WO2019119896A1 - Procédé et appareil de détection de position de rotor de moteur, dispositif électronique et aéronef sans pilote - Google Patents

Procédé et appareil de détection de position de rotor de moteur, dispositif électronique et aéronef sans pilote Download PDF

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Publication number
WO2019119896A1
WO2019119896A1 PCT/CN2018/105311 CN2018105311W WO2019119896A1 WO 2019119896 A1 WO2019119896 A1 WO 2019119896A1 CN 2018105311 W CN2018105311 W CN 2018105311W WO 2019119896 A1 WO2019119896 A1 WO 2019119896A1
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WO
WIPO (PCT)
Prior art keywords
motor
angle
axis
rotor
attitude
Prior art date
Application number
PCT/CN2018/105311
Other languages
English (en)
Chinese (zh)
Inventor
颜世智
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019119896A1 publication Critical patent/WO2019119896A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Definitions

  • the embodiments of the present invention relate to the field of cloud platform technology, and in particular, to a method, a device, an electronic device, and an unmanned aerial vehicle for detecting a position of a rotor of a motor.
  • the rotor position information of the fused motor is required for motor control. Therefore, the motor is generally provided with physical sensors for detecting the position of the rotor of the motor and the position information of the rotor. Feedback to the motor controller to control the motor.
  • the pan/tilt is a supporting device for mounting and fixing the camera. For a multi-axis pan/tilt head with multiple motors, it is necessary to control the motor of each axis to stabilize the camera by adjusting the rotation angle of the motor.
  • the inventors of the present application found in the process of implementing the present application that the prior art has the following problems: since the physical sensors in the prior art are generally disposed on the motors of the respective axes of the pan/tilt, the physical sensors are easily affected by the magnetic field of the motor. The interference causes the measured angular error to be large, so that the position of the rotor of the motor of each shaft finally obtained also has a large deviation; on the other hand, this also increases the structural size of the motor and the multi-axis pan/tilt in an invisible manner. The assembly process of the motor and the multi-axis pan/tilt becomes more complicated and difficult.
  • the technical problem to be solved by the present application is to provide a method, a device and an electronic device for detecting the position of a rotor of a motor, which solve the problem that the physical sensor is disposed on the motor of each axis of the pan/tilt in the prior art, and the physical sensor is susceptible to interference by the magnetic field of the motor.
  • the problem of large angle error is measured, and the structure size of the motor and the multi-axis pan/tilt in the prior art is large, and the assembly process of the motor and the multi-axis pan/tilt is complicated and difficult technical problems.
  • a technical solution adopted by the embodiment of the present application is to provide a method for detecting a rotor position of a motor, a bearing is fixed on the motor, and the motor is used to rotate the carrier by driving the carrier. And controlling the posture of the carrier, the method includes:
  • the rotor position of the motor is calculated based on the attitude angle.
  • calculating the rotor position of the motor according to the attitude angle includes:
  • a position of the rotor of the motor is determined based on the direction of rotation and the mechanical angle.
  • the attitude angle comprises a first axial angle ⁇ P of the carrier deflected on the first axis and/or a second axial angle ⁇ R deflected on the second axis and/or in the third
  • the attitude of the on-axis deflection is a third axis angle ⁇ Y , wherein the first axis, the second axis, and the third axis are perpendicular to each other.
  • the electric machine comprises a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • determining the mechanical angle of rotation of the rotor of the motor according to an absolute value of the attitude angle including:
  • the mechanical angle at which the rotation of the rotor of the third shaft motor is determined is
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • the attitude angle is detected by an inertial measurement unit disposed on the carrier.
  • the embodiment of the present application further provides a method for detecting a rotor position of a motor, the motor is mounted on a pan/tilt, a load is fixed on the motor, and the motor is used to drive the The carrier rotates to control the attitude of the carrier, the method comprising:
  • a rotor position of the motor is calculated based on the first attitude angle and the second attitude angle.
  • calculating the rotor position of the motor according to the first attitude angle and the second posture angle including:
  • a position of the rotor of the motor is determined based on the direction of rotation and the mechanical angle.
  • the first attitude angle comprises a first attitude first axis angle ⁇ P1 of the carrier deflected on the first axis and/or a first attitude second axis angle ⁇ R1 deflected on the second axis And/or a first attitude third axis angle ⁇ Y1 deflected on the third axis;
  • the second attitude angle comprising a second attitude of the pan/tilt head being deflected on the first axis by a first axis angle ⁇ P2 And/or a second attitude second angle ⁇ R2 deflected on the second axis and/or a second attitude third axis angle ⁇ Y2 deflected on the third axis, wherein the first axis The second axis and the third axis are perpendicular to each other, and the calculating the difference between the first attitude angle and the second posture angle includes:
  • a difference between the first attitude third axis angle ⁇ Y1 and the second posture third axis angle ⁇ Y2 is calculated.
