WO2018107337A1 - 云台及其操作方法、控制方法，及使用其的可移动设备 - Google Patents

云台及其操作方法、控制方法，及使用其的可移动设备 Download PDF

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Publication number
WO2018107337A1
WO2018107337A1 PCT/CN2016/109527 CN2016109527W WO2018107337A1 WO 2018107337 A1 WO2018107337 A1 WO 2018107337A1 CN 2016109527 W CN2016109527 W CN 2016109527W WO 2018107337 A1 WO2018107337 A1 WO 2018107337A1
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WO
WIPO (PCT)
Prior art keywords
pan
axis
stator
tilt
mounting member
Prior art date
Application number
PCT/CN2016/109527
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English (en)
French (fr)
Inventor
小山高志
瞿宗耀
Original Assignee
深圳市大疆创新科技有限公司
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Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/109527 priority Critical patent/WO2018107337A1/zh
Priority to CN201680004520.7A priority patent/CN107111322B/zh
Publication of WO2018107337A1 publication Critical patent/WO2018107337A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the invention relates to a cloud platform, an operation method thereof, a control method, and a movable device using the same.
  • a multi-axis electric pan/tilt head such as a two-axis pan/tilt or a three-axis pan/tilt head, is rotated by different driving members to realize coordinated movement of the gimbal in multiple directions.
  • the above-mentioned pan/tilt head has a relatively large volume due to the inclusion of the driving members for respectively driving the rotation of the respective shafts, which is disadvantageous for the miniaturization design of the pan/tilt head.
  • pan-tilt having a relatively compact structure
  • a method of operating the pan-tilt, a control method, and a mobile device using the pan-tilt it is necessary to provide a pan-tilt having a relatively compact structure, and it is also necessary to provide a method of operating the pan-tilt, a control method, and a mobile device using the pan-tilt.
  • a pan/tilt head includes a driving mechanism, the driving mechanism comprising: a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed on the mounting member; the stator rotatably abutting The driving member, the stator includes a spherical surface, the spherical surface is in contact with the driving member; wherein the driving member is capable of driving the mounting member to rotate relative to the stator; and the first sensor is disposed at the On the rotor assembly, and for detecting the motion state of the rotor assembly, the detection result of the first sensor can be used to adjust the motion of the rotating assembly.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the motion state of the rotor assembly includes at least one of the following Species: rotation angle, rotation speed, angular velocity, angular acceleration.
  • the pan/tilt further includes a processor electrically connected to the first sensor, and the processor is capable of adjusting a motion of the rotor assembly according to the motion state acquired by the first sensor.
  • pan/tilt further includes a connecting base, and the stator is connected to the connecting base, and the connecting base is used for connecting an application platform.
  • the processor is capable of calibrating the first sensor with position data of the mount relative to a reference.
  • the processor is capable of calibrating the first sensor with position data of the mount relative to the mount.
  • the pan/tilt further includes a second sensor, the second sensor is disposed on the connecting base and connected to the processor, and the second sensor is configured to sense an overall motion of the pan/tilt State, the processor is further operative to calibrate the first sensor using data sensed by the second sensor.
  • the processor is capable of sensing, by the first sensor, an attitude angle of the mounting member with respect to a first axis or/and a second axis, the first axis being a pitch axis of the pan/tilt head, The second axis is the roll axis of the pan/tilt.
  • the processor is capable of sensing an attitude angle of the mounting member with respect to a third axis using the second sensor, the third axis being a yaw axis of the pan/tilt head.
  • the processor is capable of sensing an attitude angle of the connector with respect to a third axis by using the second sensor, the third axis being a yaw axis of the pan/tilt.
  • the processor is capable of adjusting an orientation of the mounting member relative to the connecting seat by using an attitude angle of the mounting member and an attitude angle of the connecting seat.
  • the processor is capable of adjusting an attitude angle of the mounting member according to an attitude angle of the connector to align the mounting member with the connector.
  • the application platform is any one of the following: a remote control mobile device, Vehicles, ships, fixed base stations, handheld devices.
  • the external load is any one of the following: an image acquisition device, a communication device, and a sensor.
  • pan/tilt further includes an actuating member coupled between the stator and the connecting seat and capable of driving the stator to move relative to the connecting seat.
  • the actuating member is a rotary driving member, and the actuating member is capable of driving the stator to rotate about a first axis with respect to the connecting seat, and the first axis is a yaw axis of the pan/tilt head.
  • the actuating member is a rotating electrical machine.
  • the pan/tilt further includes a second sensor electrically connected to the actuating member and configured to sense a motion state of the actuating member.
  • the mounting member includes a mounting portion and a supporting portion disposed on the mounting portion, and the driving member is disposed on the supporting portion.
  • the support portion is plural, the stator is disposed between the plurality of support portions, and the mounting portion is configured to carry the external load, so that the external load and the overall center of gravity of the pan/tilt The center of the sphere is offset from the spherical surface.
  • the mounting portion is annular, and the annular mounting portion surrounds the outer periphery of the spherical surface of the stator.
  • the external load and the entire center of gravity of the pan/tilt are offset from the center of the spherical surface in a first direction, the first direction and The yaw axes of the gimbal are parallel or coincident.
  • the mounting member is further provided with a balance member, and the position of the balance member relative to the mounting member can be adjusted to balance the external load and the overall center of gravity of the platform.
  • the balance member is a plurality of, and the plurality of balance members are evenly distributed on the mounting member;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a first axis,
  • An axis is a yaw axis of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a second axis,
  • the two axes are the pitch axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a third axis,
  • the three axes are the roll axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the platform are coincident with the center of the spherical surface.
  • the driving member is a piezoelectric actuator for driving the mounting member to rotate relative to the stator such that the attitude angle of the mounting member satisfies a target attitude angle.
  • the pan/tilt further includes a processor coupled to the driving member and configured to calculate an input torque required when the driving member drives the mounting member to the target attitude angle, And the driving member can be controlled to drive the mounting member to rotate.
  • the pan/tilt further includes a proportional-integral-derivative controller (PID controller) connected to the processor, and the processor is capable of acquiring the input switch by using a feedback control loop by using the PID controller Moment.
  • PID controller proportional-integral-derivative controller
  • the PID controller is disposed on the mounting member.
  • the PID controller is capable of acquiring an input angular velocity required by the driving member according to a difference between the target attitude angle and an actual attitude angle of the mounting member detected by the first sensor.
  • the PID controller is capable of acquiring the driving component according to a difference between the input angular velocity and an actual angular velocity of the mounting member detected by the first sensor. The required input torque.
  • the driving member is a piezoelectric actuator capable of driving the mounting member to rotate relative to the stator about at least one axis.
  • the axis of rotation of the mounting member relative to the stator includes at least one of the following axes: a yaw axis of the pan/tilt head, a roll axis of the pan/tilt head, and a pitch axis of the pan/tilt head.
  • the driving member is a piezoelectric actuator.
  • the piezoelectric actuator is plural, and the plurality of piezoelectric actuators are spaced apart from each other on the mounting member, and the stator is disposed between the plurality of piezoelectric actuators.
  • a plurality of the piezoelectric actuators are arranged along a circumferential direction of an outer circle of the spherical surface of the stator.
  • a plurality of the piezoelectric actuators are evenly distributed on the circumference of the outer circle.
  • stator is rotatably coupled to a connecting seat, the stator is rotatable relative to the connecting seat about a first axis; a plurality of the piezoelectric actuators are arranged along a first circumference and are capable of driving
  • the mounting member rotates relative to the stator about a second axis and a third axis.
  • stator is coupled to a connecting seat by an actuating member, and the stator is rotatable about the first axis by the driving member, and the first axis is a partial of the gimbal Axle.
  • the second axis and the third axis are respectively a roll axis and a pitch axis of the pan/tilt head.
  • stator is fixedly connected to a connecting seat, and the plurality of piezoelectric actuators are arranged along a second circumference and can drive the mounting member around a first axis, a second axis and a third The axis rotates relative to the stator.
  • first axis, the second axis and the third axis are respectively a yaw axis, a roll axis and a pitch axis of the pan/tilt head.
  • pan/tilt head is an electric pan/tilt head, which is powered by an external power source.
  • a movable device includes a body and a pan/tilt disposed on the body.
  • the pan/tilt includes a driving mechanism, and the driving mechanism includes: a stator coupled to the body, the stator including a spherical surface a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed on the mounting member and abutting against the spherical surface of the stator; wherein the driving member is capable of driving the a mounting member is rotatable relative to the stator, and a first sensor is disposed on the rotor assembly and configured to detect a motion state of the rotor assembly, and the detection result of the first sensor can be used to adjust the rotation assembly motion.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the motion state of the rotor assembly includes at least one of the following: a rotation angle, a rotation speed, an angular velocity, and an angular acceleration.
  • the pan/tilt further includes a processor electrically connected to the first sensor, and the processor is capable of adjusting a motion of the rotor assembly according to the motion state acquired by the first sensor.
  • pan/tilt further includes a connecting base, and the stator is connected to the connecting base, and the connecting base is used for connecting an application platform.
  • the processor is capable of calibrating the first sensor with position data of the mount relative to a reference.
  • the processor is capable of calibrating the first sensor with position data of the mount relative to the mount.
  • the pan/tilt further includes a second sensor, the second sensor is disposed on the connecting base and connected to the processor, and the second sensor is configured to sense an overall motion of the pan/tilt State, the processor is further operative to calibrate the first sensor using data sensed by the second sensor.
  • the processor is capable of sensing the mounting member using the first sensor Regarding the first axis or/and the attitude angle with respect to the second axis, the first axis is a pitch axis of the pan/tilt head, and the second axis is a roll axis of the pan/tilt head.
  • the processor is capable of sensing an attitude angle of the mounting member with respect to a third axis using the second sensor, the third axis being a yaw axis of the pan/tilt head.
  • the processor is capable of sensing an attitude angle of the connector with respect to a third axis by using the second sensor, the third axis being a yaw axis of the pan/tilt.
  • the processor is capable of adjusting an orientation of the mounting member relative to the connecting seat by using an attitude angle of the mounting member and an attitude angle of the connecting seat.
  • the processor is capable of adjusting an attitude angle of the mounting member according to an attitude angle of the connector to align the mounting member with the connector.
  • the application platform is any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device.
  • the external load is any one of the following: an image acquisition device, a communication device, and a sensor.
  • pan/tilt further includes an actuating member coupled between the stator and the connecting seat and capable of driving the stator to move relative to the connecting seat.
  • the actuating member is a rotary driving member, and the actuating member is capable of driving the stator to rotate about a first axis with respect to the connecting seat, and the first axis is a yaw axis of the pan/tilt head.
  • the actuating member is a rotating electrical machine.
  • the pan/tilt further includes a second sensor electrically connected to the actuating member and configured to sense a motion state of the actuating member.
  • the mounting member includes a mounting portion and a supporting portion disposed on the mounting portion, and the driving member is disposed on the supporting portion.
  • the support portion is a plurality of, the stator is disposed between the plurality of the support portions, the mounting portion is configured to carry the external load, and the external load and the cloud are
  • the overall center of gravity of the stage is offset from the center of the spherical surface.
  • the mounting portion is annular, and the annular mounting portion surrounds the outer periphery of the spherical surface of the stator.
  • the external load and the entire center of gravity of the pan/tilt are offset from the center of the spherical surface in a first direction, the first direction and The yaw axes of the gimbal are parallel or coincident.
  • the mounting member is further provided with a balance member, and the position of the balance member relative to the mounting member can be adjusted to balance the external load and the overall center of gravity of the platform.
  • the balance member is a plurality of, and the plurality of balance members are evenly distributed on the mounting member;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a first axis,
  • An axis is a yaw axis of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a second axis,
  • the two axes are the pitch axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a third axis,
  • the three axes are the roll axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the platform are coincident with the center of the spherical surface.
  • the driving member is a piezoelectric actuator for driving the mounting member to rotate relative to the stator such that the attitude angle of the mounting member satisfies a target attitude angle.
  • the pan/tilt further includes a processor, and the processor is connected to the driver And used to calculate an input torque required when the driving member drives the mounting member to the target attitude angle, and can control the driving member to drive the mounting member to rotate.
  • the pan/tilt further includes a proportional-integral-derivative controller (PID controller) connected to the processor, and the processor is capable of acquiring the input switch by using a feedback control loop by using the PID controller Moment.
  • PID controller proportional-integral-derivative controller
  • the PID controller is disposed on the mounting member.
  • the PID controller is capable of acquiring an input angular velocity required by the driving member according to a difference between the target attitude angle and an actual attitude angle of the mounting member detected by the first sensor.
  • the PID controller is capable of acquiring the input torque required by the driving member according to a difference between the input angular velocity and an actual angular velocity of the mounting member detected by the first sensor.
  • the driving member is a piezoelectric actuator capable of driving the mounting member to rotate relative to the stator about at least one axis.
  • the axis of rotation of the mounting member relative to the stator includes at least one of the following axes: a yaw axis of the pan/tilt head, a roll axis of the pan/tilt head, and a pitch axis of the pan/tilt head.
  • the driving member is a piezoelectric actuator.
  • the piezoelectric actuator is plural, and the plurality of piezoelectric actuators are spaced apart from each other on the mounting member, and the stator is disposed between the plurality of piezoelectric actuators.
  • a plurality of the piezoelectric actuators are arranged along a circumferential direction of an outer circle of the spherical surface of the stator.
  • a plurality of the piezoelectric actuators are evenly distributed on the circumference of the outer circle.
  • stator is rotatably coupled to a connecting seat, the stator is rotatable relative to the connecting seat about a first axis; a plurality of the piezoelectric actuators are arranged along a first circumference and are capable of driving
  • the mounting member rotates relative to the stator about a second axis and a third axis.
  • stator is coupled to a connecting seat by an actuating member, and the stator is rotatable about the first axis by the driving member, and the first axis is a partial of the gimbal Axle.
  • the second axis and the third axis are respectively a roll axis and a pitch axis of the pan/tilt head.
  • stator is fixedly connected to a connecting seat, and the plurality of piezoelectric actuators are arranged along a second circumference and can drive the mounting member around a first axis, a second axis and a third The axis rotates relative to the stator.
  • first axis, the second axis and the third axis are respectively a yaw axis, a roll axis and a pitch axis of the pan/tilt head.
  • pan/tilt head is an electric pan/tilt head, which is powered by an external power source.
  • the pan/tilt head is a three-axis electric pan/tilt head.
  • a pan/tilt control method for controlling a pan/tilt head comprising a driving mechanism, the driving mechanism comprising: a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed at the mounting And a stator rotatably abutting the driving member, the stator including a spherical surface, the spherical surface being in contact with the driving member; and a first sensor disposed on the rotor assembly and used For detecting the motion state of the rotor assembly.
  • the control method of the pan/tilt includes: acquiring a motion state of the mounting member by using a first sensor; and controlling the driving member to drive the mounting member to rotate relative to the stator according to the motion state.
  • the first sensor is calibrated before acquiring the motion state of the mounting member.
  • the first sensor when the first sensor is calibrated, the first sensor is calibrated by using position data of the mounting member relative to a reference object.
  • the pan/tilt further includes a connecting base, the stator is connected to the connecting base, and the connecting base is used for connecting to an application platform, and when the first sensor is calibrated, the mounting member is used to be relatively Calibrating the first sensing with position data of the connector Device.
