WO2018103047A1 - 电机、云台、拍摄装置、飞行器及电机、云台的控制方法 - Google Patents

电机、云台、拍摄装置、飞行器及电机、云台的控制方法 Download PDF

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Publication number
WO2018103047A1
WO2018103047A1 PCT/CN2016/109063 CN2016109063W WO2018103047A1 WO 2018103047 A1 WO2018103047 A1 WO 2018103047A1 CN 2016109063 W CN2016109063 W CN 2016109063W WO 2018103047 A1 WO2018103047 A1 WO 2018103047A1
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WIPO (PCT)
Prior art keywords
motor
temperature
pan
threshold
input current
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PCT/CN2016/109063
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English (en)
French (fr)
Inventor
朱锋
赵岩崇
Original Assignee
深圳市大疆灵眸科技有限公司
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Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to PCT/CN2016/109063 priority Critical patent/WO2018103047A1/zh
Priority to CN201680001704.8A priority patent/CN108781026B/zh
Publication of WO2018103047A1 publication Critical patent/WO2018103047A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/25—Devices for sensing temperature, or actuated thereby

Definitions

  • the invention relates to the technical field of aircraft power devices, in particular to a motor, a pan/tilt head, a photographing device, an aircraft and an electric motor, and a control method of the pan/tilt.
  • the motor As an important power source, the motor is widely used. After the motor load is adjusted and balanced, the torque required for the normal operation of the motor is small, and the current of the motor is also small.
  • the motor needs to continuously output a large torque to maintain its equilibrium state, which causes the motor coil to continue to heat up, if the heat dissipation environment of the motor coil is not ideal, resulting in A large amount of heat is concentrated on the motor coil, which may cause the motor to burn out due to overheating, which eventually causes the cloud platform where the motor is located to malfunction, causing the cloud table to be repaired, which brings inconvenience to the user.
  • the inertial measurement unit (IMU) of the pan/tilt can establish a current model according to the current command issued by the pan-tilt, and estimate the motor temperature through the current model. If the continuous output current exceeds a certain threshold current and accumulates for a period of time, the motor is considered to be overheated and the motor is turned off, thus achieving motor protection.
  • IMU inertial measurement unit
  • the current model cannot accurately estimate the true temperature of the motor coil, and there may be two situations in which the motor has been overheated without starting the motor protection or the motor coil is protected prematurely in the case of better heat dissipation conditions, thereby affecting the cloud.
  • the normal use of the station For example, if the motor starts to protect due to excessive temperature, the PTZ will be powered on again.
  • the inertial measurement unit needs to re-evaluate the motor temperature through the current model until it meets the conditions for starting the motor protection. It takes a certain time for the inertial measurement unit to estimate the motor temperature.
  • the motor is already under high temperature when the PTZ is powered on again, which causes the motor to burn out due to overheating.
  • the invention provides a control method for a motor, a pan/tilt head, a photographing device, an aircraft, an electric motor and a pan/tilt.
  • a pan/tilt motor including a temperature measuring element disposed on the motor, the temperature measuring element being used for electrical connection with a control module, and the control module is configured to The real-time temperature detected by the temperature measuring element adjusts the input current of the motor.
  • a cloud platform includes a shaft assembly, a motor for driving rotation of the shaft assembly, and a control module for controlling the motor, the motor including a temperature measuring element disposed on the motor, The temperature measuring component is electrically connected to the control module, and the control module adjusts an input current of the motor according to a real-time temperature detected by the temperature measuring component.
  • a photographing apparatus including a pan/tilt head and a carrier mounted on the pan/tilt head, the pan head includes a shaft assembly, a motor that drives the shaft assembly to rotate, and the motor is controlled Control module, the motor includes a temperature measuring component disposed on the motor, the temperature measuring component is electrically connected to the control module, and the control module adjusts the real-time temperature detected by the temperature measuring component The input current of the motor.
  • an aircraft includes a body and a photographing device mounted on the body, the photographing device including a head and a carrier mounted on the head, the cloud
  • the table includes a shaft assembly, a motor for driving the rotation of the shaft assembly, and a control module for controlling the motor, the motor including a temperature measuring element disposed on the motor, the temperature measuring element being electrically connected to the control module, The control module adjusts an input current of the motor according to a real-time temperature detected by the temperature measuring component.
  • a motor control method for a pan/tilt head comprising:
  • the input current of the motor is adjusted according to the detected temperature value.
  • a pan/tilt control method comprising:
  • the input current of the motor is adjusted according to the detected temperature value.
  • the present invention directly monitors the real-time temperature of the motor by directly adding a temperature measuring component to the motor, and controls the input current of the motor according to the real-time temperature, thereby controlling the torque output by the motor, which can not only maximize The limit exerts the torque characteristics of the motor, and it can also prevent the motor from being burnt due to overheating, thus achieving the function of protecting the motor.
  • the motor provided by the embodiment is suitable for various application scenarios, such as the field of aircraft.
  • Figure 1 is a perspective view of an aircraft in accordance with an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a structure of a gimbal in an embodiment of the present invention
  • FIG. 3 is a block diagram showing the structure of a motor in an embodiment of the present invention.
  • FIG. 4 is a flowchart showing the operation of a control module in an embodiment of the present invention.
  • Figure 5 is a block diagram showing the structure of still another motor in an embodiment of the present invention.
  • FIG. 6 is a flow chart of a motor control method in an embodiment of the present invention.
  • FIG. 8 is a flowchart of a PTZ control method according to an embodiment of the present invention.
  • FIG. 9 is a flow chart of still another pan/tilt control method in an embodiment of the present invention.
  • 100 pan/tilt; 101: shaft assembly; 102: motor; 103: ESC module; 104: inertial measurement unit; 200: carrier; 300: fuselage; 1: motor coil; 2: temperature measuring element; Module.
  • the imaging device provided by the embodiment of the invention can be used as an auxiliary device for photography, photography, monitoring and sampling, and can be mounted on the fields of an aircraft, a ship, a vehicle or a spacecraft.
  • the photographing device includes a pan/tilt head 100 and a carrier 200 mounted on the pan head 100.
  • the pan/tilt head 100 is configured to implement the fixing of the carrier 200, adjust the posture of the carrier 200 (for example, change the height, inclination and/or direction of the carrier 200) and make the bearing
  • the object 200 is stably maintained in a determined posture.
  • the carrier 200 can be a camera, a sensor, or the like.
  • the aircraft includes a body 300, a battery mounted in the body 300, and the photographing device.
  • the body 300 can be used to mount the photographing device, for example, the pan head 100 of the photographing device is mounted on the body 300.