  • the electric machine comprises a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • determining, according to the absolute value of the difference, a mechanical angle of rotation of a rotor of the motor including:
  • the mechanical angle at which the rotation of the rotor of the third shaft motor is determined is
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • the first attitude angle is detected by a first inertial measurement unit disposed on the carrier;
  • the second attitude angle is detected by a second inertial measurement unit disposed on the pan/tilt.
  • the embodiment of the present application further provides a device for detecting a rotor position of a motor, the motor is fixed with a carrier, and the motor is configured to control a posture of the carrier by driving the carrier to rotate
  • the device includes:
  • An acquiring module configured to acquire a posture angle that represents a posture of the carrier
  • a calculation module configured to calculate a rotor position of the motor according to the attitude angle.
  • the calculating module includes:
  • a first determining unit configured to determine a rotation direction of the rotor of the motor according to the positive and negative of the attitude angle
  • a second determining unit configured to determine a mechanical angle of rotation of a rotor of the motor according to an absolute value of the attitude angle
  • a third determining unit determining a current position of the rotor of the motor according to the rotating direction and the mechanical angle.
  • the attitude angle comprises a first axial angle ⁇ P of the carrier deflected on the first axis and/or a second axial angle ⁇ R deflected on the second axis and/or in the third
  • the attitude of the on-axis deflection is a third axis angle ⁇ Y , wherein the first axis, the second axis, and the third axis are perpendicular to each other.
  • the electric machine comprises a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • determining the mechanical angle of rotation of the rotor of the motor according to an absolute value of the attitude angle including:
  • the mechanical angle at which the rotation of the rotor of the third shaft motor is determined is
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • the attitude angle is detected by an inertial measurement unit disposed on the carrier.
  • the embodiment of the present application further provides a device for detecting a rotor position of a motor, the motor is mounted on a pan/tilt, a load is fixed on the motor, and the motor is used to drive the The carrier rotates to control the attitude of the carrier, the device comprising:
  • An acquiring module configured to acquire a first posture angle that represents a posture of the carrier, and acquire a second posture angle that represents a posture of the entire platform;
  • a calculating module configured to calculate a rotor position of the motor according to the first attitude angle and the second posture angle.
  • the calculating module includes:
  • a calculating unit configured to calculate a difference between the first attitude angle and the second posture angle
  • a first determining unit configured to determine a rotation direction of the rotor of the motor according to the positive and negative of the difference
  • a second determining unit configured to determine a mechanical angle of rotation of the rotor of the motor according to an absolute value of the difference
  • a third determining unit configured to determine a position of the rotor of the motor according to the rotating direction and the mechanical angle.
  • the first attitude angle comprises a first attitude first axis angle ⁇ P1 of the carrier deflected on the first axis and/or a first attitude second axis angle ⁇ R1 deflected on the second axis And/or a first attitude third axis angle ⁇ Y1 deflected on the third axis;
  • the second attitude angle comprising a second attitude of the pan/tilt head being deflected on the first axis by a first axis angle ⁇ P2 And/or a second attitude second angle ⁇ R2 deflected on the second axis and/or a second attitude third axis angle ⁇ Y2 deflected on the third axis, wherein the first axis The second axis and the third axis are perpendicular to each other, and the calculating the difference between the first attitude angle and the second posture angle includes:
  • a difference between the first attitude third axis angle ⁇ Y1 and the second posture third axis angle ⁇ Y2 is calculated.
  • the electric machine comprises a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • determining, according to the absolute value of the difference, a mechanical angle of rotation of a rotor of the motor including:
  • the mechanical angle at which the rotation of the rotor of the third shaft motor is determined is
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • the first attitude angle is detected by a first inertial measurement unit disposed on the carrier;
  • the second attitude angle is detected by a second inertial measurement unit disposed on the pan/tilt.
  • an electronic device including:
  • At least one processor and,
  • a memory communicatively coupled to at least one processor
  • a first inertial measurement unit connected to the processor, and the first inertial measurement unit is configured to be disposed on the carrier, wherein the carrier is fixed to the motor of the pan/tilt, and the motor of the pan/tilt is used to control the posture of the carrier;
  • the memory stores instructions executable by at least one processor, the instructions being executed by at least one processor to enable the at least one processor to perform the methods described above.
  • the embodiment of the present application further provides a motor, including:
  • a base provided with a first rotating hole
  • the rotating shaft after one end passes through the first bearing, is fixed to the rotor.