  • attitude angle of the mounting member is adjusted according to the attitude angle of the connecting seat to align the mounting member with the connecting seat.
  • the pan/tilt further includes a second sensor, the second sensor is configured to sense a motion state of the pan/tilt head; and when the first sensor is calibrated, the second sensor is used to sense Data to calibrate the first sensor.
  • an attitude angle of the mounting member satisfies a target attitude angle.
  • the input torque is obtained by a feedback control loop using a PID controller.
  • the PID controller is used to acquire an input angular velocity required by the driving member according to a difference between the target attitude angle and an actual attitude angle of the mounting member detected by the first sensor.
  • the input torque required by the driving member is obtained by the PID controller based on a difference between the input angular velocity and the actual angular velocity of the mounting member detected by the first sensor.
  • the pan/tilt further includes a connecting base, the stator is connected to the connecting base, the connecting seat is used for connecting an application platform; and before the moving state of the mounting member is obtained, the mounting member is adjusted relative to The orientation of the connector.
  • the first sensor is used to acquire the mounting member about a first axis And an attitude angle of a second axis, and adjusting an orientation of the mounting member relative to the connecting seat according to the posture angle.
  • the step of adjusting the orientation of the mounting member relative to the connecting base according to the attitude angle comprises: controlling movement of the mounting member to cause an attitude angle of the mounting member with respect to a first axis and a second axis The preset attitude angles are respectively satisfied.
  • the step of adjusting the orientation of the mounting member relative to the connector according to the posture angle further includes: the pan/tilt further includes a second sensor disposed on the connector, and acquiring the device by using the second sensor Depicting an attitude angle of the connector with respect to a third axis, and using the first sensor to acquire an attitude angle of the mounting member with respect to the third axis.
  • the step of adjusting the orientation of the mounting member relative to the connecting base according to the posture angle further comprises: according to an attitude angle of the connecting seat with respect to the third axis, and the mounting member about the third The difference between the attitude angles of the axes adjusts the attitude angle of the mounting member to align the mounting member with the connector.
  • a pan/tilt head includes a driving mechanism, the driving mechanism comprising: a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed on the mounting member; and a stator rotatably abutting
  • the driving member, the stator includes a spherical surface, and the spherical surface is in contact with the driving member.
  • the driving member is capable of driving the mounting member to rotate relative to the stator, and an external load on the mounting member and the mounting member can be in an equilibrium state with respect to a center of gravity of the stator.
  • the mounting member includes a mounting portion and a supporting portion disposed on the mounting portion, and the driving member is disposed on the supporting portion.
  • the support portion is plural, the stator is disposed between the plurality of support portions, and the mounting portion is configured to carry the external load, so that the external load and the overall center of gravity of the pan/tilt The center of the sphere is offset from the spherical surface.
  • the mounting portion is annular, and the annular mounting portion surrounds the outer periphery of the spherical surface of the stator.
  • the external load and the entire center of gravity of the pan/tilt are offset from the center of the spherical surface in a first direction, the first direction and The yaw axes of the gimbal are parallel or coincident.
  • the mounting member is further provided with a balance member, and the position of the balance member relative to the mounting member can be adjusted to balance the center of gravity of the external load.
  • the balance member is a plurality of, and the plurality of balance members are evenly distributed on the mounting member;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a first axis,
  • An axis is a yaw axis of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a second axis,
  • the two axes are the pitch axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a third axis,
  • the three axes are the roll axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the platform are coincident with the center of the spherical surface.
  • a first sensor is disposed on the mounting member, and the first sensor is configured to detect a motion state of the rotor assembly.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the motion state of the rotor assembly includes at least one of the following: a rotation angle, a rotation speed, an angular velocity, and an angular acceleration.
  • the pan/tilt further includes a processor, the processor is connected to the first sensor, and the processor is capable of adjusting according to the motion state acquired by the first sensor The movement of the rotor assembly.
  • pan/tilt further includes a connecting base, and the stator is connected to the connecting base, and the connecting base is used for connecting an application platform.
  • the application platform is any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device.
  • the external load is any one of the following: an image acquisition device, a communication device, and a sensor.
  • pan/tilt further includes an actuating member coupled between the stator and the connecting seat and capable of driving the stator to move relative to the connecting seat.
  • the actuating member is a rotary driving member, and the actuating member is capable of driving the stator to rotate about a first axis with respect to the connecting seat, and the first axis is a yaw axis of the pan/tilt head.
  • the actuating member is a rotating electrical machine.
  • the pan/tilt further includes a second sensor electrically connected to the actuating member and configured to sense a motion state of the actuating member.
  • the driving member is a piezoelectric actuator capable of driving the mounting member to rotate relative to the stator about at least one axis.
  • the axis of rotation of the mounting member relative to the stator includes at least one of the following axes: a yaw axis of the pan/tilt head, a roll axis of the pan/tilt head, and a pitch axis of the pan/tilt head.
  • the driving member is a piezoelectric actuator.
  • the piezoelectric actuator is plural, and the plurality of piezoelectric actuators are spaced apart from each other on the mounting member, and the stator is disposed between the plurality of piezoelectric actuators.
  • a plurality of the piezoelectric actuators are arranged along a circumferential direction of an outer circle of the spherical surface of the stator.
  • a plurality of the piezoelectric actuators are evenly distributed on the circumference of the outer circle.
  • stator is rotatably coupled to a connecting seat, and the stator is capable of winding A first axis rotates relative to the connector; a plurality of the piezoelectric actuators are arranged along a first circumference and are capable of driving the mounting member to rotate relative to the stator about a second axis and a third axis.
  • stator is coupled to a connecting seat by an actuating member, and the stator is rotatable about the first axis by the driving member, and the first axis is a partial of the gimbal Axle.
  • the second axis and the third axis are respectively a roll axis and a pitch axis of the pan/tilt head.
  • stator is fixedly connected to a connecting seat, and the plurality of piezoelectric actuators are arranged along a second circumference and can drive the mounting member around a first axis, a second axis and a third The axis rotates relative to the stator.
  • first axis, the second axis and the third axis are respectively a yaw axis, a roll axis and a pitch axis of the pan/tilt head.
  • pan/tilt head is an electric pan/tilt head, which is powered by an external power source.
  • pan/tilt head is a three-axis electric pan/tilt head.
  • a mobile device includes a body and a head mounted on the body.
  • the pan/tilt includes a driving mechanism including: a stator coupled to the fuselage, the stator including a spherical surface; a rotor assembly including: a mounting member for carrying an external load; and a driving member disposed on the The mounting member is in opposition to the spherical surface of the stator.
  • the driving member is capable of driving the mounting member to rotate relative to the stator, and an external load on the mounting member and the mounting member can be in an equilibrium state with respect to a center of gravity of the stator.
  • the mounting member includes a mounting portion and a supporting portion disposed on the mounting portion, and the driving member is disposed on the supporting portion.
  • the support portion is a plurality of, the stator is disposed between the plurality of the support portions, the mounting portion is configured to carry the external load, and the external load and the cloud are
  • the overall center of gravity of the stage is offset from the center of the spherical surface.
  • the mounting portion is annular, and the annular mounting portion surrounds the outer periphery of the spherical surface of the stator.
  • the external load and the entire center of gravity of the pan/tilt are offset from the center of the spherical surface in a first direction, the first direction and The yaw axes of the gimbal are parallel or coincident.
  • the mounting member is further provided with a balance member, and the position of the balance member relative to the mounting member can be adjusted to balance the center of gravity of the external load.
  • the balance member is a plurality of, and the plurality of balance members are evenly distributed on the mounting member;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a first axis,
  • An axis is a yaw axis of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a second axis,
  • the two axes are the pitch axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the pan/tilt are offset from the center of the spherical surface along a third axis,
  • the three axes are the roll axes of the pan/tilt;
  • the position of the balance member relative to the mounting member can be adjusted such that the external load and the center of gravity of the platform are coincident with the center of the spherical surface.
  • a first sensor is disposed on the mounting member, and the first sensor is configured to detect a motion state of the rotor assembly.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the motion state of the rotor assembly includes at least one of the following Species: rotation angle, rotation speed, angular velocity, angular acceleration.
  • the pan/tilt further includes a processor coupled to the first sensor, and the processor is capable of adjusting a motion of the rotor assembly according to the motion state acquired by the first sensor.
  • pan/tilt further includes a connecting base, and the stator is connected to the connecting base, and the connecting base is used for connecting an application platform.
  • the application platform is any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device.
  • the external load is any one of the following: an image acquisition device, a communication device, and a sensor.
  • pan/tilt further includes an actuating member coupled between the stator and the connecting seat and capable of driving the stator to move relative to the connecting seat.
  • the actuating member is a rotary driving member, and the actuating member is capable of driving the stator to rotate about a first axis with respect to the connecting seat, and the first axis is a yaw axis of the pan/tilt head.
  • the actuating member is a rotating electrical machine.
  • the pan/tilt further includes a second sensor electrically connected to the actuating member and configured to sense a motion state of the actuating member.
  • the driving member is a piezoelectric actuator capable of driving the mounting member to rotate relative to the stator about at least one axis.
  • the axis of rotation of the mounting member relative to the stator includes at least one of the following axes: a yaw axis of the pan/tilt head, a roll axis of the pan/tilt head, and a pitch axis of the pan/tilt head.
  • the driving member is a piezoelectric actuator.
  • the piezoelectric actuator is plural, and the plurality of piezoelectric actuators are spaced apart from each other on the mounting member, and the stator is disposed between the plurality of piezoelectric actuators.
  • a plurality of the piezoelectric actuators are along one of the spherical surfaces of the stator The circumferential arrangement of the outer circles.
  • a plurality of the piezoelectric actuators are evenly distributed on the circumference of the outer circle.
  • stator is rotatably coupled to a connecting seat, the stator is rotatable relative to the connecting seat about a first axis; a plurality of the piezoelectric actuators are arranged along a first circumference and are capable of driving
  • the mounting member rotates relative to the stator about a second axis and a third axis.
  • stator is coupled to a connecting seat by an actuating member, and the stator is rotatable about the first axis by the driving member, and the first axis is a partial of the gimbal Axle.
  • the second axis and the third axis are respectively a roll axis and a pitch axis of the pan/tilt head.
  • stator is fixedly connected to a connecting seat, and the plurality of piezoelectric actuators are arranged along a second circumference and can drive the mounting member around a first axis, a second axis and a third The axis rotates relative to the stator.
  • first axis, the second axis and the third axis are respectively a yaw axis, a roll axis and a pitch axis of the pan/tilt head.
  • pan/tilt head is an electric pan/tilt head, which is powered by an external power source.
  • the pan/tilt head is a three-axis electric pan/tilt head.
  • the driving mechanism includes: a rotor assembly including: a mounting member for carrying an external load; and a driving member disposed on the mounting member; and a stator rotatably abutting the driving member, the stator A spherical surface is included that is in contact with the drive member.
  • the operating method includes: disposing an external load on the mounting member to balance the external load with respect to a center of gravity of the stator; and controlling the driving member to drive the mounting member to rotate relative to the stator, To drive the external load to move.
  • the operating method further includes: connecting the stator to an application platform on.
  • stator is connected to the application platform through a connecting base.
  • stator when the stator is connected to the connecting base, the stator is fixedly disposed with respect to the connecting seat.
  • the mounting member when the driving member is driven to drive the mounting member to rotate relative to the stator, the mounting member is rotatable relative to the stator about a first axis, a second axis, and a third axis.
  • first axis, the second axis and the third axis are respectively a yaw axis, a roll axis and a pitch axis of the pan/tilt head.
  • stator when the stator is coupled to the connecting base, the stator is rotatable relative to the connecting seat about a first axis, and the first axis is a yaw axis of the pan/tilt.
  • the application platform is any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device.
  • the operating method further includes: detecting, by the first sensor, a motion state of the rotor assembly to control the rotation of the mounting member according to the motion state.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the motion state of the rotor assembly includes at least one of the following: a rotation angle, a rotation speed, an angular velocity, and an angular acceleration.
  • the operating method further includes: controlling rotation of the mounting member by using a processor, the processor is electrically connected to the first sensor, and the processor is capable of being according to the motion state acquired by the first sensor Adjusting the motion of the rotor assembly.
  • the driving mechanism formed by the rotor assembly and the stator is substantially a spherical driver, and the pan/tilt head drives the movement of each axis of the pan/tilt head through a spherical driver, so that the structure of the pan/tilt head is more than that of the conventional pan/tilt head.
  • Compact and relatively small in size which is beneficial to the gimbal Miniaturized design.
  • FIG. 1 is a schematic diagram of a mobile device in an embodiment of the present invention.
  • FIG. 2 is a schematic view of an unmanned aerial vehicle in accordance with an embodiment of the present invention.
  • FIG. 3 is a perspective view of the pan/tilt of the mobile device shown in FIG. 1.
  • FIG. 4 is a schematic view of the driving mechanism of the pan/tilt head shown in FIG.
  • FIG. 5 is a schematic diagram of a feedback control loop of the cloud platform shown in FIG. 3.
  • FIG. 6 is a schematic diagram of a control flow of initialization calibration of the pan/tilt head shown in FIG.
  • FIG. 7 is a schematic flowchart diagram of a method for operating a pan/tilt in an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart diagram of a method for controlling a pan/tilt in an embodiment of the present invention.
  • Mobile device 300 body 310 Unmanned aerial vehicle 500 frame 510 Rotor assembly 530 Motor 531 propeller 533 Yuntai 100 Connection component 20 Connecting seat twenty one Actuator twenty three Connecting rod 25
  • a component when a component is called “fixed to” another component, it can be directly There may also be a centered component on another component.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • An embodiment of the present invention provides a pan/tilt head including a driving mechanism, the driving mechanism comprising: a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed on the mounting member; the stator is rotatable Abutting against the driving member, the stator includes a spherical surface, the spherical surface is in contact with the driving member; wherein the driving member is capable of driving the mounting member to rotate relative to the stator; and first A sensor is disposed on the rotor assembly and configured to detect a motion state of the rotor assembly.
  • An embodiment of the present invention further provides a mobile device including a body and a cloud platform disposed on the body.
  • the cloud platform includes a driving mechanism, and the driving mechanism includes: a stator connected to the body, The stator includes a spherical surface; the rotor assembly includes: a mounting member for carrying an external load; and a driving member disposed on the mounting member and abutting against the spherical surface of the stator; wherein A driving member is capable of driving the mounting member to rotate relative to the stator, and a first sensor is disposed on the rotor assembly and configured to detect a motion state of the rotor assembly.
  • An embodiment of the present invention further provides a pan/tilt control method for controlling a pan/tilt
  • the pan/tilt head includes a driving mechanism
  • the driving mechanism includes: a rotor assembly, including: a mounting member for carrying an external load; and a driving component Provided on the mounting member; and the stator, Rotatablely abutting the driving member, the stator includes a spherical surface, the spherical surface is in contact with the driving member; and a first sensor disposed on the rotor assembly and configured to detect the rotor assembly The state of motion.
  • the control method of the pan/tilt includes: acquiring a motion state of the mounting member by using a first sensor; and controlling the driving member to drive the mounting member to rotate relative to the stator according to the motion state.