  • the battery is used to provide electrical energy to the motor 102 in the platform 100.
  • the aircraft may be an aircraft such as an unmanned aerial vehicle or a remote control aircraft.
  • the pan/tilt head 100 includes a shaft assembly 101, a motor 102 for driving the shaft assembly 101 to rotate, and a control module 3 for controlling the motor 102.
  • the pan/tilt head may be provided with three motors 102, such as a yaw axis motor 102, a roll axis motor 102, and a pitch axis motor 102, respectively driven by the three motors 102 described above.
  • the load 200 on the platform 100 can be rotated about the yaw axis, the roll axis, and the pitch axis, respectively.
  • the pan/tilt head 100 further includes an inertial measurement unit 104 and an electronic speed controller (Electronic Speed Control, ESC for short) module 103.
  • the inertial measurement unit 104 measures the attitude angle and the acceleration value of the three axes of the yaw axis, the roll axis, and the pitch axis of the gimbal.
  • the ESC module 103 is the same as the PTZ motor 102, and each ESC module 103 is correspondingly disposed at the bottom of each motor 102, and the rotation speed of the corresponding motor 102 is controlled by the ESC module 103.
  • Each of the ESC modules 103 is electrically connected to the inertial measurement unit 104 via a CAN (Controller Area Network) bus to implement communication between the two.
  • CAN Controller Area Network
  • control module 3 is the ESC module 103, and the operation of the motor 102 corresponding to the ESC module 103 is controlled by each of the ESC modules 103.
  • control module 3 can also be integrated into other control units of the pan/tilt.
  • a pan/tilt motor 102 is provided in this embodiment.
  • the motor 102 includes a motor coil 1 and a temperature measuring component 2.
  • the temperature measuring element 2 is provided on the motor coil 1.
  • the temperature measuring component 2 is used for electrical connection with the control module 3, and the control module 3 is configured to adjust the input current of the motor coil 1 according to the real-time temperature detected by the temperature measuring component 2.
  • the motor 102 When the motor 102 is working, it is necessary to input an induced potential or current to the motor coil 1, and the temperature of the motor coil 1 determines the temperature of the entire motor 102. By setting the temperature measuring element 2, the real-time temperature of the motor coil 1 is fed back in time to accurately The temperature of the motor 102 is obtained to start the motor 102 protection accurately and quickly, preventing the motor 102 from being burnt due to overheating.
  • the type of the temperature measuring element 2 can be selected according to the requirements of the measurement accuracy.
  • the temperature measuring element 2 may be an analog temperature sensor, such as a temperature sensor such as a thermal resistor or a thermocouple; or a digital temperature sensor to be more precise.
  • a temperature sensor such as a thermal resistor or a thermocouple
  • a digital temperature sensor to be more precise.
  • the fixing manner of the temperature measuring element 2 is set according to actual conditions (for example, thickness, size, shape, and the like of the temperature measuring element 2).
  • the temperature measuring element 2 is attached to the motor coil 1.
  • the temperature measuring element 2 can be directly in contact with the motor coil 1, and the accuracy of the temperature detection can be improved, thereby improving the timeliness of the protection of the starting motor 102.
  • the motor 102 further includes a fastener for securing the temperature measuring element 2 to the motor coil 1.
  • a fastener for securing the temperature measuring element 2 to the motor coil 1.
  • the temperature measuring element 2 can be more firmly fixed on the motor coil 1 to prevent the motor unit 102 from falling off from the motor coil 1 in a high-speed environment, thereby failing to obtain the motor coil in time.
  • the real-time temperature of 1, in this case, the motor 102 may be burnt due to excessive temperature, causing loss to the user.
  • the temperature measuring element 2 is provided inside the motor coil 1, for example, when the motor coil 1 is wound, the temperature measuring element 2 is wrapped around the motor coil 1. Internally, not only can the temperature measuring element 2 be firmly fixed, but also because the internal heat dissipation environment of the motor coil 1 is the worst, the temperature measuring element 2 is disposed inside the machine coil 1 to detect the highest temperature of the motor coil 1 in time, thereby starting in time. Motor 102 is protected.
  • the control module 3 is capable of acquiring the real-time temperature T of the motor coil 1 detected by the temperature element 2 in real time.
  • control module 3 periodically acquires the real-time temperature T degree detected by the temperature measuring component 2 .
  • the time period during which the control module 3 reads the temperature of the motor coil from the temperature measuring element 2 can be set as needed.
  • the control module 3 reads the real-time temperature T of the motor coil 1 from the temperature measuring element 2 every 20 ms, so that the control module 3 can select the protection strategy in time according to the temperature of the motor coil 1.
  • control module 3 is an electrical adjustment module 103, which can timely acquire temperature information of the motor coil 1, thereby improving the timeliness of the protection of the motor 102.
  • the ESC module 103 periodically acquires the real-time temperature T detected by the temperature measuring component 2, and sends the periodically acquired real-time temperature T to the inertial measurement unit 104 of the pan/tilt.
  • Unit 104 performs subsequent data processing.
  • the inertial measurement unit 104 sends a control command (eg, a current command, a motor 102 on/off command) to the ESC module 103 after the data processing, by the ESC module 103 according to the control command.
  • the motor 102 performs control.
  • the inertial measurement unit 104 can realize the power comparison relatively simply. Control of the machine coil 1.
  • a first temperature threshold T1 and a preset current threshold I1 are optionally set.
  • the input current of the motor coil 1 is denoted as I0, and the preset current threshold I1 ⁇ I0.
  • the inertial measurement unit 104 compares the real-time temperature T with the first temperature threshold T1, and controls the ESC module according to the comparison result. 103 gives the magnitude of the input current I corresponding to the motor coil 1.
  • the input current I of the motor coil 1 is controlled to a normal input current. That is, when the inertial measurement unit 104 determines that T ⁇ T1, the electronic control module 103 is controlled to input a normal input current to the corresponding motor coil 1.
  • the inertial measurement unit 104 determines that the motor 102 is in normal operation, and the temperature of the motor 102 is in the normal temperature range, and the current input current I of the motor coil 1 is a normal current range, without limiting the input current of the motor coil 1 Prevent the temperature of the motor 102 from being too high.
  • the input current I of the motor coil 1 is adjusted to a preset current threshold I1. That is, when the inertial measurement unit 104 determines that T ⁇ T1, the ESC module 103 is controlled to input a current of a magnitude of I1 to the corresponding motor coil 1.