  • the rotor includes a magnetic ring and a housing
  • the magnetic ring is fixed to the housing, and one end of the rotating shaft is fixed to the housing.
  • the magnetic ring is located between the housing and the base;
  • the housing is provided with a receiving groove facing a surface of the base;
  • the stator is received in a receiving groove of the housing.
  • a surface of the base facing the rotor is provided with a fixing portion
  • the terminal block and the stator are sleeved on the fixing portion.
  • the fixing portion is provided with a second rotating hole, and the second rotating hole is in communication with the first rotating hole;
  • One end of the rotating shaft is sequentially fixed to the casing after passing through the first bearing, the fixing portion and the second rotating hole.
  • the motor further includes a second bearing
  • the second bearing is fixed in the second rotating hole, and one end of the rotating shaft passes through the second bearing.
  • a surface of the base facing the rotor is provided with a first engaging portion and a second engaging portion;
  • the first engaging portion and the second engaging portion are clamped and fixed to the wiring board.
  • the fixing manner between the stator and the wiring board is a snap fixing or a glue fixing.
  • the embodiment of the present application further provides a cloud platform for mounting a carrier, wherein the carrier is provided with a first inertial measurement unit for sensing the first character representing the posture of the carrier.
  • the pan/tilt includes:
  • a docking station for connecting to a mobile device
  • a drive assembly having one end movably coupled to the base and the other end movably coupled to the carrier for driving the carrier to rotate;
  • a second inertial measurement unit configured to sense a second attitude angle that represents a posture of the entire pan/tilt head
  • a processor for receiving the first attitude angle from the first inertial measurement unit, receiving the second attitude angle from the second inertial measurement unit, and according to the first attitude angle and the first The second attitude angle determines an angular position of the motor assembly, wherein the motor assembly is each of the motors in the drive assembly.
  • the second inertial measurement unit is disposed on the connecting base.
  • the first inertial measurement unit is configured to detect a rotation angle of the carrier with respect to at most three rotation axes; the second inertial measurement unit is configured to detect the entire pan/tilt head relative to at most three rotations The angle of rotation of the shaft.
  • the first inertial measurement unit comprises a first gyroscope and the second inertial measurement unit comprises a second gyroscope.
  • the first inertial measurement unit is further configured to detect an acceleration of the carrier relative to at most three motion axes; the second inertial measurement unit is further configured to detect the whole of the pan/tilt relative to at most three The acceleration of the motion axis.
  • the first inertial measurement unit comprises a first accelerometer and the second inertial measurement unit comprises a second accelerometer.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis; wherein the carrier is mounted to a rotor of the first shaft motor, a stator of the first shaft motor Connect the connector.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis; wherein the carrier is mounted to a stator of the first shaft motor, a rotor of the first shaft motor Connect the connector.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis, and a second shaft motor that drives the carrier to rotate about a second axis, the processor processing the An attitude angle and the second attitude angle to determine an angular position of the motor assembly, the processor including the first attitude angle and the second attitude angle to determine a rotor of the first shaft motor position.
  • the first axis motor is the motor of the sixth aspect above.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis, and a second shaft motor that drives the carrier to rotate about a second axis, the first shaft and the first shaft a second axis perpendicular; wherein the carrier is mounted to a rotor of the first shaft motor, a stator of the first shaft motor is coupled to a rotor of the second shaft motor, and a stator connection of the second shaft motor Said connector.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis, and a second shaft motor that drives the carrier to rotate about a second axis, the first shaft and the first shaft
  • the second axis is vertical; wherein the carrier is mounted to a stator of the first shaft motor, a rotor of the first shaft motor is coupled to a stator of the second shaft motor, and a rotor connection of the second shaft motor Said connector.
  • the processor processes the first attitude angle and the second attitude angle to determine an angular position of the motor component, including: the processor processes the first attitude angle and the second The attitude angle determines a rotor position of the first shaft motor and/or a rotor position of the second shaft motor.
  • the first axis motor and/or the second axis motor are the motor of the sixth aspect above.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis, a second shaft motor that drives the carrier to rotate about a second axis, and drives the carrier around a third a shaft-rotating third-axis motor, the first shaft, the second shaft and the third shaft being perpendicular to each other; wherein the carrier is mounted to a rotor of the first shaft motor, the first A stator of the shaft motor is coupled to a rotor of the second shaft motor, a stator of the second shaft motor is coupled to a rotor of the third shaft motor, and a stator of the third shaft motor is coupled to the connector.