  • An embodiment of the present invention further provides a pan/tilt head including a driving mechanism, the driving mechanism comprising: a rotor assembly, comprising: a mounting member for carrying an external load; and a driving member disposed on the mounting member; and a stator, Rotatablely abutting the drive member, the stator includes a spherical surface that is in contact with the drive member.
  • the driving member is capable of driving the mounting member to rotate relative to the stator, and an external load on the mounting member and the mounting member can be in an equilibrium state with respect to a center of gravity of the stator.
  • Embodiments of the present invention also provide a mobile device including a body and a pan/tilt disposed on the body.
  • the pan/tilt includes a driving mechanism including: a stator coupled to the fuselage, the stator including a spherical surface; a rotor assembly including: a mounting member for carrying an external load; and a driving member disposed on the The mounting member is in opposition to the spherical surface of the stator.
  • the driving member is capable of driving the mounting member to rotate relative to the stator, and an external load on the mounting member and the mounting member can be in an equilibrium state with respect to a center of gravity of the stator.
  • the embodiment of the invention further provides a method for operating a pan/tilt, the pan/tilt head comprising a driving mechanism.
  • the driving mechanism includes: a rotor assembly including: a mounting member for carrying an external load; and a driving member disposed on the mounting member; and a stator rotatably abutting the driving member, the stator A spherical surface is included that is in contact with the drive member.
  • the operating method includes: disposing an external load on the mounting member to balance the external load with respect to a center of gravity of the stator; and controlling the driving member to drive the mounting member to rotate relative to the stator, To drive the external load to move.
  • an embodiment of the present invention provides a mobile device 300 .
  • the mobile device 300 includes a body 310 and a platform 100 connected to the body 310 .
  • the pan/tilt head 100 is used to mount an external load, such as an image acquisition device or the like, to allow the movable device 300 to perform an image capturing operation.
  • the external load may be, but not limited to, any one of the following: an image acquisition device, a communication device, and a sensor.
  • the mobile device 300 can be, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat. In the present embodiment, the mobile device 300 is described by taking the unmanned aerial vehicle 500 (see FIG. 2) as an example.
  • the UAV 500 includes a frame 510 and a power system disposed on the frame 510.
  • the UAV 500 is a rotorcraft and the powertrain is a rotor assembly 530.
  • the UAV 500 is a quadrotor, ie, an aircraft having four rotor assemblies 530.
  • the rotor assembly 530 includes a motor 531 and a propeller 533 coupled to the motor 531.
  • the motor 531 is capable of driving the propeller 533 to rotate to provide the unmanned aerial vehicle 500 with the power to fly.
  • the UAV 500 can also be a six-rotor aircraft, an eight-rotor aircraft, a twelve-rotor aircraft, etc., and even the UAV 500 can be a single-rotor aircraft; in addition, in other embodiments, the UAV 500 The UAV 500 can be a fixed wing aircraft, or a fixed wing-rotor hybrid aircraft.
  • the UAV 500 further includes a main controller, an Inertial Measurement Unit (IMU), and an electronic governor.
  • IMU Inertial Measurement Unit
  • the main controller and the inertial measurement unit are integrated.
  • the main controller may be a flight controller for controlling flight operations of the UAV 500 as a whole, including flight speed, flight attitude, etc., and also for controlling the photographing device 200 to perform a photographing operation.
  • the inertial measurement unit is electrically connected to the main controller for detecting the attitude of the UAV 500.
  • the electronic governor setting The rack 510 is electrically connected to the main controller and the inertial measurement unit.
  • the electronic governor can adjust the rotational speed of the motor 531 under the control of the main controller.
  • the electronic governor may be multiple, and the plurality of electronic governors are respectively connected to the motor 531 of the rotor assembly 530, and used to adjust the rotational speed of the motor 531 to adjust the The flight speed and flight attitude of the UAV 500 are described.
  • the pan/tilt head 100 is an electric pan/tilt head. Specifically, the pan/tilt head 100 is a three-axis electric pan/tilt head.
  • the platform 100 includes a connection assembly 20 and a drive mechanism 40. The platform 100 is coupled to the body 310 of the movable device 300 through the connection assembly 20, and the drive mechanism 40 is disposed on the connection assembly 20 Up and used to install an external load.
  • the connecting component 20 is detachably mounted on the body 310 for mounting the driving mechanism 40 and for driving the driving mechanism 40 to rotate relative to the body 310 about the first axis Y.
  • the first axis Y is a heading axis of the movable device 300 and is a yaw axis of the pan/tilt head 100.
  • the connection assembly 20 includes a connector seat 21, an actuating member 23, and a connecting rod 25.
  • the connector seat 21 is coupled to the body 310. It can be understood that in some other embodiments, when the pan/tilt 100 is applied to other devices/application platforms, for example, when the pan/tilt 100 is applied to a handheld device or an unmanned vehicle, the connection is The seat 21 can be used to connect a corresponding device/application platform such as the handheld device or the unmanned vehicle.
  • the application platform may be, but is not limited to, any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device.
  • the actuating member 23 is disposed on the connecting seat 21 and connected between the connecting seat 21 and the mechanism of the driving mechanism 40.
  • the actuating member 23 is a rotary driving member, and the actuating member 23 is capable of driving the driving mechanism 40 to rotate relative to the connecting seat 21 about the first axis Y. Specifically, the actuating member 23 is rotated Motor.
  • the connecting rod 25 is disposed on the actuating member 23 and is used to connect the driving mechanism 40. It can be understood that in other embodiments, the connecting rod 25 can be omitted, and the driving mechanism 40 is directly disposed at the driving end of the actuating member 23. Even in some embodiments, the connecting seat 21 may be omitted, and the driving mechanism 40 is directly connected to the body 310 or the application platform through the actuating member 23, and the driving is performed. The mechanism 40 is rotatable relative to the body 310 or the application platform driven by the actuator 23. It will also be appreciated that in some embodiments, the actuating member 23 can be omitted and the drive mechanism 40 can be directly coupled to the body 310 or the application platform.
  • the driving mechanism 40 is disposed at one end of the connecting rod 25 away from the actuating member 23.
  • the drive mechanism 40 includes a stator 41 coupled to the connecting rod 25 and a rotor assembly 43 rotatably coupled to the stator 41.
  • the drive mechanism 40 is a spherical drive
  • the stator 41 is a spherical stator including a spherical surface 411 that is coupled to the connecting rod 25. It can be understood that the stator 41 may be hemispherical, may be a whole sphere, or may be partially spherical, and is not limited to the embodiment of the present invention.
  • the rotor assembly 43 is disposed adjacent to the stator 41 and substantially surrounds the periphery of the stator 41.
  • the rotor assembly 43 includes a mounting member 431 and a driving member 433 disposed on the mounting member 431.
  • the mounting member 431 includes a mounting portion 4311 and a supporting portion 4313.
  • the mounting portion 4311 is configured to mount the external load
  • the supporting portion 4313 is disposed on the mounting portion 4311 and is configured to support the driving member 433.
  • the mounting portion 4311 is substantially annular, and the annular mounting portion 4311 is disposed around the outer circumference of the spherical surface 411 of the stator 41. Can reason In other embodiments, the shape of the mounting portion 4311 is not limited to a ring shape, and may be other suitable structures, such as a plate shape, a block shape, a strip shape, and the like.
  • the plurality of support portions 4313 are plural, and the plurality of support portions 4313 are spaced apart from each other on the mounting portion 4311, and the stator 41 is disposed between the plurality of the support portions 4313.
  • the support portion 4313 is disposed on a side of the mounting portion 4311 facing the connecting rod 25, and the plurality of the supporting portions 4313 are evenly spaced on the annular mounting portion 4311. And surrounding the spherical surface 411 of the stator 41.
  • the driving member 433 is plural, and each of the driving members 433 is disposed on one of the supporting portions 431. Specifically, the driving member 433 and the supporting member 431 are all three. Each of the driving members 433 is disposed on a side of the corresponding supporting portion 431 facing the stator 41 and is abutted against the spherical surface 411. The driving member 433 is capable of driving the mounting member 431 to rotate relative to the stator 41.
  • the driving member 433 is a piezoelectric actuator capable of driving the mounting member 431 to rotate about at least one axis with respect to the stator 41.
  • the axis of rotation of the mounting member 431 with respect to the stator 41 includes at least one of the following axes: a yaw axis of the pan/tilt head 100, a roll axis of the pan/tilt head 100, and a pitch axis of the pan/tilt head 100.
  • the support portion 4313 can be omitted, and a plurality of the driving members 433 are directly disposed on the mounting portion 4311, and a plurality of the driving members 433 are circumferentially disposed in the The spherical surface 411 of the stator 41 is outside, and the driving member 433 is in contact with the spherical surface 411.
  • a plurality of the driving members 433 are disposed around the spherical surface 411 of the stator 41, a plurality of the driving members 433 are along the circumference of an outer circle of the spherical surface 411.
  • a plurality of the driving members 433 are evenly distributed on the circumference of the outer circle, and the outer circle is deviated from the large circle of the spherical surface 411, that is, the plane in which the outer circle is located. Not passing the spherical surface 411's center of the ball O.
  • the outer circle may be a large circle of the spherical surface 411, i.e., the plane in which the outer circle lies may pass through the center O of the spherical surface 411.
  • the stator 41 when the stator 41 is rotatably coupled to the connecting seat 21, the stator 41 is rotatable relative to the connecting seat 21 about the first axis Y.
  • the driving members 433 are arranged along a first circumference, and can drive the mounting member 431 to rotate relative to the stator 41 about a second axis P and a third axis R, the second axis P and the third
  • the axis R is the pitch axis and the roll axis of the pan/tilt head 100, respectively.
  • stator 41 when the stator 41 is fixedly connected to the connecting seat 21, a plurality of the driving members 433 are arranged along a second circumference, and the mounting member 431 can be driven.
  • the stator 41 is rotated about the first axis Y, the second axis P, and the third axis R.
  • the second circumference is different from the first circumference.
  • the rotor assembly 43 further includes a balance member 435, the balance member 435 is adjustably disposed on the mounting member 431 to balance the center of gravity of the external load, that is, to make the external load and the
  • the overall center of gravity G of the platform 100 is in equilibrium with respect to the center of the sphere O of the spherical surface 411 to make the movement of the axes of the platform 100 more flexible. In the equilibrium state, it should be understood that the external load and the overall center of gravity G of the platform 100 can fall on at least one axis of the platform 100, such as the external load and the platform 100.
  • the overall center of gravity G falls on the yaw axis/pitch axis/roller axis of the pan/tilt head 100, so that when the mounting member 431 is driven to rotate around the yaw axis/pitch axis/roller axis of the pan/tilt head 100
  • the required torque is relatively small, and the rotational movement of the mounting member 431 is easier to control, which facilitates the balance of the pan/tilt head 100 as a whole and facilitates precise control of the movement of the pan/tilt head 100.
  • the balance member 435 is plural, and the plurality of balance members 435 They are spaced apart from each other on the mounting portion 4311. Preferably, a plurality of the balance members 435 are evenly spaced on the mounting portion 4311.
  • the balance member 435 causes the external load and the overall center of gravity G of the platform 100
  • the center of the sphere O with respect to the spherical surface 411 is balanced.
  • the external load when the external load is provided on the mounting portion 4311, the external load and the entire center of gravity G of the platform 100 can be caused to fall by adjusting the mounting position of the balancer 435.
  • the first axis Y is on.
  • the external load and the overall center of gravity G of the platform 100 are offset from the center O of the spherical surface 411 along the first axis Y. .
  • the external load and the overall center of gravity G of the platform 100 may fall on the second axis P or/and the above by adjusting the mounting position of the balance member 435. Further, the external load and the overall center of gravity G of the platform 100 may be offset from the center O of the spherical surface 411 along the second axis P or the third axis R . It can also be understood that when the external load is disposed on the mounting portion 4311, the external load and the overall center of gravity G of the platform 100 can be made by adjusting the mounting position of the balance member 435.
  • the spherical center O of the spherical surface 411 is coincident such that the external load and the overall center of gravity G of the platform 100 are in equilibrium with respect to the stator 41, so that the rotational movement of the platform 100 on each axis is more Easy to control and more flexible.
  • the mounting position of the balance member 435 can be adjusted. And causing the external load and the entire center of gravity of the platform 100 to be offset from the center of the spherical surface 411 in a first direction, the first direction being substantially parallel or coincident with the first axis Y, That is, the first direction is substantially parallel or coincident with the yaw axis of the platform 100.
  • the pan-tilt head 100 further includes a processor 80 (please refer to FIG. 1), the processor 80
  • the motion of the pan/tilt head 100 can be further controlled and adjusted according to the real-time motion state of the pan-tilt head 100 on each axis and the real-time position and posture, so that the motion state and the position and posture of each axis of the pan-tilt head 100 respectively satisfy the target. Movement state and target position posture.
  • the processor 80 is wired or wirelessly connected to the driving member 433, and controls the movement of the driving member 433 to achieve the purpose of adjusting the movement of the platform 100.
  • the processor 80 drives the mounting member 431 to rotate relative to the stator 41 by controlling the driving member 433 such that the attitude angle of the mounting member 431 satisfies a target attitude angle.
  • the processor 80 calculates an input torque required when the driving member 431 drives the mounting member 431 to the target attitude angle, and can control the driving member according to the input torque.
  • 433 drives the mounting member 431 to rotate such that the attitude angle of the mounting member 431 satisfies the target attitude angle.
  • the pan/tilt head 100 further includes a proportional-integral-derivative controller (PID controller, see FIG. 1) 85, the PID controller 85 is disposed on the mounting member 431, and the processor The 80 is electrically coupled, and the processor 80 is capable of acquiring the input torque through the feedback control loop using the PID controller 85.
  • PID controller proportional-integral-derivative controller
  • the control of the movement of the pan-tilt head 100 by the processor 80 is more accurate, and the pan-tilt head 100 further includes a first sensor 62 ( Referring to FIG. 1) and a second sensor 64 (see FIG. 1), the first sensor 62 and the second sensor 64 are respectively wired or wirelessly connected to the processor 80.
  • the first sensor 62 is disposed on the mounting member 431 and is used to detect the motion state of the rotor assembly 43 while detecting the position and posture of the rotor assembly 43. Specifically, in the illustrated embodiment, the first sensor 62 is used by The processor 80 is configured to adjust the motion state and the position and posture of the rotor assembly 43 according to the motion state and the position posture acquired by the first sensor 62 in detecting the motion state and the position posture of the mounting member 431.
  • the motion state includes, but is not limited to, a rotation angle and a rotation speed.
  • FIG. 5 shows that the processor 80 uses the first sensor 62 to drive the driving member 433 and the device through the PID controller 85.
  • the first sensor 62 is wired or wirelessly connected to the PID controller 85, and the PID controller 85 is capable of detecting an actual attitude angle of the mounting member 431 according to the target attitude angle and the first sensor 62.
  • the difference between the two is used to obtain the input angular velocity required by the driving member 433, and further to obtain the difference according to the difference between the input angular velocity and the actual angular velocity of the mounting member 431 detected by the first sensor 62.
  • the first sensor 62 may be at least one of the following: a gyroscope, an accelerometer.
  • the first sensor 62 does not include an optical sensor or a magnetic field sensor.
