unmanned vehicle, remote-controlled movement device, vehicle, ship, fixed base stations, handheld device.

29. a kind of unmanned vehicle, which is characterized in that including fuselage and the described in any item holders of claim 9-28.