  • the drive assembly includes a first shaft motor that drives the carrier to rotate about a first axis, a second shaft motor that drives the carrier to rotate about a second axis, and drives the carrier around a third a shaft-rotating third-axis motor, the first shaft, the second shaft and the third shaft being perpendicular to each other; wherein the carrier is mounted to a stator of the first shaft motor, the first A rotor of the shaft motor is coupled to a stator of the second shaft motor, a rotor of the second shaft motor is coupled to a stator of the third shaft motor, and a rotor of the third shaft motor is coupled to the connector.
  • the processor processes the first attitude angle and the second attitude angle to determine an angular position of the motor component, including: the processor processes the first attitude angle and the second The attitude angle determines a rotor position of the first shaft motor and/or a rotor position of the second shaft motor.
  • the first axis motor and/or the second axis motor and/or the third axis motor are the motor of the sixth aspect above.
  • the carrier is an image acquisition device.
  • the movable device is any one of the following: an unmanned aerial vehicle, a remote control mobile device, a vehicle, a ship, a fixed base station, a handheld device.
  • the embodiment of the present application further provides an unmanned aerial vehicle, including a fuselage and a pan/tilt as described above.
  • a load is fixed on the motor of the pan/tilt, and the motor is used to control the posture of the carrier.
  • the first inertial measurement unit is disposed on the carrier. First, the first inertial measurement unit acquires the motor to be detected of the pan/tilt. Corresponding to the attitude direction for adjusting the posture of the carrier, and then detecting the attitude angle of the current bearing in the posture direction, and finally calculating the current position of the rotor of the motor to be detected according to the posture angle.
  • the present application can determine the current position of the rotor of the motor to be detected simply by obtaining the attitude direction and the attitude angle of the carrier, and does not need to directly measure the current position of the rotor through the sensors on each motor, thereby avoiding the motor to the sensor.
  • the interference makes the measured angle more accurate, and the determined rotor position will be more accurate.
  • the space occupied by the physical sensor on the motor is reduced, and the production of each motor is reduced. Requirements and installation process requirements reduce the size of the motor and the pan/tilt, and further improve the assembly efficiency and pass rate of the PTZ motor and the pan/tilt.
  • FIG. 1 is a schematic diagram of pan/tilt control and motor control in the prior art
  • FIG. 2 is a schematic structural diagram of a cloud platform according to an embodiment of the present application.
  • FIG. 3 is a connection diagram of a first inertial measurement unit, a second inertial measurement unit, and a processor in an embodiment of the present application;
  • FIG. 4 is a schematic view showing a pitch angle of a carrier in a first embodiment of the present invention for detecting a rotor position of a motor;
  • FIG. 5 is a schematic diagram of a method for detecting a position of a rotor of a motor according to a first embodiment of the present invention; wherein a pitch angle of the carrier is minus 30 degrees;
  • FIG. 6 is a schematic perspective structural view of a motor according to an embodiment of the present application.
  • Figure 7 is a schematic exploded view of the motor shown in Figure 6;
  • Figure 8 is a schematic structural view of the base of the exploded structure of the motor shown in Figure 7;
  • FIG. 9 is a schematic structural view of a wiring board in the schematic diagram of the motor explosion structure shown in FIG. 7;
  • Figure 10 is a schematic view showing the explosion structure of the motor in the prior art
  • Figure 11 is a schematic structural view of a wiring board of the motor shown in Figure 10;
  • Figure 12 is an unmanned aerial vehicle according to an embodiment of the present application.
  • Figure 13 is a schematic diagram of pan/tilt control and motor control in the present application.
  • FIG. 14 is a flow chart of an embodiment of a method for detecting a rotor position of a motor according to the present application
  • 15 is a flow chart of another embodiment of a method for detecting a rotor position of a motor according to the present application.
  • 16 is a schematic diagram of an embodiment of an apparatus for detecting a rotor position of a motor according to the present application
  • 17 is a schematic view of another embodiment of an apparatus for detecting a rotor position of a motor according to the present application.
  • FIG. 18 is a schematic diagram of an electronic device according to an embodiment of the present application.
  • the pan/tilt head 100 includes: a connecting base 30, a driving assembly 10, a first inertial measuring unit 51, and a second inertial measuring unit. 52 and processor 53.
  • the driving assembly 10 is movably connected to the connecting seat 30, and the other end is movably connected with the carrier 200 to carry the carrier 200.
  • the driving assembly 10 can drive the attitude of changing the carrier 200.
  • the carrier 200 is optional. It is an image acquisition device such as a camera.
  • the first inertial measurement unit 51 and the second inertial measurement unit 52 are respectively connected to the processor 53, and the processor 53 is configured to acquire and analyze the measurement data of the first inertial measurement unit 51 and the second inertial measurement unit 52. deal with.