  • the control module 3 determines that the temperature of the motor coil 1 is too high, and the motor 102 may be burnt. It is necessary to limit the input current of the motor coil 1 to prevent further accumulation of heat of the motor coil 1, which may cause the motor 102 to burn out. .
  • the input current I of the motor coil 1 is limited to a preset current threshold I1 to prevent the motor 102 from being too hot and burned. The torque characteristics of the motor 102 can be maximized.
  • a second temperature threshold T2 greater than the first temperature threshold T1 is set, and a temperature range between T1 and T2 is used as a temperature warning range.
  • the inertial measurement unit 104 compares the real-time temperature value of the motor coil 1 with the magnitude of the second temperature threshold T2.
  • the input current I of the motor coil 1 is adjusted to a preset current threshold I1.
  • the element 104 controls the ESC module 103 to input a current of a magnitude of I1 to the corresponding motor coil 1.
  • the inertial measurement unit 104 determines that the real-time temperature T of the motor coil 1 is in the temperature warning range, the input current I of the motor coil 1 is too large, and the heat on the motor coil 1 cannot be dissipated in time, resulting in the motor coil 1 If the temperature is too high, the motor 102 may be burned out, and the input current of the motor coil 1 needs to be limited in time to prevent further accumulation of heat of the motor coil 1, which may cause the motor 102 to burn out.
  • the motor 102 When the real-time temperature T detected by the temperature measuring element 2 is greater than or equal to the second temperature threshold T2, the motor 102 is turned off. That is, when the inertial measurement unit 104 determines that T>T2, the motor 102 is turned off.
  • the inertial measurement unit 104 determines that the temperature of the motor coil 1 has exceeded the maximum value of the temperature. If the motor 102 is not turned off for protection in time, the possibility that the motor 102 is burned is very large.
  • the manner in which the motor 102 is turned off can be selected as desired. For example, when the control module 3 determines that the real-time temperature T of the motor coil 1 is greater than or equal to the second temperature threshold T2, the control module 3 transmits a shutdown signal (for example, adjusting the input of the motor coil 1). Current I is zero) to motor 102 to shut down motor 102 to prevent motor 102 from burning out. Alternatively, by manually turning off the motor 102, the control module 3 issues a prompt to turn off the motor 102, which is manually turned off by the user to prevent the motor 102 from burning out.
  • a shutdown signal for example, adjusting the input of the motor coil 1). Current I is zero
  • the control module 3 issues a prompt to turn off the motor 102, which is manually turned off by the user to prevent the motor 102 from burning out.
  • control module 3 determines that T ⁇ 60°, it is determined that the motor 102 is operating normally, and the input current I of the motor coil 1 is controlled to be a normal input current.
  • control module 3 determines that 60° ⁇ T ⁇ 70°, it is determined that the input current I of the motor coil 1 is too large, and the input current I of the motor coil 1 is limited to a preset current threshold I1 to prevent further heat of the motor coil 1. Gather.
  • control module 3 determines that T ⁇ 70°, it is determined that the temperature of the motor 102 is too high, and exceeds the temperature safety range. To prevent the motor 102 from being burned, the motor 102 is directly turned off.
  • the embodiment further provides a method for controlling the motor 102 of the pan/tilt.
  • the method for controlling the motor 102 of the pan/tilt can be used to control the pan/tilt motor 102.
  • the pan/tilt head can refer to the embodiment of the pan/tilt motor 102.
  • the motor 102 control method is explained.
  • control method of the motor 102 of the pan/tilt head may include:
  • the motor 102 comprises a motor coil 1 whose temperature value T is characterized by a temperature value on the motor coil 1.
  • the temperature measuring element 2 is provided on the motor coil 1 to accurately acquire the real-time temperature value T of the motor coil 1.
  • the temperature measuring element 2 can be an analog temperature sensor or a digital temperature sensor.
  • the temperature measuring element 2 can be attached to the motor coil 1.
  • the temperature measuring element 2 may be provided inside the motor coil 1.
  • control module 3 adjusts the input current I of the motor coil 1 according to the temperature value T of the motor coil by providing a control module 3 electrically connected to the motor coil 1.
  • the input current of the motor 102 is input through the motor coil 1.
  • control module 3 is an electrical adjustment module 103.
  • the motor control method of the pan/tilt may further include:
  • the inertia measurement unit 104 determines that T ⁇ T1
  • the ESC module 103 is controlled to input a normal input current to the corresponding motor coil 1. That is, when T ⁇ T1, the inertial measurement unit 104 determines that the motor 102 is in normal operation, and the temperature of the motor 102 is in the normal temperature range, and the current input current I of the motor coil 1 is a normal current range, without limiting the input current of the motor coil 1. To prevent the temperature of the motor 102 from being too high.
  • the inertia measurement unit 104 controls the ESC module 103 to input a current of a magnitude of I1 to the corresponding motor coil 1. That is, when T ⁇ T1, the control module 3 determines that the temperature of the motor coil 1 is too high, and the motor 102 may be burnt. It is necessary to limit the input current of the motor coil 1 to prevent further accumulation of heat of the motor coil 1, thereby possibly causing the motor 102 to be generated. burn.
  • the motor control method of the pan/tilt head may further include:
  • S106 Set a second temperature threshold that is greater than the first temperature threshold. When the detected temperature value is greater than or equal to the first temperature threshold and less than the second temperature threshold, adjusting an input current of the motor coil 1 is preset. Current threshold.
  • the inertia measurement unit 104 controls the ESC module 103 when it is determined that T1 ⁇ T ⁇ T2.
  • a current of the magnitude I1 is input to the corresponding motor coil 1. That is, when T1 ⁇ T ⁇ T2, the inertial measurement unit 104 determines that the real-time temperature T of the motor coil 1 is in the temperature warning range, the input current I of the motor coil 1 is too large, and the heat on the motor coil 1 cannot be dissipated in time, resulting in the motor coil. If the temperature of 1 is too high, the motor 102 may be burnt, and the input current of the motor coil 1 needs to be limited in time to prevent further accumulation of heat of the motor coil 1, which may cause the motor 102 to burn out.
  • the motor control method further includes:
  • S107 comparing the detected temperature value with a second temperature threshold, when the detected temperature value is greater than or equal to the second temperature threshold, turning off the motor 102, for example, controlling the motor coil 1 through the control module 3.
  • the input current is zero.
  • the inertia measurement unit 104 turns off the motor 102 when it is judged that T>T2. That is, when T>T2, the inertial measurement unit 104 determines that the temperature of the motor coil 1 has exceeded the maximum value of the temperature. If the motor 102 is not turned off for protection in time, the possibility that the motor 102 is burned is very large.