  • the motion state of the rotor assembly 43 / the mounting member 431 includes at least one of the following: a rotation angle, a rotation speed, an angular velocity, and an angular acceleration. It can be understood that in other embodiments, the first sensor 62 may be disposed at other suitable locations of the rotor assembly 43 to meet actual needs, for example, disposed on the balance member 435, and disposed in the The driving member 433 and the like are used to sense the motion state of the rotor assembly 43 by the first sensor 60.
  • the processor 80 can utilize the mounting member 431 The attitude angle and the attitude angle of the connecting seat 21 adjust the orientation of the mounting member 431 with respect to the connecting base 21 to achieve the purpose of initializing and calibrating the platform 100.
  • the processor 80 can adjust the attitude angle of the mounting member 431 according to the attitude angle of the connecting seat 21 with respect to the second axis P and the third axis R, so that the mounting member 431 The connector 21 is aligned.
  • FIG. 6 shows a control flow diagram of the initialization and calibration of the pan/tilt head 100.
  • the control flow of the PTZ 100 initial calibration includes the following steps:
  • Step S101 Acquire an attitude angle of the mounting member 431 with respect to the second axis P and the third axis R.
  • the processor 80 uses the first sensor 62 to acquire an attitude angle of the mounting member 431 with respect to the second axis P and the third axis R.
  • Step S103 The movement of the mounting member 431 is controlled such that the attitude angles of the mounting member 431 with respect to the second axis P and the third axis R respectively satisfy a preset attitude angle.
  • the processor 80 performs closed-loop control on the driving member 433 and the mounting member 431 through the PID controller and the first sensor 62, so that the driving member 433 drives the mounting member 431.
  • the movement is such that the attitude angles of the mounting member 431 with respect to the second axis P and the third axis R respectively satisfy a preset attitude angle.
  • the preset posture angle is 0 degrees
  • the mounting member 431 is about the second axis P and the third axis R.
  • the attitude angle is 0 degrees.
  • Step S105 Acquire an attitude angle of the mounting member 431 with respect to the first axis Y.
  • the processor 80 uses the first sensor 62 to acquire an attitude angle of the mounting member 431 with respect to the first axis Y.
  • Step S107 Acquire an attitude angle of the connecting seat 21 with respect to the first axis Y.
  • the processor 80 acquires the connector by using the second sensor 64. 21 with respect to the attitude angle of the first axis Y.
  • Step S109 Calculating a difference between an attitude angle of the connecting seat 21 with respect to the first axis Y and an attitude angle of the mounting member 431 with respect to the first axis Y.
  • the processor 80 calculates the difference.
  • Step S111 Control the movement of the mounting member 431 such that the mounting member 431 satisfies the preset attitude angle with respect to the first axis Y attitude angle, thereby aligning the mounting member 431 with the connecting seat 21.
  • the processor 80 performs closed-loop control on the driving member 433 and the mounting member 431 through the PID controller and the first sensor 62, so that the driving member 433 drives the mounting member 431. Movement such that the mounting member 431 satisfies the preset attitude angle with respect to the first axis Y attitude angle.
  • the preset attitude angle is substantially equal to the attitude angle of the connecting seat 21 with respect to the first axis Y.
  • the mounting member 431 After the processor 80 controls the movement of the mounting member 431, the mounting member 431 The difference between the attitude angle of the first axis Y and the attitude angle of the connecting seat 21 with respect to the first axis Y is 0, thereby aligning the mounting member 431 with the connecting seat 21.
  • the processor 80 In order to enable the first sensor 62 to more accurately sense the motion state data and the position and posture data of the platform 100, it is necessary for the processor 80 to control the movement of the platform 100 at the beginning of the The first sensor 62 performs an initial calibration.
  • the control flow of the initialization calibration of the first sensor 62 is substantially the same as the control flow of the initialization calibration of the pan/tilt head 100.
  • the processor 80 can calibrate the first sensor 62 with the position data of the mounting member 431 relative to a reference object to cause the first sensor 62 to sense The data is more accurate.
  • the reference object may be a fixed object such as a floor, a building, etc.; the reference object may also be an animal piece, such as a device on the movable device 300 or the like.
  • the reference object is the connector 21, and the processor 80 can calibrate the first sensor 62 by using position data of the mounting member 431 with respect to the connector 21.
  • the processor 80 is capable of sensing with the first sensor 62
  • the mounting member 431 is calibrated with respect to the second axis P or/and an attitude angle with respect to the third axis R and calibrates the first sensor 62 according to data sensed by the first sensor 62.
  • the second sensor 64 is disposed on the connecting component 20 and electrically connected to the actuating member 23.
  • the second sensor 64 is for sensing the motion state of the actuator 23 to allow the processor 80 to adjust the motion of the actuator 23 according to the motion state of the actuator 23.
  • the second sensor 64 is at least one of the following: a gyroscope, an accelerometer.
  • the second sensor 4 does not comprise an optical sensor or a magnetic field sensor.
  • the motion state of the actuating member 23 includes at least one of the following: a rotational angle, a rotational speed, an angular velocity, and an angular acceleration.
  • the processor 80 is also capable of calibrating the first sensor 62 with data sensed by the second sensor 64.
  • the second sensor 64 is disposed on the connecting base 21 and is configured to sense the motion state of the connecting seat 21 or/and the actuating member 23 to obtain the The overall movement state of the Yuntai 100.
  • the processor 80 can sense the attitude angle of the connecting seat 21 or/and the mounting member 431 with respect to the first axis Y by using the second sensor 64 to allow the processor 80 to be used.
  • the first sensor 62 is calibrated based on data sensed by the second sensor 64.
  • an embodiment of the present invention further provides a method for operating a cloud platform, and the operation method of the cloud platform is applied to the cloud platform described above.
  • the pan/tilt includes a driving mechanism and a first sensor, the driving mechanism includes a rotor assembly and a stator, the rotor assembly includes a mounting member and a driving member; the mounting member is configured to carry an external load, and the driving member is disposed at the In the mounting member, the stator is rotatably abutted against the driving member, the stator includes a spherical surface, the spherical surface is in contact with the driving member; and the first sensor is disposed on the rotor assembly And used to detect the motion state of the rotor assembly.
  • the operation method of the pan/tilt includes the following steps:
  • Step S201 connecting the stator to an application platform.
  • the stator is connected to the application platform through a connecting seat, so that the stator is fixedly disposed with respect to the connecting base.
  • the application platform is any one of the following: a remote control mobile device, a vehicle, a ship, a fixed base station, and a handheld device. It can be understood that, in other embodiments, when the stator is coupled to the connecting base, the stator can be rotated relative to the connecting seat about a first axis Y, where the first axis Y is Describe the yaw axis of the gimbal.
  • Step S203 placing an external load on the mounting member to balance the external load with respect to the center of gravity of the stator.
  • the rotor assembly further includes a balance member that is adjustably disposed on the mounting member; the external load and the pan/tilt are adjusted by adjusting a mounting position of the balance member
  • the overall center of gravity is offset from the center of the spherical surface in the direction of the first axis Y such that the external load is in equilibrium with respect to the center of gravity of the stator. It can be understood that, in some embodiments, the external load and the overall center of gravity of the platform can be coincident with the center of the spherical surface by adjusting the mounting position of the balance.
  • Step S205 detecting a motion state of the rotor assembly by using the first sensor.
  • the first sensor is at least one of the following: a gyroscope, an accelerometer.
  • the first sensor does not include an optical sensor or a magnetic field sensor.
  • the motion state of the rotor assembly includes at least one of the following: a rotation angle, a rotation speed, an angular velocity, and an angular acceleration.
  • Step S207 Control the driving member to drive the mounting member to rotate relative to the stator according to the motion state to drive the external load to move.
  • the pan/tilt further includes a processor, the processor is electrically connected to the first sensor; and the driving component is controlled by the processor according to the motion state acquired by the first sensor, so that the The driving member drives the mounting member to rotate relative to the stator.
  • the mounting member is rotatable relative to the stator about a first axis Y, a second axis P, and a third axis R.
  • the first axis Y, the second axis P, and the third axis R are respectively the gimbal Yaw axis, roll axis and pitch axis.
  • an embodiment of the present invention further provides a method for controlling a cloud platform, and the method for controlling the cloud platform is applied to the cloud platform described above.
  • the pan/tilt includes a driving mechanism and a first sensor, the driving mechanism includes a rotor assembly and a stator, the rotor assembly includes a mounting member and a driving member; the mounting member is configured to carry an external load, and the driving member is disposed at the In the mounting member, the stator is rotatably abutted against the driving member, the stator includes a spherical surface, the spherical surface is in contact with the driving member; and the first sensor is disposed on the rotor assembly And used to detect the motion state of the rotor assembly.
  • the operation method of the pan/tilt includes the following steps:
  • Step S301 Perform initial calibration on the pan/tilt.
  • the pan/tilt further includes a connecting base, the stator is connected to the connecting base, the connecting seat is used for connecting to an application platform; when the pan/tilt is calibrated, the mounting part is utilized
  • the attitude angle and the attitude angle of the connector adjust the orientation of the mount relative to the mount to calibrate the attitude angle of the pan. Further, the attitude angle of the mounting member is adjusted according to the attitude angle of the connecting seat to align the mounting member with the connecting seat.
  • the pan/tilt further includes a processor, and the processor is respectively connected to the first sensor and the second sensor, and is configured to control the driving component to drive the mounting member to move;
  • the processor controls the movement of the mounting member by using the first sensor to acquire an attitude angle of the mounting member with respect to the first axis Y, the second axis P, and the third axis R, so that the The attitude angles of the mounting member about the second axis P and the third axis R respectively satisfy a preset attitude angle.
  • the preset posture angle is 0 degrees; and the processor utilizes The second sensor acquires an attitude angle of the connecting seat with respect to the first axis Y, and calculates an attitude angle of the connecting seat with respect to the first axis Y and the mounting member with respect to the first axis Y a difference between the attitude angles, and adjusting an attitude angle of the mounting member with respect to the first axis Y according to the difference, Having the difference between the attitude angle of the connecting seat about the first axis Y and the attitude angle of the mounting member with respect to the first axis Y is 0, aligning the mounting member with the connecting seat, thereby Complete the calibration work of the gimbal.
  • Step S303 Perform initial calibration on the first sensor.
  • the calibration method of the first sensor is substantially the same as the calibration method of the pan/tilt head.
  • the position is corrected by using position data of the mounting member with respect to a reference object.
  • the connecting base serves as the reference object, and when the first sensor is calibrated, the first sensor is calibrated by using position data of the mounting member with respect to the connecting seat.
  • the pan/tilt further includes a second sensor, the second sensor is configured to sense a motion state of the pan/tilt head; and when the first sensor is calibrated, the The data sensed by the two sensors calibrates the first sensor.
  • Step S305 Acquire a motion state of the mounting member.
  • the motion state of the mounting member is acquired by the first sensor.
  • the motion state of the mounting member includes, but is not limited to, a rotation angle, a rotation speed, an angular velocity, and an angular acceleration.
  • Step S307 Calculate an input torque required when the driving member drives the mounting member to the target attitude angle.
  • the pan/tilt further includes a PID controller connected to the processor, and when the input torque is calculated, the input torque is obtained through a feedback control loop by using a PID controller.
  • the PID controller acquires an input angular velocity required by the driving component according to a difference between the target attitude angle and an actual posture angle of the mounting member detected by the first sensor, And using the PID controller to obtain the input torque required by the driving member according to the difference between the input angular velocity and the actual angular velocity of the mounting member detected by the first sensor.
  • Step S309 Control the driving member to drive the mounting member to rotate relative to the stator according to the input torque, so that the posture angle of the mounting member satisfies a target attitude angle.
  • the drive mechanism formed by the rotor assembly and the stator is substantially a spherical drive
  • the pan/tilt head drives the movement of each axis of the pan/tilt head through a spherical drive, so that the structure of the pan/tilt head is more compact and relatively smaller than a conventional pan/tilt head, which is advantageous for miniaturization of the pan/tilt head. design.
  • the pan/tilt includes a first sensor disposed directly on the rotor assembly, the first sensor for detecting a motion state of the rotor assembly, avoiding setting an additional detection component on the drive mechanism (such as a Hall element or other photovoltaic element, etc.), the volume of the pan/tilt is further reduced, and a rotation angle and a rotational angular velocity at which the pan/tilt moves in space are detected with higher precision.
  • an additional detection component on the drive mechanism such as a Hall element or other photovoltaic element, etc.
  • an external load on the mounting member and the mounting member can be in a balanced state with respect to a center of gravity of the stator, the external load and the pan/tilt
  • the overall center of gravity is balanced with respect to the center of the spherical surface to make the movement of the axes of the platform more flexible, which is beneficial to the balance of the whole platform and facilitates precise control of the movement of the platform.
  • the movable device is a rotorcraft for carrying a camera, a camera, or the like to perform an aerial photography operation. It can be understood that the mobile device can also be used for map mapping, disaster investigation and rescue, air monitoring, transmission line inspection and the like.