  • the platform 100 can be an axis pan
  • the drive assembly 10 includes a first shaft motor 11 that drives the carrier 200 to rotate about a first axis; wherein the carrier 200 is mounted to the first shaft motor 11
  • the rotor, the stator of the first shaft motor 11 is connected to the joint 30.
  • the carrier 200 may also be mounted to the stator of the first shaft motor 11, and the rotor of the first shaft motor 11 is coupled to the connector 30.
  • the pan/tilt head 100 can in turn be a two-axis pan/tilt head
  • the drive assembly 10 includes a first shaft motor 11 that drives the carrier 200 to rotate about the first axis, and a second that drives the carrier 200 to rotate about the second axis.
  • the two-axis motor 12 has a first axis that is perpendicular to the second axis.
  • the carrier 200 is mounted to the rotor of the first shaft motor 11, the stator of the first shaft motor 11 is coupled to the rotor of the second shaft motor 12, and the stator of the second shaft motor 12 is coupled to the connector 30.
  • first shaft motor and the second shaft motor can also be connected in different manners.
  • the carrier 200 is mounted on the stator of the first shaft motor 11, and the rotor of the first shaft motor 11 is connected to the second.
  • the stator of the shaft motor 12 and the rotor of the second shaft motor 12 are connected to the joint 30.
  • the pan/tilt head 100 can also be a three-axis pan/tilt head, and the drive assembly 10 includes a first shaft motor 11 that drives the carrier 200 to rotate about a first axis, and a second that drives the carrier 200 to rotate about a second axis.
  • the shaft motor 12 and the third shaft motor 13 that drives the carrier 200 to rotate about the third axis, the first shaft, the second shaft and the third shaft are perpendicular to each other; wherein the carrier 200 is mounted on the rotor of the first shaft motor 11
  • the stator of the first shaft motor 11 is coupled to the rotor of the second shaft motor 12
  • the stator of the second shaft motor 12 is coupled to the rotor of the third shaft motor 13
  • the stator of the third shaft motor 13 is coupled to the joint 30.
  • first shaft motor, the second shaft motor and the third shaft motor can also be connected in different manners.
  • the carrier 200 is mounted on the stator of the first shaft motor 11, and the first shaft motor 11
  • the rotor is coupled to the stator of the second shaft motor 12
  • the rotor of the second shaft motor 12 is coupled to the stator of the third shaft motor 13
  • the rotor of the third shaft motor 13 is coupled to the joint 30.
  • the docking station 30 is for connecting to a mobile device, and the mobile device can drive the pan/tilt head 100 to move, thereby changing the posture of the pan/tilt head 100 as a whole.
  • the mobile device is an unmanned aerial vehicle, a remotely controlled mobile device, a vehicle, a ship, a stationary base station, a handheld device, and the like.
  • the first inertial measurement unit 51 is disposed on the carrier 200 for sensing a first attitude angle characterizing the posture of the carrier 200.
  • the first inertial measurement unit 51 includes a first gyroscope for detecting a rotation angle of the carrier 200 with respect to at most three rotation axes, and a first accelerometer for detecting the carrier 200.
  • the first attitude angle is determined by the angle of rotation of the carrier 200 relative to at most three axes of rotation and/or the acceleration of the carrier 200 relative to at most three axes of motion relative to acceleration of at most three axes of motion.
  • the rotation angle of the carrier 200 with respect to at most three rotation axes is not limited to being detected only by the gyroscope, and those skilled in the art may also use other detection devices having the detection rotation angle to detect the same.
  • the acceleration of the detecting carrier 200 with respect to at most three axes of motion is not limited to being detected only by an accelerometer, and those skilled in the art can also detect by using other detecting devices having the detected acceleration.
  • the second inertial measurement unit 52 is disposed at the connection base 30 for characterizing the second attitude angle of the attitude of the pan/tilt head 100 as a whole.
  • the second inertial measurement unit 52 is not limited to be disposed on the connection base 30, and the second inertial measurement unit 52 may be disposed at other positions as long as it can detect the posture of the entire platform 100.
  • the second inertial measurement unit 52 includes a second gyroscope for detecting the rotation angle of the pan/tilt head 100 with respect to at most three rotation axes, and a second accelerometer for detecting the pan/tilt head.
  • the acceleration of 100 overall relative to at most three axes of motion determines the second attitude angle by the angle of rotation of the platform 100 as a whole relative to at most three axes of rotation and/or the acceleration with respect to at most three axes of motion.