  • the motor control method of the pan/tilt head may further include:
  • the temperature value is periodically acquired, and the input current of the motor coil 1 is adjusted according to the periodically acquired temperature value, thereby improving the timeliness of the protection of the motor 102.
  • the time period during which the ESC module 103 reads the temperature of the motor coil from the temperature measuring element 2 can be set as needed. For example, the ESC module 103 reads the real-time temperature T of the motor coil 1 from the temperature measuring element 2 every 20 ms, so that the ESC module 103 can select the protection strategy according to the temperature of the motor coil 1 in time.
  • a PTZ control method is provided in this embodiment.
  • the PTZ control method can be used to control the PTZ.
  • the PTZ control method can be explained with reference to the embodiment of the PTZ.
  • the pan/tilt includes a shaft assembly 101 and a motor 102, and the motor 102 includes a motor coil 1.
  • the pan/tilt control method may include:
  • the pan/tilt head may be provided with three motors 102, such as a yaw axis motor 102, a roll axis motor 102, and a pitch axis motor 102, respectively, driven by the above three motors 102,
  • the load 200 on the platform 100 can be rotated about a yaw axis, a roll axis, and a pitch axis, respectively.
  • the motor 102 comprises a motor coil 1 whose temperature value T is characterized by a temperature value on the motor coil 1.
  • the temperature measuring element 2 is disposed on the motor coil 1 to accurately The real-time temperature value T of the motor coil 1 is obtained.
  • the temperature measuring element 2 can be an analog temperature sensor or a digital temperature sensor.
  • the temperature measuring element 2 can be attached to the motor coil 1.
  • the temperature measuring element 2 may be provided inside the motor coil 1.
  • S203 Adjust an input current of the motor according to the detected temperature value.
  • control module 3 adjusts the input current I of the motor coil 1 according to the temperature value T of the motor coil by providing a control module 3 electrically connected to the motor coil 1.
  • the input current of the motor 102 is input through the motor coil 1.
  • control module 3 is an electrical adjustment module 103.
  • the PTZ control method further includes:
  • Step S204 setting a first temperature threshold T1 and a preset current threshold I1, comparing the detected temperature value T with the first temperature threshold T1, when T ⁇ T1, proceeding to step S205; when T ⁇ T1, entering Step S206.
  • the PTZ control method further includes:
  • the input current of the motor coil 1 is adjusted to be a preset current threshold.
  • the PTZ control method further includes:
  • S208 Compare the detected temperature value with a second temperature threshold, and turn off the motor 102 when the detected temperature value is greater than or equal to the second temperature threshold.
  • the PTZ control method further includes:
  • the detected real-time temperature is periodically acquired, and the input current of the motor coil 1 is adjusted according to the periodically acquired temperature value.
  • the present invention monitors the real-time temperature of the motor 102 by directly adding the temperature measuring element 2 to the motor 102, and controls the input current of the motor 102 according to the real-time temperature, thereby controlling the torque output by the motor 102, which can not only maximize the maximum torque.