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Abstract

一种云台(100)，包括驱动机构(40)，驱动机构(40)包括转子组件（43）和定子（41），其中转子组件(43)包括：安装件(431)，用于承载外部负载，以及驱动件(433)，设置于安装件(431)上；定子(41)可转动地抵接于驱动件(433)，定子(41)包括球形表面(411)，球形表面(411)与驱动件(433)相接触；其中，驱动件(433)能够驱动安装件(431)相对于定子(41)转动；还包括第一传感器(62)，设置于转子组件(43)上，并用于检测转子组件(43)的运动状态，第一传感器(62)的检测结果能够用于调整转子组件(43)的运动。

Description

云台及其操作方法、控制方法，及使用其的可移动设备 技术领域
本发明涉及一种云台及其操作方法、控制方法，及使用该云台的可移动设备。
背景技术
通常情况下，多轴电动云台，如两轴云台或三轴云台等，其各轴的转动分别由不同的驱动件驱动，以实现云台在多个方向上的协同运动。然而，上述的云台由于包括了分别用于驱动各轴转动的驱动件，其体积相对较大，不利于所述云台的小型化设计。
发明内容
鉴于以上内容，有必要提供一种结构相对更为紧凑的云台，还有必要提供该云台的操作方法、控制方法，以及使用该云台的可移动设备。
一种云台，包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；其中，所述驱动件能够驱动所述安装件相对于所述定子转动；以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态，所述第一传感器的检测结果能够用于调整所述转动组件的运动。
进一步地，所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
进一步地，所述转子组件的运动状态包括以下几种中的至少一 种：转动角度、转动速度、角速度、角加速度。
进一步地，所述云台还包括处理器，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
进一步地，所述处理器能够利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。
进一步地，所述处理器能够利用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。
进一步地，所述云台还包括第二传感器，所述第二传感器设置于所述连接座上，并与所述处理器连接，所述第二传感器用于感测所述云台整体的运动状态，所述处理器还能够利用所述第二传感器所感测的数据来校准所述第一传感器。
进一步地，所述处理器能够利用所述第一传感器感测所述安装件关于第一轴线或/及关于第二轴线的姿态角，所述第一轴线为所述云台的俯仰轴，所述第二轴线为所述云台的横滚轴。
进一步地，所述处理器能够利用所述第二传感器感测所述安装件关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
进一步地，所述处理器能够利用所述第二传感器感测所述连接座关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
进一步地，所述处理器能够利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
进一步地，所述处理器能够根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
进一步地，所述应用平台为以下几种中的任一种：遥控移动装置、 车辆、船舶、固定基站、手持设备。
进一步地，所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
进一步地，所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
进一步地，所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述致动件为旋转电机。
进一步地，所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
进一步地，所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
进一步地，所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
进一步地，所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
进一步地，所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
进一步地，所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载及所述云台的整体重心。
进一步地，所述平衡件为多个，多个所述平衡件均布于所述安装件上；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
进一步地，所述驱动件为压电驱动器，所述压电驱动器用于驱动所述安装件相对于所述定子转动，以使所述安装件的姿态角满足目标姿态角。
进一步地，所述云台还包括处理器，所述处理器与所述驱动件连接，并用于计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩，且能够控制所述驱动件驱动所述安装件转动。
进一步地，所述云台还包括与所述处理器连接的比例-积分-微分控制器(PID控制器)，所述处理器能够利用所述PID控制器通过反馈控制回路来获取所述输入转矩。
进一步地，所述PID控制器设置于所述安装件上。
进一步地，所述PID控制器能够根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
进一步地，所述PID控制器能够根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所 需的所述输入转矩。
进一步地，所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
进一步地，所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
进一步地，所述驱动件为压电驱动器。
进一步地，所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
进一步地，多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
进一步地，多个所述压电驱动器均匀分布在所述外圆的圆周上。
进一步地，所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
进一步地，所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
进一步地，所述云台为电动云台，其由外部电源供电。
进一步地，所述云台为三轴电动云台。一种可移动设备，包括机身以及设置于所述机身上的云台.所述云台包括驱动机构，所述驱动机构包括：定子，连接于所述机身，所述定子包括球形表面；转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持；其中，所述驱动件能够驱动所述安装件相对于所述定子转动，以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态，所述第一传感器的检测结果能够用于调整所述转动组件的运动。
进一步地，所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
进一步地，所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
进一步地，所述云台还包括处理器，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
进一步地，所述处理器能够利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。
进一步地，所述处理器能够利用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。
进一步地，所述云台还包括第二传感器，所述第二传感器设置于所述连接座上，并与所述处理器连接，所述第二传感器用于感测所述云台整体的运动状态，所述处理器还能够利用所述第二传感器所感测的数据来校准所述第一传感器。
进一步地，所述处理器能够利用所述第一传感器感测所述安装件 关于第一轴线或/及关于第二轴线的姿态角，所述第一轴线为所述云台的俯仰轴，所述第二轴线为所述云台的横滚轴。
进一步地，所述处理器能够利用所述第二传感器感测所述安装件关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
进一步地，所述处理器能够利用所述第二传感器感测所述连接座关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
进一步地，所述处理器能够利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
进一步地，所述处理器能够根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
进一步地，所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
进一步地，所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
进一步地，所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
进一步地，所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述致动件为旋转电机。
进一步地，所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
进一步地，所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
进一步地，所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云 台的整体重心相对所述球形表面的球心偏移。
进一步地，所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
进一步地，所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
进一步地，所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载及所述云台的整体重心。
进一步地，所述平衡件为多个，多个所述平衡件均布于所述安装件上；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
进一步地，所述驱动件为压电驱动器，所述压电驱动器用于驱动所述安装件相对于所述定子转动，以使所述安装件的姿态角满足目标姿态角。
进一步地，所述云台还包括处理器，所述处理器与所述驱动件连 接，并用于计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩，且能够控制所述驱动件驱动所述安装件转动。
进一步地，所述云台还包括与所述处理器连接的比例-积分-微分控制器(PID控制器)，所述处理器能够利用所述PID控制器通过反馈控制回路来获取所述输入转矩。
进一步地，所述PID控制器设置于所述安装件上。
进一步地，所述PID控制器能够根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
进一步地，所述PID控制器能够根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的所述输入转矩。
进一步地，所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
进一步地，所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
进一步地，所述驱动件为压电驱动器。
进一步地，所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
进一步地，多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
进一步地，多个所述压电驱动器均匀分布在所述外圆的圆周上。
进一步地，所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
进一步地，所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
进一步地，所述云台为电动云台，其由外部电源供电。
进一步地，所述云台为三轴电动云台。一种云台控制方法，用于控制云台，所述云台包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态。所述云台的控制方法包括：利用第一传感器获取所述安装件的运动状态；以及根据所述运动状态，控制所述驱动件驱动所述安装件相对所述定子转动。
进一步地，获取所述安装件的运动状态之前，对所述第一传感器进行校准。
进一步地，对所述第一传感器进行校准时，利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台，对所述第一传感器进行校准时，利用所述安装件相对于所述连接座的位置数据来校准所述第一传感 器。
进一步地，控制所述驱动件驱动所述安装件相对所述定子转动时，利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
进一步地，根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
进一步地，所述云台还包括第二传感器，所述第二传感器用于感测所述云台整体的运动状态；对所述第一传感器进行校准时，利用所述第二传感器所感测的数据来校准所述第一传感器。
进一步地，控制所述驱动件驱动所述安装件相对所述定子转动时，所述安装件的姿态角满足目标姿态角。
进一步地，控制所述驱动件驱动所述安装件相对所述定子转动之前，计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩。
进一步地，利用PID控制器通过反馈控制回路来获取所述输入转矩。
进一步地，利用所述PID控制器根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
进一步地，利用PID控制器根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的输入转矩。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台；获取所述安装件的运动状态之前，调整所述安装件相对于所述连接座的方位。
进一步地，利用所述第一传感器获取所述安装件关于一第一轴线 及一第二轴线的姿态角，并根据所述姿态角调整所述安装件相对于所述连接座的方位。
进一步地，根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤包括：控制所述安装件运动，使所述安装件关于一第一轴线及一第二轴线的姿态角分别满足预设姿态角。
进一步地，根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤还包括：所述云台还包括设置于所述连接座上的第二传感器，利用第二传感器获取所述连接座关于一第三轴线的姿态角，并利用所述第一传感器获取所述安装件关于所述第三轴线的姿态角。
进一步地，根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤还包括：根据所述连接座关于所述第三轴线的姿态角及所述安装件关于所述第三轴线的姿态角之间的差值，调整所述安装件的姿态角，使所述安装件对齐所述连接座。
一种云台，包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触。其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。
进一步地，所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
进一步地，所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
进一步地，所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
进一步地，所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
进一步地，所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载的重心。
进一步地，所述平衡件为多个，多个所述平衡件均布于所述安装件上；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
进一步地，所述安装件上设置有第一传感器，所述第一传感器用于检测所述转子组件的运动状态。
进一步地，所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
进一步地，所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
进一步地，所述云台还包括处理器，所述处理器与所述第一传感器连接，所述处理器能够根据所述第一传感器获取的所述运动状态调 整所述转子组件的运动。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
进一步地，所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
进一步地，所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
进一步地，所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
进一步地，所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述致动件为旋转电机。
进一步地，所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
进一步地，所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
进一步地，所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
进一步地，所述驱动件为压电驱动器。
进一步地，所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
进一步地，多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
进一步地，多个所述压电驱动器均匀分布在所述外圆的圆周上。
进一步地，所述定子可转动地连接于一连接座，所述定子能够绕 一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
进一步地，所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
进一步地，所述云台为电动云台，其由外部电源供电。
进一步地，所述云台为三轴电动云台。
一种可移动设备，其包括机身以及设置于所述机身上的云台。所述云台包括驱动机构，所述驱动机构包括：定子，连接于所述机身，所述定子包括球形表面；转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持。其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。
进一步地，所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
进一步地，所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云 台的整体重心相对所述球形表面的球心偏移。
进一步地，所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
进一步地，所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
进一步地，所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载的重心。
进一步地，所述平衡件为多个，多个所述平衡件均布于所述安装件上；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
进一步地，所述安装件上设置有第一传感器，所述第一传感器用于检测所述转子组件的运动状态。
进一步地，所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
进一步地，所述转子组件的运动状态包括以下几种中的至少一 种：转动角度、转动速度、角速度、角加速度。
进一步地，所述云台还包括处理器，所述处理器与所述第一传感器连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
进一步地，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
进一步地，所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
进一步地，所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
进一步地，所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
进一步地，所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述致动件为旋转电机。
进一步地，所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
进一步地，所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
进一步地，所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
进一步地，所述驱动件为压电驱动器。
进一步地，所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