  • the rotation angle of the pan/tilt head 100 relative to at most three rotation axes is not limited to being detected by the gyroscope alone, and those skilled in the art may also use other detection devices having the detection rotation angle to detect the same.
  • the detection of the acceleration of the pan/tilt head 100 with respect to at most three motion axes it is not limited to the detection by the accelerometer alone, and those skilled in the art can also detect by using other detecting devices having the detected acceleration.
  • the processor 53 is configured to receive the first attitude angle from the first inertial measurement unit 51, receive the second attitude angle from the second inertial measurement unit 52, and according to the first attitude angle and the The second attitude angle determines an angular position of the motor assembly.
  • the motor assembly is specifically the motor in the drive assembly 10 .
  • the processor 53 determines the angular position of the motor assembly according to the first attitude angle and the second attitude angle. Specifically, the processor 53 determines the position of the rotor of the motor assembly according to the first attitude angle and the second attitude angle.
  • the position of the rotor of the motor component determined by the processor 53 according to the first attitude angle and the second attitude angle is the rotor position of the first motor shaft; when the pan/tilt head 100 is two
  • the axis position of the motor assembly determined by the processor 53 according to the first attitude angle and the second attitude angle is the rotor position of the first axis motor and/or the rotor position of the second axis motor;
  • the stage 100 is a three-axis pan/tilt
  • the position of the rotor of the motor assembly determined by the processor 53 according to the first attitude angle and the second attitude angle is the rotor position of the first axis motor and/or the rotor of the second axis
  • the connector 30 can also be used to connect an immovable object, for example, on a wall.
  • the overall attitude of the platform 100 is fixed and immutable. Therefore, the second angular posture of the pan/tilt head 100 as a whole can be detected in advance, and the second angular posture can be stored, and after the processor 53 detects the first angular posture of the carrier by the first inertial measurement unit 51, according to the first angular posture and The angular position of the motor assembly in the platform 100 is calculated by pre-storing the second angle attitude. That is, it is only necessary to provide the first inertial measurement unit 51 on the pan/tilt head 100, and it is not necessary to provide the second inertial measurement unit 52.
  • first axis motor, the second axis motor, and the third axis motor described above are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • the pitch axis motor is used to adjust the pitch angle of the carrier 200
  • the roll axis motor is used to adjust the roll angle of the carrier 200
  • the heading axis motor is used to adjust the yaw angle of the carrier 200.
  • the yaw angle, the roll angle and the pitch angle of the carrier 200 have positive and negative points, and positive and negative represent different movement directions of the carrier 200, for example, as shown in FIG.
  • the pitch angle of the carrier 200 is positive 30 degrees means that the direction of the carrier 200 is upward; as shown in FIG. 5, if the pitch angle of the carrier 200 is minus 30 degrees, the direction of the carrier 200 is downward.
  • the rotor of the third motor 13 rotates clockwise to represent positive, and the rotor of the third motor 13 rotates counterclockwise to represent negative.
  • the carrier 200 moves upward in the pitch direction.
  • the three motors 13 rotate in the reverse direction, the carrier 200 moves downward in the pitch direction.
  • a motor without a Hall sensor can be used as the motor of the pan/tilt head 100, and a motor without a Hall sensor is provided as follows.
  • the motor 70 includes a base 71, a first bearing 72, a terminal block 73, a stator 74, a rotor 75, a rotating shaft 76 and a second bearing 77, wherein the first bearing 72 and the second bearing 77 are
  • the terminal block 73 is fixed to the base 71
  • the stator 74 is fixed to the terminal block 73.
  • the rotating shaft 76 passes through the first bearing 72 and the second bearing 77 and is fixed to the rotor 75.
  • the base 71 is provided with a first rotating hole (not shown).
  • the first rotating hole is for fixing the first bearing 72.
  • the base 71 is provided with a fixing portion 711 facing a surface of the rotor 75.
  • the fixing portion 711 is configured to be sleeved with the terminal block 73 and the stator 74 to fix the base 71, the terminal block 73 and the stator 74 together; the fixing portion 711 is provided with a second rotating hole 712, and the second rotating hole 712 is The first rotating hole communicates; after one end of the rotating shaft 76 passes through the first bearing 72, the fixing portion 711 and the second rotating hole 712 in sequence, it is fixed to the rotor 75, wherein the rotor 75 has a gap with the terminal plate and the base 71, and the rotor The rotor 75 and the rotor 75 are rotatable relative to the terminal block 73 and the base 71.
  • a surface of the base 71 facing the rotor 75 is further provided with a first engaging portion 713 and a second engaging portion 714.
  • the first engaging portion 713 and the second engaging portion 714 are clamped and fixed to the wiring board 73, thereby The base 71 and the terminal block 73 are fixed more firmly.