  • the motor 102 By exerting the torque characteristics of the motor 102, it is also possible to prevent the motor 102 from being burnt due to overheating, thereby protecting the motor 102.
  • the motor 102 provided by the embodiment is suitable for various application scenarios, such as the field of aircraft.

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Abstract

一种电机（102）、云台（100）、拍摄装置及飞行器，所述电机（102）包括设于所述电机（102）上的测温元件（2），所述测温元件（2）用于与控制模块（3）电连接，所述控制模块（3）用于根据所述测温元件（2）检测的实时温度，来调节该电机（102）的输入电流。通过在电机（102）上直接增加测温元件（2），监测电机（102）的实时温度，根据实时温度来控制电机（102）的输入电流，从而控制电机（102）输出的力矩，不仅能够最大限度的发挥电机（102）的力矩特性，还能防止电机（102）烧毁。

Description

电机、云台、拍摄装置、飞行器及电机、云台的控制方法 技术领域
本发明涉及飞行器动力装置技术领域，尤其涉及一种电机、云台、拍摄装置、飞行器及电机、云台的控制方法。
背景技术
电机作为重要的动力源，应用非常广泛。在将电机负载调节平衡后，电机正常工作所需力矩较小，电机的电流也会较小。但是，当电机负载不平衡或者电机高速运动时所受风阻较大时，电机需要持续输出较大力矩以维持其平衡状态，这就导致电机线圈持续发热，如果电机线圈的散热环境不理想，造成大量热量集聚在电机线圈上，这可能会导致电机因过热烧毁，最终导致电机所在的云台发生故障，造成云台的返修，给用户带来不便。
目前，在云台摄像机中，为了避免烧毁云台中的电机，云台的惯性测量单元(即IMU，Inertial measurement unit)可以根据其发出的电流指令建立电流模型，通过该电流模型来估算电机温度，如果连续输出电流超过某一门限电流并累计一段时间后，则认为电机过热并将电机关闭，从而实现电机的保护。
但该电流模型无法准确的估算出电机线圈的真实温度，会存在电机已经过热而未启动电机的保护或者电机线圈在散热条件较好的情况下过早保护这两种情况的发生，从而影响云台的正常使用。例如，电机由于温度过高而启动保护后，立即对云台重新上电，惯性测量单元需要重新通过上述电流模型来估算电机温度，直到符合启动电机保护的条件时，才会开会启动电机保护，而惯性测量单元估算电机温度需要一定的时间，然而电机在云台重新上电时已经处于高温条件下，这就会导致电机因过热烧毁。
发明内容
本发明提供一种电机、云台、拍摄装置、飞行器及电机、云台的控制方法。
依据本发明的第一方面，提供一种云台电机，所述电机包括设于所述电机上的测温元件，所述测温元件用于与控制模块电连接，所述控制模块用于根据所述测温元件检测的实时温度，来调节该电机的输入电流。
依据本发明的第二方面，提供一种云台，包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
依据本发明的第三方面，提供一种拍摄装置，包括云台和搭载在所述云台上的承载物，所述云台包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
依据本发明的第四方面，提供一种飞行器，包括机身以及安装在所述机身上的拍摄装置，所述拍摄装置包括云台和搭载在所述云台上的承载物，所述云台包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
依据本发明的第五方面，提供一种云台的电机控制方法，所述方法包括：
检测所述电机的温度值；
根据检测到的温度值，调节该电机的输入电流。
依据本发明的第六方面，提供一种云台控制方法，所述云台包括轴组件和电机，所述轴组件通过电机驱动，所述方法包括：
检测所述电机的温度值；
根据检测到的温度值，调节该电机的输入电流。
由以上本发明实施例提供的技术方案可见，本发明通过在电机上直接增加测温元件，监测电机的实时温度，根据实时温度来控制电机的输入电流，从而控制电机输出的力矩，不仅能够最大限度的发挥电机的力矩特性，还能避免电机因过热而烧毁，达到保护电机的作用。
另外，本实施例提供的电机适用于各种应用场景，例如飞行器领域。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附 图获得其他的附图。
图1是本发明一实施例中的飞行器的立体图；
图2是本发明一实施例中的云台结构框图；
图3是本发明一实施例中的电机结构框图；
图4是本发明一实施例中的控制模块的工作流程图；
图5是本发明一实施例中的又一电机的结构框图；
图6是本发明一实施例中的电机控制方法的流程图；
图7是本发明一实施例中的又一电机控制方法的流程图；
图8是本发明一实施例中的云台控制方法的流程图；
图9是本发明一实施例中的又一云台控制方法的流程图。
附图标记：
100：云台；101：轴组件；102：电机；103：电调模块；104：惯性测量单元；200：承载物；300：机身；1：电机线圈；2：测温元件；3：控制模块。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供的拍摄装置可以作为摄影、照相、监测、采样的辅助装置，可搭载于飞行器、船舶、车辆或飞船等领域。所述拍摄装置包括云台100和搭载在所述云台100上的承载物200。
其中，所述云台100用以实现所述承载物200的固定、随意调节所述承载物200的姿态(例如：改变所述承载物200的高度、倾角和/或方向)和使所述承载物200稳定保持在确定的姿态上。
可选地，所述承载物200可以为摄像机，也可为传感器等。
参见图1，本实施例以摄像装置应用于飞行器领域进行说明。所述飞行器包括机身300、安装于机身300内的电池以及所述拍摄装置。
其中，机身300可用于安装所述拍摄装置，例如，将所述拍摄装置的云台100安装在所述机身300上。所述电池用于为所述云台100中的电机102提供电能。
可选地，所述飞行器可为无人飞行器、遥控飞机等飞行器。
参见图2，本发明提供的一种云台100，所述云台100包括轴组件101、用于驱动所述轴组件101转动的电机102和控制所述电机102的控制模块3。
可选地，对于三轴云台而言，所述云台可设有三个电机102，如偏航轴电机102、横滚轴电机102和俯仰轴电机102，在上述三个电机102的分别驱动下，云台100上的承载物200可分别绕偏航轴、横滚轴和俯仰轴转动。
所述云台100还包括惯性测量单元104和电调(即电子调速器，Electronic Speed Control，简称ESC)模块103。其中，惯性测量单元104测量云台的偏航轴、横滚轴和俯仰轴这三个轴的姿态角和加速度值。所述电调模块103与所述云台电机102的数量相同，并各电调模块103对应配设在每个电机102的底部，通过所述电调模块103控制相应电机102的转速。每个电调模块103均通过CAN(Controller Area Network，控制器局域网络)总线与所述惯性测量单元104电连接，从而实现两者的通信。
可选地，所述控制模块3是所述电调模块103，通过每个电调模块103分别控制该电调模块103对应的电机102的工作。当然，所述控制模块3还可以集成至所述云台的其他控制单元中。