进一步地，多个所述压电驱动器沿所述定子的所述球形表面的一 个外圆的周向排列设置。
进一步地，多个所述压电驱动器均匀分布在所述外圆的圆周上。
进一步地，所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
进一步地，所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
进一步地，所述云台为电动云台，其由外部电源供电。
进一步地，所述云台为三轴电动云台。一种云台的操作方法，所述云台包括驱动机构。，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触。所述操作方法包括：将外部负载设置于所述安装件上，使所述外部负载相对于所述定子的重心处于平衡状态；以及控制所述驱动件驱动所述安装件相对所述定子转动，以带动所述外部负载运动。
进一步地，所述操作方法还包括：将所述定子连接于一应用平台 上。
进一步地，将所述定子通过一连接座连接于所述应用平台上。
进一步地，将所述定子连接于所述连接座上时，使所述定子相对所述连接座固定设置。
进一步地，控制所述驱动件驱动所述安装件相对所述定子转动时，所述安装件能够绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
进一步地，所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
进一步地，将所述定子连接于所述连接座上时，使所述定子能够绕一第一轴线相对所述连接座转动，所述第一轴线为所述云台的偏航轴。
进一步地，所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
进一步地，所述操作方法还包括：利用第一传感器检测所述转子组件的运动状态，以根据所述运动状态来控制所述安装件转动。
进一步地，所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
进一步地，所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
进一步地，所述操作方法还包括：利用处理器控制所述安装件转动，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
上述的云台，其转子组件及定子所构成的驱动机构大致为球形驱动器，所述云台通过球形驱动器来驱动所述云台各轴的运动，使所述云台的结构相对传统云台更为紧凑、体积相对较小，有利于所述云台 的小型化设计。
附图说明
图1为本发明实施方式中的可移动设备的示意图。
图2为本发明实施方式中的无人飞行器的示意图。
图3为图1所示可移动设备的云台的立体示意图。
图4为图3所示云台的驱动机构的示意图。
图5为图3所示云台的反馈控制回路示意图。
图6为图3所示云台的初始化校准的控制流程示意图。
图7为本发明实施方式中的云台的操作方法的流程示意图。
图8为本发明实施方式中的云台的控制方法的流程示意图。
主要元件符号说明
可移动设备 300
机身 310
无人飞行器 500
机架 510
旋翼组件 530
电机 531
螺旋桨 533
云台 100
连接组件 20
连接座 21
致动件 23
连接杆 25
驱动机构 40
定子 41
球形表面 411
驱动组件 43
安装件 431
安装部 4311
支撑部 4313
驱动件 433
平衡件 435
第一传感器 62
第二传感器 64
处理器 80
PID控制器 85
第一轴线 Y
第二轴线 P
第三轴线 R
如下具体实施方式将结合上述附图进一步说明本发明。
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。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接 在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或/及”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明实施方式提供一种云台，包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；其中，所述驱动件能够驱动所述安装件相对于所述定子转动；以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态。
本发明实施方式还提供一种可移动设备，包括机身以及设置于所述机身上的云台.所述云台包括驱动机构，所述驱动机构包括：定子，连接于所述机身，所述定子包括球形表面；转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持；其中，所述驱动件能够驱动所述安装件相对于所述定子转动，以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态。
本发明实施方式还提供一种云台控制方法，用于控制云台，所述云台包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子， 可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；以及第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态。所述云台的控制方法包括：利用第一传感器获取所述安装件的运动状态；以及根据所述运动状态，控制所述驱动件驱动所述安装件相对所述定子转动。
本发明实施方式还提供一种云台，包括驱动机构，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触。其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。。
本发明实施方式还提供一种一种可移动设备，其包括机身以及设置于所述机身上的云台。所述云台包括驱动机构，所述驱动机构包括：定子，连接于所述机身，所述定子包括球形表面；转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持。其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。
本发明实施方式还提供一种云台的操作方法，所述云台包括驱动机构。，所述驱动机构包括：转子组件，包括：安装件，用于承载外部负载；以及驱动件，设置于所述安装件上；以及定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触。所述操作方法包括：将外部负载设置于所述安装件上，使所述外部负载相对于所述定子的重心处于平衡状态；以及控制所述驱动件驱动所述安装件相对所述定子转动，以带动所述外部负载运动。
下面结合附图，对本发明的一些实施方式作详细说明。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。
请参阅图1及图2，本发明实施例所提供一种可移动设备300，所述可移动设备300包括机身310以及连接于所述机身310上的云台100。所述云台100用于搭载外部负载，如图像获取装置等，以允许所述可移动设备300进行摄像作业。
可以理解，所述外部负载可以为但不限于为下几种中的任一种：图像获取装置、通讯装置、传感器。所述可移动设备300可以为但并不限于为无人飞行器、无人车或无人船等。在本实施例中，所述可移动设备300以无人飞行器500(请参阅图2)为例进行说明。所述无人飞行器500包括机架510以及设置于所述机架510上的动力系统。
在本发明实施方式中，所述无人飞行器500为旋翼飞行器，所述动力系统为旋翼组件530。具体在图示的实施方式中，所述无人飞行器500为四旋翼飞行器，即具有四个旋翼组件530的飞行器。所述旋翼组件530包括电机531以及与所述电机531相连的螺旋桨533。所述电机531能够驱动所述螺旋桨533转动，以为所述无人飞行器500提供飞行的动力。可以理解，所述无人飞行器500也可以为六旋翼飞行器、八旋翼飞行器、十二旋翼飞行器等，甚至，所述无人飞行器500可以为单旋翼飞行器；另外，在其他实施方式中，所述无人飞行器500可以为固定翼飞行器，或者固定翼-旋翼混合的飞行器。
所述无人飞行器500还包括主控制器、惯性测量单元(IMU，Inertial measurement unit)以及电子调速器。本实施方式中，所述主控制器和所述惯性测量单元集成在一起。
所述主控制器可以为飞行控制器，其用于控制所述无人飞行器500整体的飞行作业，包括飞行速度、飞行姿态等，还用于控制所述拍摄装置200执行拍摄作业。所述惯性测量单元与所述主控制器电性连接，其用于检测所述无人飞行器500的姿态。所述电子调速器设置 在所述机架510上，并与所述主控制器以及所述惯性测量单元均电性连接。所述电子调速器在所述主控制器的控制下，能够调节所述电机531的转动速度。具体而言，所述电子调速器可以为多个，多个所述电子调速器分别与所述旋翼组件530的电机531相连接，并用于调节所述电机531的转动速度，以调节所述无人飞行器500的飞行速度、飞行姿态。
请同时参阅图3，在本实施方式中，所述云台100为电动云台，具体而言，所述云台100为三轴电动云台。所述云台100包括连接组件20以及驱动机构40，所述云台100通过所述连接组件20连接于所述可移动设备300的机身310，所述驱动机构40设置于所述连接组件20上，并用于装设外部负载。
所述连接组件20可拆卸地装设于所述机身310上，其用于装设所述驱动机构40，并用于驱动所述驱动机构40相对所述机身310绕第一轴线Y转动。所述第一轴线Y为所述可移动设备300的航向轴，同时为所述云台100的偏航轴。具体在图示的实施例中，所述连接组件20包括连接座21、致动件23以及连接杆25。
所述连接座21连接于所述机身310。可以理解，在其他的一些实施方式中，当所述云台100应用于其他的设备/应用平台上时，如，当所述云台100应用在手持设备或无人车上时，所述连接座21可以用于连接对应的所述手持设备或无人车等设备/应用平台。所述应用平台可以为但不限于为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
所述致动件23设置于所述连接座21上，并连接于所述连接座21与所述驱动机构40机构之间。在本实施方式中，所述致动件23为旋转驱动件，所述致动件23能够驱动所述驱动机构40相对所述连接座21绕所述第一轴线Y转动。具体而言，所述致动件23为旋转 电机。
所述连接杆25设置在所述致动件23上，并用于连接所述驱动机构40。可以理解，在其他的实施方式中，所述连接杆25可以省略，而将所述驱动机构40直接设置于所述致动件23的驱动端。甚至，在一些实施方式中，所述连接座21也可以省略，而直接将所述驱动机构40通过所述致动件23连接于所述机身310或所述应用平台，并使所述驱动机构40能够在所述致动件23的驱动下，相对所述机身310或所述应用平台转动。同样可以理解的是，在一些实施方式中，所述致动件23可以省略，而直接将所述驱动机构40连接于所述机身310或所述应用平台。
具体在本实施方式中，所述驱动机构40设置在所述连接杆25远离所述致动件23的一端。所述驱动机构40包括定子41以及转子组件43，所述定子41连接于所述连接杆25，所述转子组件43可转动地连接于所述定子41上。
在本实施方式中，所述驱动机构40为球形驱动器，所述定子41为球形定子，其包括球形表面411，所述球形表面411连接于所述连接杆25。可以理解，所述定子41可以为半球形，可以为整球形，也可以为部分球形，并不局限于本发明实施例所描述。
所述转子组件43邻近所述定子41设置，并大致环绕于所述定子41周围。所述转子组件43包括安装件431以及设置于所述安装件431上的驱动件433。
请同时参阅图4，所述安装件431包括安装部4311以及支撑部4313。所述安装部4311用于装设所述外部负载，所述支撑部4313设置于所述安装部4311上，并用于支撑所述驱动件433。
在本实施方式中，所述安装部4311大致为环形，环形的所述安装部4311环绕设置在所述定子41的所述球形表面411外周。可以理 解，在其他的实施方式中，所述安装部4311的形状不局限于环形，其可以为其他合适的结构，例如板状、块状、长条状等等。
在本实施方式中，所述支撑部4313为多个，多个所述支撑部4313彼此间隔设置于所述安装部4311上，所述定子41设置于多个所述支撑部4313之间。具体在图示的实施方式中，所述支撑部4313设置于所述安装部4311朝向所述连接杆25的一侧，多个所述支撑部4313均匀间隔分布在环形的所述安装部4311上，且环绕在所述定子41的所述球形表面411之外。
在本实施方式中，所述驱动件433为多个，每个所述驱动件433设置于一个所述支撑部431上。具体而言，所述驱动件433及所述支撑件431均为三个。每个所述驱动件433设置于对应的所述支撑部431朝向所述定子41的一侧，并与所述球形表面411相抵持。所述驱动件433能够驱动所述安装件431相对于所述定子41转动，。
在本实施方式中，所述驱动件433为压电驱动器，所述压电驱动器能够驱动所述安装件431相对于所述定子41绕至少一轴线转动。所述安装件431相对所述定子41转动的轴线至少包括以下的任一轴：所述云台100的偏航轴、所述云台100的横滚轴、所述云台100的俯仰轴。可以理解，在一些实施方式中，所述支撑部4313可以省略，而直接将多个所述驱动件433设置在所述安装部4311上，并使多个所述驱动件433环绕设置在所述定子41的所述球形表面411之外，且所述驱动件433与所述球形表面411相接触。
具体在本实施方式中，多个所述驱动件433环绕设置在所述定子41的所述球形表面411之外时，多个所述驱动件433沿所述球形表面411的一个外圆的周向排列设置。具体在图示的实施方式中，多个所述驱动件433均匀分布在所述外圆的圆周上，所述外圆偏离于所述球形表面411的大圆，即，所述外圆所在的平面不通过所述球形表面 411的球心O。可以理解，在一些实施方式中，所述外圆可以为所述球形表面411的大圆，即，所述外圆所在的平面可以通过所述球形表面411的球心O。
在一些实施方式中，当所述定子41可转动地连接于所述连接座21上时，所述定子41能够相对所述连接座21绕所述第一轴线Y转动，此时，多个所述驱动件433沿一第一圆周排列设置，并能够驱动所述安装件431绕一第二轴线P及一第三轴线R相对所述定子41转动，所述第二轴线P及所述第三轴线R分别为所述云台100的俯仰轴及横滚轴。
可以理解，在另一实施方式中，当所述定子41固定地连接于所述连接座21上时，多个所述驱动件433沿一第二圆周排列设置，并能够驱动所述安装件431绕所述第一轴线Y、所述第二轴线P及所述第三轴线R相对所述定子41转动。所述第二圆周与所述第一圆周不相同。
进一步地，所述转子组件43还包括平衡件435，所述平衡件435可调整地设置在所述安装件431上，以平衡所述外部负载的重心，即，使所述外部负载及所述云台100的整体重心G相对所述球形表面411的球心O达到平衡状态，以使所述云台100的各轴运动更为灵活。所述平衡状态，应当理解为，所述外部负载及所述云台100的整体重心G能够落在所述云台100的至少一轴上，如，所述外部负载及所述云台100的整体重心G落在所述云台100的偏航轴/俯仰轴/横滚轴上，使驱动所述安装件431绕所述云台100的偏航轴/俯仰轴/横滚轴转动时所需的转矩相对较小，且所述安装件431的转动运动更易于控制，有利于所述云台100整体的平衡，并有利于精确控制所述云台100的运动。
在本实施方式中，所述平衡件435为多个，多个所述平衡件435 彼此间隔设置在所述安装部4311上。优选地，多个所述平衡件435均匀间隔分布于所述安装部4311上。当所述平衡件435设置在所述安装部4311上，且所述安装部4311上设置有所述外部负载时，所述平衡件435使所述外部负载及所述云台100的整体重心G相对所述球形表面411的球心O达到平衡。在本实施方式中，所述外部负载设于所述安装部4311上时，通过调整所述平衡件435的装设位置，能够使所述外部负载及所述云台100的整体重心G落在所述第一轴线Y上。优选地，所述外部负载设于所述安装部4311上时，所述外部负载及所述云台100的整体重心G沿所述第一轴线Y相对所述球形表面411的球心O偏移。
可以理解，在一些实施方式中，可以通过调整所述平衡件435的装设位置，使所述外部负载及所述云台100的整体重心G落在所述第二轴线P或/及所述第三轴线R上；进一步地，所述外部负载及所述云台100的整体重心G可以沿所述第二轴线P或所述第三轴线R相对所述球形表面411的球心O偏移。同样可以理解的是，所述外部负载设于所述安装部4311上时，通过调整所述平衡件435的装设位置，还能够使所述外部负载及所述云台100的整体重心G与所述球形表面411的球心O重合，以使所述外部负载及所述云台100的整体重心G相对所述定子41达到平衡状态，使所述云台100在各轴上的转动运动更易于控制且更为灵活。
可以理解，在一些实施方式中，为了平衡所述外部负载及所述云台100的重心，所述外部负载设于所述安装部4311上时，可以通过调整所述平衡件435的装设位置，使所述外部负载及所述云台100的整体重心沿一第一方向相对所述球形表面411的球心O偏移，所述第一方向与所述第一轴线Y大致平行或重合，即，所述第一方向与所述云台100的偏航轴大致平行或重合。
进一步地，为了控制所述云台100各轴的运动，并校准所述云台100各轴的运动数据，所述云台100还包括处理器80(请参阅图1)，所述处理器80能够根据所述云台100在各轴上的实时运动状态以及实时位置姿态，进一步地控制并调整所述云台100的运动，使所述云台100各轴的运动状态以及位置姿态分别满足目标运动状态及目标位置姿态。所述处理器80与所述驱动件433有线连接或无线连接，并通过控制所述驱动件433运动，以达到调整所述云台100的运动的目的。所述处理器80通过控制所述驱动件433驱动所述安装件431相对于所述定子41转动，以使所述安装件431的姿态角满足目标姿态角。
具体而言，所述处理器80通过计算所述驱动件433将所述安装件431驱动至所述目标姿态角时所需要的输入转矩，且能够根据所述输入转矩控制所述驱动件433驱动所述安装件431转动，以使所述安装件431的姿态角满足所述目标姿态角。
进一步地，所述云台100还包括比例-积分-微分控制器(PID控制器，请参阅图1)85，所述PID控制器85设置于所述安装件431上，并与所述处理器80电连接，所述处理器80能够利用所述PID控制器85通过反馈控制回路来获取所述输入转矩。
进一步地，为了感测所述云台100的运动状态以及位置姿态，以使所述处理器80对所述云台100运动的控制更为精确，所述云台100还包括第一传感器62(请参阅图1)及第二传感器64(请参阅图1)，所述第一传感器62及所述第二传感器64分别与所述处理器80有线连接或无线连接。
在本实施方式中，所述第一传感器62设置于所述安装件431上，并用于检测所述转子组件43的运动状态，同时用于检测所述转子组件43的位置姿态。具体在图示的实施方式中，所述第一传感器62用 于检测所述安装件431的运动状态及位置姿态，所述处理器80能够根据所述第一传感器62获取的所述运动状态及位置姿态调整所述转子组件43的运动状态及位置姿态。其中，所述运动状态包括但不限于转动角度及转动速度。
具体而言，请同时参阅图5，为了详细阐明上述的控制过程，图5示出了所述处理器80通过所述PID控制器85利用所述第一传感器62对所述驱动件433及所述安装件431进行控制的反馈控制回路示意图。所述第一传感器62与所述PID控制器85有线连接或无线连接，所述PID控制器85能够根据所述目标姿态角及所述第一传感器62检测的所述安装件431的实际姿态角之间的差值来获取所述驱动件433所需的输入角速度，并进一步地根据所述输入角速度及所述第一传感器62检测的安装件431的实际角速度之间的差值来获取所述驱动件433所需的所述输入转矩，以允许所述处理器80根据所述输入转矩来控制所述驱动件433运动，从而达到调整所述转子组件43的运动状态及位置姿态的目的。
所述第一传感器62可以为以下几种中的至少一种：陀螺仪、加速度计。所述第一传感器62不包括光学传感器或磁场传感器。所述转子组件43/所述安装件431的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。可以理解，在其他的实施方式中，为满足实际需要，所述第一传感器62可以设置在所述转子组件43的其他合适的部位，例如，设置在所述平衡件435上，设置在所述驱动件433上等等，以利用所述第一传感器60感测所述转子组件43的运动状态。
为了使所述处理器80能够更为精确地控制所述云台100的运动，有必要在其控制所述云台100运动之初，对所述云台100进行初始化校准。在本发明实施方式中，所述处理器80能够利用所述安装件431 的姿态角以及所述连接座21的姿态角来调整所述安装件431相对于所述连接座21的方位，以达到初始化校准所述云台100的目的。具体地，所述处理器80能够根据所述连接座21关于所述第二轴线P及所述第三轴线R的姿态角来调整所述安装件431的姿态角，以使所述安装件431对齐所述连接座21。
请同时参阅图6，为了详细阐明上述的初始化校准过程，图6示出了云台100初始化校准的控制流程示意图。具体在图示的实施方式中，所述云台100初始化校准的控制流程包括如下步骤：
步骤S101：获取所述安装件431关于所述第二轴线P、所述第三轴线R的姿态角。具体而言，所述处理器80利用所述第一传感器62获取所述安装件431关于所述第二轴线P及所述第三轴线R的姿态角。
步骤S103：控制所述安装件431运动，使所述安装件431关于所述第二轴线P及所述第三轴线R的姿态角分别满足预设姿态角。具体而言，所述处理器80通过所述PID控制器及所述第一传感器62对所述驱动件433及所述安装件431进行闭环控制，使所述驱动件433驱动所述安装件431运动，从而使所述安装件431关于所述第二轴线P及所述第三轴线R的姿态角分别满足预设姿态角。具体在本实施方式中，所述预设姿态角为0度，所述处理器80控制所述安装件431运动后，所述安装件431关于所述第二轴线P及所述第三轴线R的姿态角均为0度。
步骤S105：获取所述安装件431关于所述第一轴线Y的姿态角。具体而言，所述处理器80利用所述第一传感器62获取所述安装件431关于所述第一轴线Y的姿态角。
步骤S107：获取所述连接座21关于所述第一轴线Y的姿态角。具体而言，所述处理器80利用所述第二传感器64获取所述连接座 21关于所述第一轴线Y的姿态角。
步骤S109：计算所述连接座21关于所述第一轴线Y的姿态角及所述安装件431关于所述第一轴线Y的姿态角之间的差值。具体而言，所述处理器80计算所述差值。