  • the base 71, the terminal block 73 and the stator 74 can also be fixed in other manners.
  • the base 71 is not provided with the fixing portion 711, and the wiring board 73 and the stator 74 are stacked and passed through.
  • the glue is fixed to the base 71, or the terminal plate 73 and the stator 74 are welded and fixed to the base.
  • the shape of the cross section of the first bearing 72 can be selected as a circular ring, and the rotating shaft 76 is a cylinder.
  • the cross section of the first rotating hole has a circular shape, and the outer diameter of the first bearing 72 is the first.
  • the diameters of the rotating holes are equal, and the inner diameter of the first bearing 72 is equal to the radius of the rotating shaft 76.
  • the shape of the cross section of the first bearing 72 may also be other shapes as long as the first bearing 72 is adapted to the rotating shaft 76, and will not be further described herein.
  • the terminal block 73 is fixed on the base 71. Specifically, please refer to FIG. 9.
  • the terminal block 73 is provided with a fixing hole 731.
  • the fixing portion 711 passes through the fixing hole 731 and is connected with the terminal block 73 and the stator 74.
  • the first latching slot 732 and the second latching slot 733 are respectively matched with the first latching portion 713 and the second latching portion 714, and the first latching slot 732 is used for receiving
  • the first latching portion 713 is configured to receive the second latching portion 714; optionally, the first latching portion 713 and the second latching portion 714 are both triangular in cross section, the first card
  • the shape of the groove 731 and the second engaging groove 732 are also triangular.
  • the stator 74 is fixed to the wiring board 73.
  • the fixing manner between the stator 74 and the wiring board 73 is a snap-fit or glue fixing.
  • the stator 74 is a coil.
  • the rotor 75 includes a magnetic ring 751 and a housing 752, wherein the magnetic ring 751 is fixed to the housing 752, and the magnetic ring 751 is located between the housing 752 and the base 71; further, the housing 752 faces the base 71
  • a receiving groove (not shown) is disposed on a surface, and the receiving groove is for receiving the stator 74.
  • the receiving groove has a circular shape.
  • the second bearing 77 is fixed in the second rotation hole 712.
  • the shape of the cross section of the second bearing 77 is a ring, and the cross section of the second rotation hole 712 has a circular shape.
  • the outer diameter of the second bearing 77 is equal to the diameter of the second rotating hole 712.
  • one end of the rotating shaft 76 passes through the first bearing 72 and the second bearing 77, and is fixed to the rotor 75. Further, one end of the rotating shaft 76 is fixed to the housing 752.
  • FIG. 10 is a schematic diagram of an explosion structure of a PTZ motor 80 in the prior art.
  • the PTZ motor 80 of the prior art includes: a base 81, a first bearing 82, a wiring board 83, and a stator 84.
  • the first bearing 82, the second bearing 87 and the terminal block 83 are fixed on the base 81
  • the stator 84 and the pressing piece 88 are fixed on the wiring board 83
  • the rotating shaft 86 passes through the first bearing 82 and the second bearing 87 and the rotor 85 is fixed, and a gate sensor 83 is further provided on the terminal block 83.
  • the rotor 85 includes a magnetic ring 851 and a housing 852.
  • Fig. 11 further shows the structure of the terminal block 83 of the pan/tilt head motor 80 shown in Fig. 10.
  • the structure of the motor 70 in the embodiment of the present application includes only the base 71, the first bearing 72, the wiring board 73, the stator 74, the rotor 75, the rotating shaft 76, and the second.
  • the bearing 77 eliminates the need to mount the Hall sensor 831 and the pressing piece 88, thereby reducing the weight of the motor 70, simplifying the internal structure of the motor 70 and the manufacturing and installation process of the motor 70, and also reducing the manufacturing of the motor 70. cost.
  • an embodiment of the present application further provides an unmanned aerial vehicle 400.
  • the unmanned aerial vehicle 400 includes a fuselage and a pan/tilt head 100 as described above.
  • the PTZ 100 of the UAV in order to realize the stabilization function of the lens, it is necessary to collect the attitude information of the UAV 400 and the attitude information of the lens in real time, and perform data fusion, and calculate that the rotor of each motor needs to be rotated to compensate.
  • the direction of rotation is controlled by a motor controller such as an electronic governor.
  • the attitude information of the UAV 400 is acquired by the second inertial measurement unit 52 mounted on the docking station 30 of the pan-tilt head 100, and the attitude information of the lens is acquired by the first inertial measurement unit 51 mounted on the lens.