参见图3，本实施例提供的一种云台电机102，所述电机102包括电机线圈1和测温元件2。在本实施方式中，所述测温元件2设于所述电机线圈1上。其中，所述测温元件2用于与控制模块3电连接，所述控制模块3用于根据所述测温元件2检测的实时温度，来调节该电机线圈1的输入电流。
电机102工作时，需要对电机线圈1通入感应电势或者电流，而电机线圈1的温度大小决定了整个电机102的温度，通过设置测温元件2来及时反馈电机线圈1的实时温度，以准确获取电机102的温度，从而准确、快速地启动电机102保护，防止电机102因过热烧毁。
测温元件2的类型可根据测量精度的需求进行选择。所述测温元件2可以是模拟温度传感器，例如热电阻、热电偶等温度传感器件；或者数字温度传感器，以更加精 确地检测电机线圈1的实时温度大小，提高控制电机线圈1输入电流的灵敏度。
测温元件2的固定方式是根据实际情况(例如：测温元件2的厚度、大小、形状等)来设定的。
可选地，所述测温元件2贴附在所述电机线圈1上。通过贴附的方式固定，使得测温元件2能够直接与电机线圈1接触，能够提高温度检测的精确度，从而提升启动电机102保护的及时性。
可选地，所述电机102还包括紧固件，所述紧固件用于将所述测温元件2固定在所述电机线圈1上。通过设置紧固件，能够将测温元件2更加牢靠地固定在电机线圈1上，防止电机102在高速运转的环境下，测温元件2从电机线圈1上脱落，从而导致不能及时获取电机线圈1的实时温度，在这种情况下，电机102可能会因为温度过高而烧毁，给用户造成损失。
为更快检测到电机线圈1的最高温度，所述测温元件2设于所述电机线圈1的内部，例如，电机线圈1在缠绕时，将所述测温元件2包裹在电机线圈1的内部，不仅能够将测温元件2牢牢固定，同时由于电机线圈1内部散热环境最差，将测温元件2设置在机线圈1的内部能够及时检测到电机线圈1的最高温度，从而及时启动电机102保护。
所述控制模块3能够实时获取所述温度元件2所检测的电机线圈1的实时温度T。
可选地，所述控制模块3周期性获取所述测温元件2检测的实时温T度。其中，控制模块3从测温元件2中读取电机线圈温度的时间周期可根据需要设定。例如，控制模块3每隔20ms从测温元件2中读取电机线圈1的实时温度T，以使得控制模块3能够及时根据电机线圈1的温度选择保护策略。
可选地，参见图4，所述控制模块3是电调模块103，能够及时获取电机线圈1的温度信息，从而提高电机102防护的及时性。
又参见图4，电调模块103周期性获取所述测温元件2检测的实时温度T，并将所述周期性获取的实时温度T发送至云台的惯性测量单元104，由所述惯性测量单元104进行后续的数据处理。
可选地，惯性测量单元104在数据处理后发送控制命令(例如电流指令、电机102开/关指令)至所述电调模块103，由所述电调模块103根据所述控制命令对所述电机102进行控制。通过电调模块103的转接，惯性测量单元104可较为简单地实现对电 机线圈1的控制。
为防止电机102温度过高导致电机102烧毁，可选地，设置第一温度阈值T1和预设电流阈值I1。其中，电机线圈1的温度等于第一温度阈值T1时，该电机线圈1的输入电流记作I0，则预设电流阈值I1<I0。
参见图5，所述惯性测量单元104接收到所述电调模块103发送的实时温度T后，会将实时温度T与第一温度阈值T1进行比较，并根据比较结果来控制所述电调模块103给对应电机线圈1的输入电流I的大小。
当所述测温元件2检测的实时温度T小于第一温度阈值T1时，所述电机线圈1的输入电流I被控制为正常的输入电流。即惯性测量单元104在判断出T<T1时，则控制所述电调模块103给对应的电机线圈1输入正常的输入电流。
在T<T1时，惯性测量单元104会判断电机102处于正常工作，且电机102温度处于正常温度范围，电机线圈1的当前输入电流I为正常电流范围，无需通过限制电机线圈1的输入电流来防止电机102温度过高。
并当所述测温元件2检测的实时温度T大于或等于第一温度阈值T1时，所述电机线圈1的输入电流I被调节为预设电流阈值I1。即惯性测量单元104在判断出T≥T1时，则控制所述电调模块103给对应的电机线圈1输入I1大小的电流。
在T≥T1时，控制模块3判断电机线圈1的温度过高，电机102存在烧毁的可能，需要限制电机线圈1的输入电流，以防止电机线圈1的热量进一步集聚，从而可能导致电机102烧毁。
并且，当T≥T1时，若电机102所需的电流大于预设电流阈值I1，则限制该电机线圈1的输入电流I为预设电流阈值I1，防止该电机102温度过高而烧毁，同时能够最大限度地发挥电机102的力矩特性。
可选地，为进一步防止电机102温度过高导致电机102烧毁，设置大于第一温度阈值T1的第二温度阈值T2，将T1与T2之间的温度范围作为温度预警范围。
又参见图5，惯性测量单元104在判断出电机线圈1的实时温度T大于或等于第一温度阈值T1后，接着比较所述电机线圈1的实时温度值与第二温度阈值T2的大小。
当所述测温元件2检测的实时温度T大于或等于第一温度阈值T1且小于第二温度阈值T2时，所述电机线圈1的输入电流I被调节为预设电流阈值I1。即惯性测量单 元104在判断出T1≤T<T2时，则控制所述电调模块103给对应的电机线圈1输入I1大小的电流。
在T1≤T<T2时，惯性测量单元104判断电机线圈1的实时温度T位于温度预警范围，电机线圈1的输入电流I过大，电机线圈1上的热量不能及时散出，导致电机线圈1的温度过高，电机102存在烧毁的可能，需要及时限制电机线圈1的输入电流，以防止电机线圈1的热量进一步集聚，从而可能导致电机102烧毁。
当所述测温元件2检测的实时温度T大于或等于第二温度阈值T2时，所述电机102被关闭。即惯性测量单元104在判断出T>T2时，则关闭所述电机102。
在T>T2时，惯性测量单元104会判断电机线圈1的温度已超出温度最大值，如不及时关闭电机102进行保护，电机102烧毁的可能性非常大。
可选地，电机102被关闭的方式可根据需要进行选择。例如，通过自动控制的方式，所述控制模块3在判断出所述电机线圈1的实时温度T大于或等于第二温度阈值T2时，则发送关闭信号(例如，调节所述电机线圈1的输入电流I为零)至电机102以关闭所述电机102，防止电机102烧毁。或者，通过手动的方式关闭电机102，控制模块3发出关闭电机102的提示信号，由用户手动关闭所述电机102，以防止电机102烧毁。
可选地，T1＝60°，T2＝70°。
当控制模块3判断出T<60°时，则判断电机102正常工作，控制电机线圈1的输入电流I为正常的输入电流。
当控制模块3判断出60°≤T<70°时，则判断电机线圈1的输入电流I过大，限制该电机线圈1的输入电流I为预设电流阈值I1，防止电机线圈1的热量进一步聚集。
当控制模块3判断出T≥70°时，则判断该电机102温度过高，超过温度安全范围，为防止电机102烧毁，直接关闭该电机102。
参见图6，本实施例还提供一种云台的电机102控制方法，该云台的电机102控制方法可用于控制上述云台电机102，可参照上述云台电机102的实施例对该云台的电机102控制方法进行解释。
请结合图6和图7，该云台的电机102控制方法可以包括：
S101：获取所述电机的温度值。
可选地，所述电机102包括电机线圈1，所述电机的温度值T是通过电机线圈1上的温度值来表征。在本实施方式中，在所述电机线圈1上设置测温元件2，以准确获取电机线圈1的实时温度值T。
测温元件2可以是模拟温度传感器或数字温度传感器。
为了更加准确、快速地检测到电机线圈1的实时温度值T，可将测温元件2贴附在所述电机线圈1上。
为进一步提高温度检测的精确性，可将测温元件2设于所述电机线圈1的内部。
S102：根据获取到的温度值，调节该电机102的输入电流。
可选地，通过设置与所述电机线圈1电连接的控制模块3，控制模块3根据电机线圈的温度值T，来调节该电机线圈1的输入电流I。在本实施方式中，所述电机102的输入电流通过所述电机线圈1输入。
可选地，所述控制模块3是电调模块103。
请参见图7，为及时启动电机102保护，防止电机102因过热而烧毁，所述云台的电机控制方法还可以包括：