步骤S111：控制所述安装件431运动，使所述安装件431关于所述第一轴线Y姿态角满足预设姿态角，从而使所述安装件431对齐所述连接座21。具体而言，所述处理器80通过所述PID控制器及所述第一传感器62对所述驱动件433及所述安装件431进行闭环控制，使所述驱动件433驱动所述安装件431运动，从而使所述安装件431关于所述第一轴线Y姿态角满足预设姿态角。具体在本实施方式中，所述预设姿态角大致等于所述连接座21关于所述第一轴线Y的姿态角，所述处理器80控制所述安装件431运动后，所述安装件431关于所述第一轴线Y的姿态角和所述连接座21关于所述第一轴线Y的姿态角之间的差值为0，从而使所述安装件431对齐所述连接座21。为了使所述第一传感器62能够更为精确地感测所述云台100的运动状态数据及位置姿态数据，有必要在所述处理器80控制所述云台100运动之初，对所述第一传感器62进行初始化校准。在本发明实施方式中，所述第一传感器62的初始化校准的控制流程与所述云台100的初始化校准的控制流程大致相同。当所述云台100完成初始化校准后，所述处理器80能够利用所述安装件431相对于一参照物的位置数据来校准所述第一传感器62，以使所述第一传感器62感测的数据更为准确。所述参照物可以为固定物件，如地面、建筑物等；所述参照物也可以为可动物件，如所述可移动设备300上的装置等。在本实施方式中，所述参照物为所述连接座21，所述处理器80能够利用所述安装件431相对于所述连接座21的位置数据来校准所述第一传感器62。具体而言，所述处理器80能够利用所述第一传感器62感测 所述安装件431关于所述第二轴线P或/及关于所述第三轴线R的姿态角，并根据所述第一传感器62所感测的数据来校准所述第一传感器62。
在本实施方式中，所述第二传感器64设置在所述连接组件20上，并与所述致动件23电连接。所述第二传感器64用于感测所述致动件23的运动状态，以允许所述处理器80能够根据所述致动件23的运动状态调整所述致动件23的运动。所述第二传感器64为以下几种中至少一种：陀螺仪、加速度计。所述第二传感器4不包括光学传感器或磁场传感器。所述致动件23的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
所述处理器80还能够利用所述第二传感器64所感测的数据来校准所述第一传感器62。具体在图示的实施方式中，所述第二传感器64设置于所述连接座21上，并用于感测所述连接座21或/及所述致动件23的运动状态，以获取所述云台100整体的运动状态。具体而言，所述处理器80能够利用所述第二传感器64感测所述连接座21或/及所述安装件431关于所述第一轴线Y的姿态角，以允许所述处理器80根据所述第二传感器64感测的数据来校准所述第一传感器62。
请参阅图7，基于上述的云台，本发明实施方式还提供一种云台的操作方法，所述云台的操作方法应用于上文所描述的云台。所述云台包括驱动机构及第一传感器，所述驱动机构包括转子组件及定子，所述转子组件包括安装件及驱动件；所述安装件用于承载外部负载，所述驱动件设置于所述安装件上，所述定子可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；所述第一传感器设置于所述转子组件上，并用于检测所述转子组件的运动状态。所述云台的操作方法包括如下步骤：
步骤S201：将所述定子连接于一应用平台上。具体而言，将所述定子通过一连接座连接于所述应用平台上，使所述定子相对所述连接座固定设置。所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。可以理解，在其他的实施方式中，将所述定子连接于所述连接座上时，可以使所述定子能够绕一第一轴线Y相对所述连接座转动，所述第一轴线Y为所述云台的偏航轴。
步骤S203：将外部负载设置于所述安装件上，使所述外部负载相对于所述定子的重心处于平衡状态。具体而言，所述转子组件还包括平衡件，所述平衡件可调整地设置在所述安装件上；通过调整所述平衡件的装设位置，使所述外部负载及所述云台的整体重心沿所述第一轴线Y方向相对所述球形表面的球心偏移，从而使所述外部负载相对于所述定子的重心处于平衡状态。可以理解，在一些实施方式中，可以通过调整所述平衡件的装设位置，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
步骤S205：利用第一传感器检测所述转子组件的运动状态。所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。所述第一传感器不包括光学传感器或磁场传感器。所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
步骤S207：根据所述运动状态，控制所述驱动件驱动所述安装件相对所述定子转动，以带动所述外部负载运动。具体而言，所述云台还包括处理器，所述处理器与所述第一传感器电连接；通过处理器根据所述第一传感器获取的所述运动状态控制所述驱动件，使所述驱动件驱动所述安装件相对所述定子转动，此时，所述安装件能够绕一第一轴线Y、一第二轴线P及一第三轴线R相对所述定子转动。所述第一轴线Y、所述第二轴线P及所述第三轴线R分别为所述云台 的偏航轴、横滚轴及俯仰轴。
请参阅图8，基于上述的云台，本发明实施方式还提供一种云台的控制方法，所述云台的控制方法应用于上文所描述的云台。所述云台包括驱动机构及第一传感器，所述驱动机构包括转子组件及定子，所述转子组件包括安装件及驱动件；所述安装件用于承载外部负载，所述驱动件设置于所述安装件上，所述定子可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；所述第一传感器设置于所述转子组件上，并用于检测所述转子组件的运动状态。所述云台的操作方法包括如下步骤：
步骤S301：对所述云台进行初始化校准。具体而言，所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台；对所述云台进行校准时，利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位，从而校准所述云台的姿态角。进一步地，根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。具体在本实施方式中，所述云台还包括处理器，所述处理器与所述第一传感器及所述第二传感器分别连接，并能够控制所述驱动件驱动所述安装件运动；所述处理器通过利用所述第一传感器获取所述安装件关于所述第一轴线Y、所述第二轴线P及所述第三轴线R的姿态角，控制所述安装件运动，使所述安装件关于所述第二轴线P及所述第三轴线R的姿态角分别满足预设姿态角，在本实施方式中，所述预设姿态角为0度；并且，所述处理器通过利用所述第二传感器获取所述连接座关于所述第一轴线Y的姿态角，并计算所述连接座关于所述第一轴线Y的姿态角及所述安装件关于所述第一轴线Y的姿态角之间的差值，且根据所述差值调整所述安装件的关于所述第一轴线Y的姿态角， 使所述连接座关于所述第一轴线Y的姿态角及所述安装件关于所述第一轴线Y的姿态角之间的差值为0，使所述安装件对齐所述连接座，从而完成所述云台的校准工作。
步骤S303：对所述第一传感器进行初始化校准。具体而言，所述第一传感器的校准方法与上述云台的校准方法大致相同，对所述第一传感器进行校准时，利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。在本实施方式中，所述连接座作为所述参照物，对所述第一传感器进行校准时，利用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。在一些实施方式中，所述云台还包括第二传感器，所述第二传感器用于感测所述云台整体的运动状态；对所述第一传感器进行校准时，还可以利用所述第二传感器所感测的数据来校准所述第一传感器。
步骤S305：获取所述安装件的运动状态。具体而言，利用第一传感器获取所述安装件的运动状态。所述安装件的运动状态包括但不限于：转动角度、转动速度、角速度、角加速度。
步骤S307：计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩。具体而言，所述云台还包括与所述处理器连接的PID控制器，计算所述输入转矩时，利用PID控制器通过反馈控制回路来获取所述输入转矩。具体在本实施方式中，利用所述PID控制器根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度，并利用PID控制器根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的输入转矩。
步骤S309：根据所述输入转矩，控制所述驱动件驱动所述安装件相对所述定子转动，使所述安装件的姿态角满足目标姿态角。
上述的云台，其转子组件及定子所构成的驱动机构大致为球形驱 动器，所述云台通过球形驱动器来驱动所述云台各轴的运动，使所述云台的结构相对传统云台更为紧凑、体积相对较小，有利于所述云台的小型化设计。同时，所述云台包括了直接设置在所述转子组件上的第一传感器，所述第一传感器用于检测所述转子组件的运动状态，避免了在所述驱动机构上设置额外的检测组件(如霍尔元件或其他光电元件等)，进一步地减小了所述云台的体积，且实现了较高精度检测所述云台在空间中运动的转动角度以及转动角速度。
另外，所述外部负载设置于所述安装件上时，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态，所述外部负载及所述云台的整体重心相对所述球形表面的球心达到平衡状态，以使所述云台的各轴运动更为灵活，有利于所述云台整体的平衡，并有利于精确控制所述云台的运动。
在本发明的实施方式中，所述可移动设备为旋翼飞行器，其用于搭载照相机、摄像机等拍摄装置进行航拍作业。可以理解，所述可移动设备还可以用于地图测绘、灾情调查和救援、空中监控、输电线路巡检等工作。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。

Claims (179)

  1. 一种云台，包括驱动机构，其特征在于，所述驱动机构包括：
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上；
    定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；其中，所述驱动件能够驱动所述安装件相对于所述定子转动；以及
    第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态，所述第一传感器的检测结果能够用于调整所述转动组件的运动。
  2. 如权利要求1所述的云台，其特征在于：所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
  3. 如权利要求1所述的云台，其特征在于：所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
  4. 如权利要求1所述的云台，其特征在于：所述云台还包括处理器，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
  5. 如权利要求4所述的云台，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
  6. 如权利要求5所述的云台，其特征在于：所述处理器能够利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。
  7. 如权利要求5所述的云台，其特征在于：所述处理器能够利 用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。
  8. 如权利要求5所述的云台，其特征在于：所述云台还包括第二传感器，所述第二传感器设置于所述连接座上，并与所述处理器连接，所述第二传感器用于感测所述云台整体的运动状态，所述处理器还能够利用所述第二传感器所感测的数据来校准所述第一传感器。
  9. 如权利要求8所述的云台，其特征在于：所述处理器能够利用所述第一传感器感测所述安装件关于第一轴线或/及关于第二轴线的姿态角，所述第一轴线为所述云台的俯仰轴，所述第二轴线为所述云台的横滚轴。
  10. 如权利要求8所述的云台，其特征在于：所述处理器能够利用所述第二传感器感测所述安装件关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
  11. 如权利要求8所述的云台，其特征在于：所述处理器能够利用所述第二传感器感测所述连接座关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
  12. 如权利要求5所述的云台，其特征在于：所述处理器能够利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
  13. 如权利要求12所述的云台，其特征在于：所述处理器能够根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
  14. 如权利要求5所述的云台，其特征在于：所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
  15. 如权利要求1所述的云台，其特征在于：所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
  16. 如权利要求5所述的云台，其特征在于：所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
  17. 如权利要求16所述的云台，其特征在于：所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
  18. 如权利要求17所述的云台，其特征在于：所述致动件为旋转电机。
  19. 如权利要求17所述的云台，其特征在于：所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
  20. 如权利要求1所述的云台，其特征在于：所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
  21. 如权利要求20所述的云台，其特征在于：所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
  22. 如权利要求21所述的云台，其特征在于：所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
  23. 如权利要求21所述的云台，其特征在于：所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
  24. 如权利要求21所述的云台，其特征在于：所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡 所述外部负载及所述云台的整体重心。
  25. 如权利要求24所述的云台，其特征在于：所述平衡件为多个，多个所述平衡件均布于所述安装件上；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
  26. 如权利要求1所述的云台，其特征在于：所述驱动件为压电驱动器，所述压电驱动器用于驱动所述安装件相对于所述定子转动，以使所述安装件的姿态角满足目标姿态角。
  27. 如权利要求26所述的云台，其特征在于：所述云台还包括处理器，所述处理器与所述驱动件连接，并用于计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩，且能够控制所述驱动件驱动所述安装件转动。
  28. 如权利要求27所述的云台，其特征在于：所述云台还包括与所述处理器连接的比例-积分-微分控制器(PID控制器)，所述处理器能够利用所述PID控制器通过反馈控制回路来获取所述输入转矩。
  29. 如权利要求28所述的云台，其特征在于：所述PID控制器设置于所述安装件上。
  30. 如权利要求28所述的云台，其特征在于：所述PID控制器能够根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
  31. 如权利要求30所述的云台，其特征在于：所述PID控制器能够根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的所述输入转矩。
  32. 如权利要求1所述的云台，其特征在于：所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
  33. 如权利要求32所述的云台，其特征在于：所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
  34. 如权利要求1所述的云台，其特征在于：所述驱动件为压电驱动器。
  35. 如权利要求34所述的云台，其特征在于：所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
  36. 如权利要求35所述的云台，其特征在于：多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
  37. 如权利要求36所述的云台，其特征在于：多个所述压电驱动器均匀分布在所述外圆的圆周上。
  38. 如权利要求36所述的云台，其特征在于：所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
  39. 如权利要求38所述的云台，其特征在于：所述定子通过致 动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
  40. 如权利要求39所述的云台，其特征在于：所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
  41. 如权利要求38所述的云台，其特征在于：所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
  42. 如权利要求41所述的云台，其特征在于：所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
  43. 如权利要求1所述的云台，其特征在于：所述云台为电动云台，其由外部电源供电。
  44. 如权利要求43所述的云台，其特征在于：所述云台为三轴电动云台。
  45. 一种可移动设备，包括机身以及设置于所述机身上的云台，其特征在于，所述云台包括驱动机构，所述驱动机构包括：
    定子，连接于所述机身，所述定子包括球形表面；
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持；其中，所述驱动件能够驱动所述安装件相对于所述定子转动，以及
    第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态，所述第一传感器的检测结果能够用于调整所述转动组件的运动。
  46. 如权利要求45所述的可移动设备，其特征在于：所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
  47. 如权利要求45所述的可移动设备，其特征在于：所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
  48. 如权利要求45所述的可移动设备，其特征在于：所述云台还包括处理器，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
  49. 如权利要求48所述的可移动设备，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
  50. 如权利要求49所述的可移动设备，其特征在于：所述处理器能够利用所述安装件相对于一参照物的位置数据来校准所述第一传感器。
  51. 如权利要求49所述的可移动设备，其特征在于：所述处理器能够利用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。
  52. 如权利要求49所述的可移动设备，其特征在于：所述云台还包括第二传感器，所述第二传感器设置于所述连接座上，并与所述处理器连接，所述第二传感器用于感测所述云台整体的运动状态，所述处理器还能够利用所述第二传感器所感测的数据来校准所述第一传感器。
  53. 如权利要求52所述的可移动设备，其特征在于：所述处理器能够利用所述第一传感器感测所述安装件关于第一轴线或/及关于第二轴线的姿态角，所述第一轴线为所述云台的俯仰轴，所述第二轴 线为所述云台的横滚轴。
  54. 如权利要求52所述的可移动设备，其特征在于：所述处理器能够利用所述第二传感器感测所述安装件关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
  55. 如权利要求52所述的可移动设备，其特征在于：所述处理器能够利用所述第二传感器感测所述连接座关于第三轴线的姿态角，所述第三轴线为所述云台的偏航轴。
  56. 如权利要求49所述的可移动设备，其特征在于：所述处理器能够利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
  57. 如权利要求56所述的可移动设备，其特征在于：所述处理器能够根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
  58. 如权利要求49所述的可移动设备，其特征在于：所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
  59. 如权利要求45所述的可移动设备，其特征在于：所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
  60. 如权利要求49所述的可移动设备，其特征在于：所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
  61. 如权利要求60所述的可移动设备，其特征在于：所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
  62. 如权利要求61所述的可移动设备，其特征在于：所述致动件为旋转电机。
  63. 如权利要求61所述的可移动设备，其特征在于：所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
  64. 如权利要求45所述的可移动设备，其特征在于：所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
  65. 如权利要求64所述的可移动设备，其特征在于：所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
  66. 如权利要求65所述的可移动设备，其特征在于：所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
  67. 如权利要求65所述的可移动设备，其特征在于：所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
  68. 如权利要求65所述的可移动设备，其特征在于：所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载及所述云台的整体重心。