S103：设置第一温度阈值T1以及预设电流阈值I1，将检测到的温度值T与第一温度阈值作比较，当T<T1时，则进入步骤S104；当T≥T1时，则进入步骤S105。
S104：控制所述电机线圈1的输入电流为正常的输入电流。
在该步骤中，惯性测量单元104在判断出T<T1时，则控制所述电调模块103给对应的电机线圈1输入正常的输入电流。即当T<T1时，惯性测量单元104会判断电机102处于正常工作，且电机102温度处于正常温度范围，电机线圈1的当前输入电流I为正常电流范围，无需通过限制电机线圈1的输入电流来防止电机102温度过高。
S105：调节所述电机线圈1的输入电流为预设电流阈值。
在该步骤中，惯性测量单元104在判断出T≥T1时，则控制所述电调模块103给对应的电机线圈1输入I1大小的电流。即当T≥T1时，控制模块3判断电机线圈1的温度过高，电机102存在烧毁的可能，需要限制电机线圈1的输入电流，以防止电机线圈1的热量进一步集聚，从而可能导致电机102烧毁。
可选地，所述云台的电机控制方法还可以包括：
S106：设置大于所述第一温度阈值的第二温度阈值，当所述检测到的温度值大于等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈1的输入电流为预设电流阈值。
在该步骤中，惯性测量单元104在判断出T1≤T<T2时，则控制所述电调模块103 给对应的电机线圈1输入I1大小的电流。即当T1≤T<T2时，惯性测量单元104判断电机线圈1的实时温度T位于温度预警范围，电机线圈1的输入电流I过大，电机线圈1上的热量不能及时散出，导致电机线圈1的温度过高，电机102存在烧毁的可能，需要及时限制电机线圈1的输入电流，以防止电机线圈1的热量进一步集聚，从而可能导致电机102烧毁。
可选地，所述电机控制方法还包括：
S107：将检测到的温度值与第二温度阈值作比较，当所述检测到的温度值大于或等于第二温度阈值时，关闭所述电机102，例如，通过控制模块3控制电机线圈1的输入电流为零。
在该步骤中，惯性测量单元104在判断出T>T2时，则关闭所述电机102。即当T>T2时，惯性测量单元104会判断电机线圈1的温度已超出温度最大值，如不及时关闭电机102进行保护，电机102烧毁的可能性非常大。
可选地，所述云台的电机控制方法还可以包括：
周期性获取所述温度值，并根据该周期性获取的温度值，调节该电机线圈1的输入电流，从而提高电机102防护的及时性。
电调模块103从测温元件2中读取电机线圈温度的时间周期可根据需要设定。例如，电调模块103每隔20ms从测温元件2中读取电机线圈1的实时温度T，以使得电调模块103能够及时根据电机线圈1的温度选择保护策略。
参见图8，本实施例提供的一种云台控制方法，该云台控制方法可用于控制上述云台，可参照上述云台的实施例对该云台控制方法进行解释。
其中，所述云台包括轴组件101和电机102，所述电机102包括电机线圈1。
请结合图8和图9，所述云台控制方法可以包括：
S201：通过电机102驱动所述轴组件101转动。
其中，对于三轴云台而言，所述云台可设有三个电机102，如偏航轴电机102、横滚轴电机102和俯仰轴电机102，在上述三个电机102的分别驱动下，云台100上的承载物200可分别绕偏航轴、横滚轴和俯仰轴转动。
S202：获取所述电机的温度值。
可选地，所述电机102包括电机线圈1，所述电机的温度值T是通过电机线圈1上的温度值来表征。在本实施方式中，在所述电机线圈1上设置测温元件2，以准确 获取电机线圈1的实时温度值T。
测温元件2可以是模拟温度传感器或数字温度传感器。
为了更加准确、快速地检测到电机线圈1的实时温度值T，可将测温元件2贴附在所述电机线圈1上。
为进一步提高温度检测的精确性，可将测温元件2设于所述电机线圈1的内部。
S203：根据检测到的温度值，调节该电机的输入电流。
可选地，通过设置与所述电机线圈1电连接的控制模块3，控制模块3根据电机线圈的温度值T，来调节该电机线圈1的输入电流I。在本实施方式中，所述电机102的输入电流通过所述电机线圈1输入。
可选地，所述控制模块3是电调模块103。
可选地，参见图9，所述云台控制方法还包括：
S204：设置第一温度阈值T1以及预设电流阈值I1，将检测到的温度值T与第一温度阈值T1作比较，当T<T1时，则进入步骤S205；当T≥T1时，则进入步骤S206。
S205：控制所述电机线圈1的输入电流I为正常的输入电流。
S206：调节所述电机线圈1的输入电流I为预设电流阈值I1。
可选地，所述云台控制方法还包括：
S207：设置大于所述第一温度阈值的第二温度阈值；
当所述检测到的温度值大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈1的输入电流为预设电流阈值。
可选地，所述云台控制方法还包括：
S208：将检测到的温度值与第二温度阈值作比较，当所述检测到的温度值大于或等于第二温度阈值时，关闭所述电机102。
可选地，所述云台控制方法还包括：
周期性获取所述检测的实时温度，并根据该周期性获取的温度值，调节该电机线圈1的输入电流。
综上所述，本发明通过在电机102上直接增加测温元件2，监测电机102的实时温度，根据实时温度来控制电机102的输入电流，从而控制电机102输出的力矩，不仅能够最大限度的发挥电机102的力矩特性，还能防止电机102因过热而烧毁，从而对电机102进行保护。另外，本实施例提供的电机102适用于各种应用场景，例如飞行器领域。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精 神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (49)

  1. 一种云台电机，其特征在于，所述电机包括设于所述电机上的测温元件，所述测温元件用于与控制模块电连接，所述控制模块用于根据所述测温元件检测的实时温度，来调节该电机的输入电流。
  2. 如权利要求1所述的云台电机，其特征在于，所述电机包括电机线圈，所述测温元件装设于电机线圈上，所述电机的输入电流通过所述电机线圈输入。
  3. 如权利要求2所述的云台电机，其特征在于，当所述测温元件检测的实时温度小于第一温度阈值时，所述电机线圈的输入电流被控制为正常的输入电流；并当所述测温元件检测的实时温度大于或等于第一温度阈值时，所述电机线圈的输入电流被调节为预设电流阈值。
  4. 如权利要求3所述的云台电机，其特征在于，当所述测温元件检测的实时温度大于或等于第一温度阈值且小于第二温度阈值时，所述电机线圈的输入电流被调节为预设电流阈值。
  5. 如权利要求4所述的电机，其特征在于，当所述测温元件检测的实时温度大于或等于第二温度阈值时，所述电机被关闭。
  6. 如权利要求2所述的云台电机，其特征在于，所述测温元件贴附在所述电机线圈上。
  7. 如权利要求6所述的云台电机，其特征在于，所述测温元件设于所述电机线圈的内部。
  8. 如权利要求2所述的云台电机，其特征在于，所述测温元件是模拟温度传感器或数字温度传感器。
  9. 一种云台，包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，其特征在于，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
  10. 如权利要求9所述的云台，其特征在于，所述电机包括电机线圈，所述测温元件装设于电机线圈上，所述电机的输入电流通过所述电机线圈输入。
  11. 如权利要求10所述的云台，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度小于第一温度阈值时，控制所述电机线圈的输入电流为正常的输入电流；并在判断出所述测温元件检测的实时温度大于或等于第一温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  12. 如权利要求11所述的云台，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  13. 如权利要求12所述的云台，其特征在于，所述控制模块被设定为，在判断出所述测温元件检测的实时温度大于或等于第二温度阈值时，关闭所述电机。
  14. 如权利要求10所述的云台，其特征在于，所述云台还包括惯性测量单元，所述控制模块是电调模块，所述电调模块被设定为，周期性获取所述测温元件检测的实时温度。
  15. 如权利要求10所述的云台，其特征在于，所述测温元件贴附在所述电机线圈上。
  16. 如权利要求15所述的云台，其特征在于，所述测温元件设于所述电机线圈的内部。
  17. 如权利要求10所述的云台，其特征在于，所述测温元件是模拟温度传感器或数字温度传感器。
  18. 一种拍摄装置，包括云台和搭载在所述云台上的承载物，所述云台包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，其特征在于，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
  19. 如权利要求18所述的拍摄装置，其特征在于，所述电机包括电机线圈，所述测温元件装设于电机线圈上，所述电机的输入电流通过所述电机线圈输入。
  20. 如权利要求19所述的拍摄装置，其特征在于，所述控制模块被设定为，在判断出所述测温元件检测的实时温度小于第一温度阈值时，控制所述电机线圈的输入电流为正常的输入电流；并在判断出所述测温元件检测的实时温度大于或等于第一温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  21. 如权利要求20所述的拍摄装置，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  22. 如权利要求21所述的拍摄装置，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度大于或等于第二温度阈值时，关闭所述电机。
  23. 如权利要求19所述的拍摄装置，其特征在于，所述云台还包括惯性测量单元，所述控制模块是电调模块，所述电调模块被设定为，周期性获取所述测温元件检 测的实时温度。
  24. 如权利要求19所述的拍摄装置，其特征在于，所述测温元件贴附在所述电机线圈上。
  25. 如权利要求24所述的拍摄装置，其特征在于，所述测温元件设于所述电机线圈的内部。
  26. 如权利要求19所述的拍摄装置，其特征在于，所述测温元件是模拟温度传感器或数字温度传感器。
  27. 如权利要求18所述的拍摄装置，其特征在于，所述承载物为摄像机。
  28. 一种飞行器，包括机身以及安装在所述机身上的拍摄装置，所述拍摄装置包括云台和搭载在所述云台上的承载物，所述云台包括轴组件、驱动所述轴组件转动的电机和控制所述电机的控制模块，其特征在于，所述电机包括设于所述电机上的测温元件，所述测温元件与所述控制模块电连接，所述控制模块根据所述测温元件检测的实时温度，来调节该电机的输入电流。
  29. 如权利要求28所述的飞行器，其特征在于，所述电机包括电机线圈，所述测温元件装设于电机线圈上，所述电机的输入电流通过所述电机线圈输入。
  30. 如权利要求29所述的飞行器，其特征在于，所述控制模块被设定为，在判断出所述测温元件检测的实时温度小于第一温度阈值时，控制所述电机线圈的输入电流为正常的输入电流；并在判断出所述测温元件检测的实时温度大于或等于第一温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  31. 如权利要求30所述的飞行器，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  32. 如权利要求31所述的飞行器，其特征在于，所述控制模块还被设定为，在判断出所述测温元件检测的实时温度大于或等于第二温度阈值时，关闭所述电机102。
  33. 如权利要求29所述的飞行器，其特征在于，所述云台包括惯性测量单元，所述控制模块是电调模块，所述电调模块被设定为，周期性获取所述测温元件检测的实时温度。
  34. 如权利要求29所述的飞行器，其特征在于，所述测温元件贴附在所述电机线圈上。
  35. 如权利要求34所述的飞行器，其特征在于，所述测温元件设于所述电机线圈的内部。
  36. 如权利要求29所述的飞行器，其特征在于，所述测温元件是模拟温度传感器或数字温度传感器。
  37. 如权利要求28所述的飞行器，其特征在于，所述承载物为摄像机。
  38. 一种云台的电机控制方法，其特征在于，所述方法包括：
    获取所述电机的温度值；
    根据所述温度值，调节该电机的输入电流。
  39. 如权利要求38所述的云台的电机控制方法，其特征在于，所述电机包括电机线圈，所述电机的温度值通过所述电机线圈的温度值表征，所述电机的输入电流通过所述电机线圈输入。
  40. 如权利要求39所述的云台的电机控制方法，其特征在于，所述方法还包括：
    设置第一温度阈值以及预设电流阈值；
    将检测到的温度值与第一温度阈值作比较，当所述检测到的温度值小于该第一温度阈值时，控制所述电机线圈的输入电流为正常的输入电流；
    当所述检测到的温度值大于或等于该第一温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  41. 如权要求40所述的云台的电机控制方法，其特征在于，所述方法还包括：
    设置大于所述第一温度阈值的第二温度阈值；
    当所述检测到的温度值大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  42. 如权要求41所述的云台的电机控制方法，其特征在于，所述方法还包括：
    将检测到的温度值与第二温度阈值作比较，当所述检测到的温度值大于或等于第二温度阈值时，关闭所述电机。
  43. 如权要求39所述的云台的电机控制方法，其特征在于，还包括：
    周期性获取所述检测的实时温度，并根据该周期性获取的温度值，调节该电机线圈的输入电流。
  44. 一种云台控制方法，所述云台包括轴组件和电机，所述轴组件通过电机驱动，其特征在于，所述方法包括：
    获取所述电机的温度值；
    根据所述温度值，调节该电机的输入电流。
  45. 如权利要求44所述的云台控制方法，其特征在于，所述电机包括电机线圈，所述电机的温度值通过电机线圈的温度来表征，所述电机的输入电流通过所述电机线 圈输入。
  46. 如权利要求45所述的云台控制方法，其特征在于，所述方法还包括：
    设置第一温度阈值以及预设电流阈值；
    将检测到的温度值与第一温度阈值作比较，当所述检测到的温度值小于该第一温度阈值时，控制所述电机线圈的输入电流为正常的输入电流；
    当所述检测到的温度值大于或等于该第一温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  47. 如权要求46所述的云台控制方法，其特征在于，所述方法还包括：
    设置大于所述第一温度阈值的第二温度阈值；
    当所述检测到的温度值大于或等于第一温度阈值且小于第二温度阈值时，调节所述电机线圈的输入电流为预设电流阈值。
  48. 如权要求47所述的云台控制方法，其特征在于，所述方法还包括：
    将检测到的温度值与第二温度阈值作比较，当所述检测到的温度值大于或等于第二温度阈值时，关闭所述电机。
  49. 如权要求45所述的云台控制方法，其特征在于，还包括：
    周期性获取所述检测的实时温度，并根据该周期性获取的温度值，调节该电机线圈的输入电流。
PCT/CN2016/109063 2016-12-08 2016-12-08 电机、云台、拍摄装置、飞行器及电机、云台的控制方法 WO2018103047A1 (zh)

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