  69. 如权利要求68所述的可移动设备，其特征在于：所述平衡件为多个，多个所述平衡件均布于所述安装件上；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外 部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
  70. 如权利要求45所述的可移动设备，其特征在于：所述驱动件为压电驱动器，所述压电驱动器用于驱动所述安装件相对于所述定子转动，以使所述安装件的姿态角满足目标姿态角。
  71. 如权利要求70所述的可移动设备，其特征在于：所述云台还包括处理器，所述处理器与所述驱动件连接，并用于计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩，且能够控制所述驱动件驱动所述安装件转动。
  72. 如权利要求71所述的可移动设备，其特征在于：所述云台还包括与所述处理器连接的比例-积分-微分控制器(PID控制器)，所述处理器能够利用所述PID控制器通过反馈控制回路来获取所述输入转矩。
  73. 如权利要求72所述的可移动设备，其特征在于：所述PID控制器设置于所述安装件上。
  74. 如权利要求72所述的可移动设备，其特征在于：所述PID控制器能够根据所述目标姿态角及所述第一传感器检测的安装件的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
  75. 如权利要求74所述的可移动设备，其特征在于：所述PID控制器能够根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的所述输入转矩。
  76. 如权利要求45所述的可移动设备，其特征在于：所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
  77. 如权利要求76所述的可移动设备，其特征在于：所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
  78. 如权利要求45所述的可移动设备，其特征在于：所述驱动件为压电驱动器。
  79. 如权利要求78所述的可移动设备，其特征在于：所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
  80. 如权利要求79所述的可移动设备，其特征在于：多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
  81. 如权利要求80所述的可移动设备，其特征在于：多个所述压电驱动器均匀分布在所述外圆的圆周上。
  82. 如权利要求80所述的可移动设备，其特征在于：所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
  83. 如权利要求82所述的可移动设备，其特征在于：所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
  84. 如权利要求83所述的可移动设备，其特征在于：所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
  85. 如权利要求82所述的可移动设备，其特征在于：所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设 置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
  86. 如权利要求85所述的可移动设备，其特征在于：所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
  87. 如权利要求45所述的可移动设备，其特征在于：所述云台为电动云台，其由外部电源供电。
  88. 如权利要求87所述的可移动设备，其特征在于：所述云台为三轴电动云台。
  89. 一种云台控制方法，用于控制云台，所述云台包括驱动机构，所述驱动机构包括：
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上；以及
    定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；以及
    第一传感器，设置于所述转子组件上，并用于检测所述转子组件的运动状态；
    所述云台的控制方法包括：
    利用第一传感器获取所述安装件的运动状态；以及
    根据所述运动状态，控制所述驱动件驱动所述安装件相对所述定子转动。
  90. 如权利要求89所述的云台控制方法，其特征在于：获取所述安装件的运动状态之前，对所述第一传感器进行校准。
  91. 如权利要求90所述的云台控制方法，其特征在于：对所述第一传感器进行校准时，利用所述安装件相对于一参照物的位置数据 来校准所述第一传感器。
  92. 如权利要求90所述的云台控制方法，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台，对所述第一传感器进行校准时，利用所述安装件相对于所述连接座的位置数据来校准所述第一传感器。
  93. 如权利要求92所述的云台控制方法，其特征在于：控制所述驱动件驱动所述安装件相对所述定子转动时，利用所述安装件的姿态角以及所述连接座的姿态角来调整所述安装件相对于所述连接座的方位。
  94. 如权利要求93所述的云台控制方法，其特征在于：根据所述连接座的姿态角来调整所述安装件的姿态角，以使所述安装件对齐所述连接座。
  95. 如权利要求90所述的云台控制方法，其特征在于：所述云台还包括第二传感器，所述第二传感器用于感测所述云台整体的运动状态；对所述第一传感器进行校准时，利用所述第二传感器所感测的数据来校准所述第一传感器。
  96. 如权利要求89所述的云台控制方法，其特征在于：控制所述驱动件驱动所述安装件相对所述定子转动时，所述安装件的姿态角满足目标姿态角。
  97. 如权利要求96所述的云台控制方法，其特征在于：控制所述驱动件驱动所述安装件相对所述定子转动之前，计算所述驱动件将所述安装件驱动至所述目标姿态角时所需要的输入转矩。
  98. 如权利要求96所述的云台控制方法，其特征在于：利用PID控制器通过反馈控制回路来获取所述输入转矩。
  99. 如权利要求98所述的云台控制方法，其特征在于：利用所述PID控制器根据所述目标姿态角及所述第一传感器检测的安装件 的实际姿态角之间的差值来获取所述驱动件所需的输入角速度。
  100. 如权利要求99所述的云台控制方法，其特征在于：利用PID控制器根据所述输入角速度及所述第一传感器检测的安装件的实际角速度之间的差值来获取所述驱动件所需的输入转矩。
  101. 如权利要求89所述的云台控制方法，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台；获取所述安装件的运动状态之前，调整所述安装件相对于所述连接座的方位。
  102. 如权利要求101所述的云台控制方法，其特征在于：利用所述第一传感器获取所述安装件关于一第一轴线及一第二轴线的姿态角，并根据所述姿态角调整所述安装件相对于所述连接座的方位。
  103. 如权利要求102所述的云台控制方法，其特征在于：根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤包括：控制所述安装件运动，使所述安装件关于一第一轴线及一第二轴线的姿态角分别满足预设姿态角。
  104. 如权利要求103所述的云台控制方法，其特征在于：根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤还包括：所述云台还包括设置于所述连接座上的第二传感器，利用第二传感器获取所述连接座关于一第三轴线的姿态角，并利用所述第一传感器获取所述安装件关于所述第三轴线的姿态角。
  105. 如权利要求104所述的云台控制方法，其特征在于：根据所述姿态角调整所述安装件相对于所述连接座的方位的步骤还包括：根据所述连接座关于所述第三轴线的姿态角及所述安装件关于所述第三轴线的姿态角之间的差值，调整所述安装件的姿态角，使所述安装件对齐所述连接座。
  106. 一种云台，包括驱动机构，其特征在于，所述驱动机构包 括：
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上；以及
    定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；
    其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。
  107. 如权利要求106所述的云台，其特征在于：所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
  108. 如权利要求107所述的云台，其特征在于：所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
  109. 如权利要求108所述的云台，其特征在于：所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
  110. 如权利要求108所述的云台，其特征在于：所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
  111. 如权利要求108所述的云台，其特征在于：所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调整，以平衡所述外部负载的重心。
  112. 如权利要求111所述的云台，其特征在于：所述平衡件为多 个，多个所述平衡件均布于所述安装件上；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
  113. 如权利要求106所述的云台，其特征在于：所述安装件上设置有第一传感器，所述第一传感器用于检测所述转子组件的运动状态。
  114. 如权利要求113所述的云台，其特征在于：所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
  115. 如权利要求113所述的云台，其特征在于：所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
  116. 如权利要求113所述的云台，其特征在于：所述云台还包括处理器，所述处理器与所述第一传感器连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
  117. 如权利要求106所述的云台，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
  118. 如权利要求117所述的云台，其特征在于：所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
  119. 如权利要求117所述的云台，其特征在于：所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
  120. 如权利要求117所述的云台，其特征在于：所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
  121. 如权利要求120所述的云台，其特征在于：所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
  122. 如权利要求121所述的云台，其特征在于：所述致动件为旋转电机。
  123. 如权利要求121所述的云台，其特征在于：所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
  124. 如权利要求106所述的云台，其特征在于：所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
  125. 如权利要求124所述的云台，其特征在于：所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
  126. 如权利要求106所述的云台，其特征在于：所述驱动件为压电驱动器。
  127. 如权利要求126所述的云台，其特征在于：所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述 定子设置于多个所述压电驱动器之间。
  128. 如权利要求127所述的云台，其特征在于：多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
  129. 如权利要求128所述的云台，其特征在于：多个所述压电驱动器均匀分布在所述外圆的圆周上。
  130. 如权利要求128所述的云台，其特征在于：所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
  131. 如权利要求130所述的云台，其特征在于：所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
  132. 如权利要求131所述的云台，其特征在于：所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
  133. 如权利要求130所述的云台，其特征在于：所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
  134. 如权利要求133所述的云台，其特征在于：所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
  135. 如权利要求106所述的云台，其特征在于：所述云台为电动云台，其由外部电源供电。
  136. 如权利要求135所述的云台，其特征在于：所述云台为三轴电动云台。
  137. 一种可移动设备，其包括机身以及设置于所述机身上的云台，其特征在于，所述云台包括驱动机构，所述驱动机构包括：
    定子，连接于所述机身，所述定子包括球形表面；
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上，且与所述定子的所述球形表面相抵持；
    其中，所述驱动件能够驱动所述安装件相对于所述定子转动，所述安装件及所述安装件上的外部负载相对于所述定子的重心能够处于平衡状态。
  138. 如权利要求137所述的可移动设备，其特征在于：所述安装件包括安装部及设置于所述安装部上的支撑部，所述驱动件设置于所述支撑部上。
  139. 如权利要求138所述的可移动设备，其特征在于：所述支撑部为多个，所述定子设置于多个所述支撑部之间，所述安装部用于承载所述外部负载，使所述外部负载及所述云台的整体重心相对所述球形表面的球心偏移。
  140. 如权利要求139所述的可移动设备，其特征在于：所述安装部为环形，环形的所述安装部环绕设置在所述定子的所述球形表面外周。
  141. 如权利要求139所述的可移动设备，其特征在于：所述外部负载设于所述安装部上时，所述外部负载及所述云台的整体重心沿一第一方向相对所述球形表面的球心偏移，所述第一方向与所述云台的偏航轴平行或重合。
  142. 如权利要求139所述的可移动设备，其特征在于：所述安装件上还设置有平衡件，所述平衡件相对所述安装件的位置能够调 整，以平衡所述外部负载的重心。
  143. 如权利要求142所述的可移动设备，其特征在于：所述平衡件为多个，多个所述平衡件均布于所述安装件上；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第一轴线相对所述球形表面的球心偏移，所述第一轴线为所述云台的偏航轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第二轴线相对所述球形表面的球心偏移，所述第二轴线为所述云台的俯仰轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心沿一第三轴线相对所述球形表面的球心偏移，所述第三轴线为所述云台的横滚轴；
    或/及，所述平衡件相对所述安装件的位置能够调整，使所述外部负载及所述云台的整体重心与所述球形表面的球心重合。
  144. 如权利要求137所述的可移动设备，其特征在于：所述安装件上设置有第一传感器，所述第一传感器用于检测所述转子组件的运动状态。
  145. 如权利要求144所述的可移动设备，其特征在于：所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
  146. 如权利要求144所述的可移动设备，其特征在于：所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
  147. 如权利要求144所述的可移动设备，其特征在于：所述云台还包括处理器，所述处理器与所述第一传感器连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
  148. 如权利要求137所述的可移动设备，其特征在于：所述云台还包括连接座，所述定子连接于所述连接座上，所述连接座用于连接一应用平台。
  149. 如权利要求148所述的可移动设备，其特征在于：所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
  150. 如权利要求148所述的可移动设备，其特征在于：所述外部负载为以下几种中的任一种：图像获取装置、通讯装置、传感器。
  151. 如权利要求148所述的可移动设备，其特征在于：所述云台还包括致动件，所述致动件连接于所述定子与所述连接座之间，并能够驱动所述定子相对所述连接座运动。
  152. 如权利要求151所述的可移动设备，其特征在于：所述致动件为旋转驱动件，所述致动件能够驱动所述定子相对所述连接座绕一第一轴线转动，所述第一轴线为所述云台的偏航轴。
  153. 如权利要求152所述的可移动设备，其特征在于：所述致动件为旋转电机。
  154. 如权利要求152所述的可移动设备，其特征在于：所述云台还包括第二传感器，所述第二传感器与所述致动件电连接，并用于感测所述致动件的运动状态。
  155. 如权利要求137所述的可移动设备，其特征在于：所述驱动件为压电驱动器，所述压电驱动器能够驱动所述安装件相对于所述定子绕至少一轴线转动。
  156. 如权利要求155所述的可移动设备，其特征在于：所述安装件相对所述定子转动的轴线至少包括以下的任一轴：所述云台的偏航轴、所述云台的横滚轴、所述云台的俯仰轴。
  157. 如权利要求137所述的可移动设备，其特征在于：所述驱 动件为压电驱动器。
  158. 如权利要求157所述的可移动设备，其特征在于：所述压电驱动器为多个，多个所述压电驱动器彼此间隔设置在所述安装件上，所述定子设置于多个所述压电驱动器之间。
  159. 如权利要求158所述的可移动设备，其特征在于：多个所述压电驱动器沿所述定子的所述球形表面的一个外圆的周向排列设置。
  160. 如权利要求159所述的可移动设备，其特征在于：多个所述压电驱动器均匀分布在所述外圆的圆周上。
  161. 如权利要求159所述的可移动设备，其特征在于：所述定子可转动地连接于一连接座，所述定子能够绕一第一轴线相对所述连接座转动；多个所述压电驱动器沿一第一圆周排列设置，并能够驱动所述安装件绕一第二轴线及一第三轴线相对所述定子转动。
  162. 如权利要求161所述的可移动设备，其特征在于：所述定子通过致动件连接于一连接座上，所述定子能够在所述致动件的驱动下绕所述第一轴线转动，所述第一轴线为所述云台的偏航轴。
  163. 如权利要求162所述的可移动设备，其特征在于：所述第二轴线及所述第三轴线分别为所述云台的横滚轴及俯仰轴。
  164. 如权利要求161所述的可移动设备，其特征在于：所述定子固定地连接于一连接座，多个所述压电驱动器沿一第二圆周排列设置，并能够驱动所述安装件绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
  165. 如权利要求164所述的可移动设备，其特征在于：所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚轴及俯仰轴。
  166. 如权利要求137所述的可移动设备，其特征在于：所述云 台为电动云台，其由外部电源供电。
  167. 如权利要求166所述的可移动设备，其特征在于：所述云台为三轴电动云台。
  168. 一种云台的操作方法，所述云台包括驱动机构，所述驱动机构包括：
    转子组件，包括：
    安装件，用于承载外部负载；以及
    驱动件，设置于所述安装件上；以及
    定子，可转动地抵接于所述驱动件，所述定子包括球形表面，所述球形表面与所述驱动件相接触；
    所述操作方法包括：
    将外部负载设置于所述安装件上，使所述外部负载相对于所述定子的重心处于平衡状态；以及
    控制所述驱动件驱动所述安装件相对所述定子转动，以带动所述外部负载运动。
  169. 如权利要求168所述的操作方法，其特征在于：所述操作方法还包括：将所述定子连接于一应用平台上。
  170. 如权利要求169所述的操作方法，其特征在于：将所述定子通过一连接座连接于所述应用平台上。
  171. 如权利要求170所述的操作方法，其特征在于：将所述定子连接于所述连接座上时，使所述定子相对所述连接座固定设置。
  172. 如权利要求171所述的操作方法，其特征在于：控制所述驱动件驱动所述安装件相对所述定子转动时，所述安装件能够绕一第一轴线、一第二轴线及一第三轴线相对所述定子转动。
  173. 如权利要求172所述的操作方法，其特征在于：所述第一轴线、所述第二轴线及所述第三轴线分别为所述云台的偏航轴、横滚 轴及俯仰轴。
  174. 如权利要求170所述的操作方法，其特征在于：将所述定子连接于所述连接座上时，使所述定子能够绕一第一轴线相对所述连接座转动，所述第一轴线为所述云台的偏航轴。
  175. 如权利要求169所述的操作方法，其特征在于：所述应用平台为以下几种中的任一种：遥控移动装置、车辆、船舶、固定基站、手持设备。
  176. 如权利要求168所述的操作方法，其特征在于：所述操作方法还包括：利用第一传感器检测所述转子组件的运动状态，以根据所述运动状态来控制所述安装件转动。
  177. 如权利要求176所述的操作方法，其特征在于：所述第一传感器为以下几种中的至少一种：陀螺仪、加速度计。
  178. 如权利要求176所述的操作方法，其特征在于：所述转子组件的运动状态包括以下几种中的至少一种：转动角度、转动速度、角速度、角加速度。
  179. 如权利要求176所述的操作方法，其特征在于：所述操作方法还包括：利用处理器控制所述安装件转动，所述处理器与所述第一传感器电连接，所述处理器能够根据所述第一传感器获取的所述运动状态调整所述转子组件的运动。
PCT/CN2016/109527 2016-12-12 2016-12-12 云台及其操作方法、控制方法，及使用其的可移动设备 WO2018107337A1 (zh)

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