  • the inertial measurement unit includes an accelerometer and a gyro; wherein the accelerometer is used to detect an acceleration component of the object, and the gyro is used to detect an angle information of the object, and the IMU is generally installed at a position of a center of gravity of the object to be measured, and the object is measured by the IMU. Axis attitude angle (or angular rate) and acceleration.
  • the current inertial measurement unit includes an accelerometer and a gyroscope, which can be discrete or integrated, that is, the accelerometer and the gyroscope are combined on one chip. Among them, the accelerometer is used to measure the linear velocity of the object, and the gyroscope is used to measure the angle of the object.
  • the motor controller controls the motor
  • the motor needs to feed back its rotor position information to the motor controller in real time for motor control.
  • the angle information of the rotor of the motor is obtained by a physical sensor mounted on the motor, and the physical sensor for acquiring the rotor angle of the motor includes, for example, a magnetic encoder, a rotary potentiometer, a linear Hall element, and the like.
  • FIG. 1 is a schematic diagram of pan/tilt control and motor control in the prior art
  • FIG. 13 is a schematic diagram of pan/tilt control and motor control in the present application.
  • Hall sensors are installed on each motor, and each measurement sensor acquires mechanical angle information of the corresponding motor, and then feeds back to the PTZ controller through the motor controller, and then calculates the torque control information by the PTZ controller. Then, the PTZ controller transmits the torque control information to the motor controller, and then the motor controller generates motor control information to control the operation of each motor.
  • an attitude sensor is added to each of the carrier 200 and the platform 100, which is a first inertial measurement unit 51 and a second inertial measurement unit 52, respectively, and the pan/tilt controller measures according to the two attitude sensors.
  • the attitude information and flight attitude information of the carrier 200 are used to calculate the rotor position of the motor, thereby controlling the operating state of each of the motors 70.
  • the acquired attitude information of the entire pan/tilt head 100 is sent to the motor controller, and the lens is simultaneously The attitude information is also sent to the motor controller.
  • the motor controller uses the acquired attitude information of the pan/tilt head 100 and the attitude information of the lens to perform data fusion, and calculates the rotor position of the motor for motor control.
  • the posture of the pan/tilt is not adjustable. Specifically, the method includes:
  • Step 201 Acquire a posture direction of the to-be-detected motor of the pan/tilt for adjusting a posture of the carrier;
  • the carrier is an image acquiring device, such as a camera lens, a camera, a camera, etc., or other portable electronic devices, such as a mobile phone, a tablet computer, etc., it is understood that the carrier may also be a sensor or the like.
  • the gimbal can be used as an auxiliary device for photography, photography, monitoring and sampling.
  • the carrier is provided with an attitude sensor.
  • the attitude sensor is a first inertial measurement unit IMU for acquiring posture information of the carrier.
  • the first inertial measurement unit IMU is located in the carrier.
  • the attitude information includes the attitude direction of the carrier, wherein the attitude direction includes a yaw direction, a roll direction, and a pitch direction.
  • the first axis motor controls the yaw of the carrier In the direction
  • the second axis motor controls the pitch direction of the carrier
  • the third axis motor controls the roll direction of the carrier.
  • Step 202 Obtain a posture angle that represents a posture of the carrier.
  • the posture information acquired by the first inertial measurement unit further includes a posture angle
  • the attitude angle includes a yaw angle, a roll angle, and a pitch angle, which respectively correspond to a yaw direction, a roll direction, and a pitch direction.
  • the yaw angle of the object in the yaw direction, the mechanical angle of the deflection of the load on the ROLL axis corresponds to the roll angle of the load in the roll direction, and the mechanical angle of the load deflected on the PITCH axis corresponds to the load in the pitch direction.
  • the attitude angle includes a first axial angle ⁇ P of the carrier deflected on the first axis and/or a second axial angle ⁇ R deflected on the second axis and/or a posture deflected on the third axis
  • the triaxial angle ⁇ Y wherein the first axis, the second axis, and the third axis are perpendicular to each other.
  • the electric machine includes a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis motor, a roll axis motor, and a heading axis motor.
  • Step 203 Calculate a rotor position of the to-be-detected motor according to the posture angle
  • the acquired attitude angle has positive and negative points.
  • the obtained yaw angle is a positive angle, which means that the rotor of the first axis motor rotates clockwise based on the angle of view of the origin position where the YAW axis, the ROLL axis and the PITCH axis intersect three axes; conversely, if the obtained yaw is obtained If the angle is a negative angle, the rotor of the first axis motor rotates counterclockwise based on the angle of view of the origin position where the YAW axis, the ROLL axis and the PITCH axis intersect. Similarly, the positive and negative of the roll angle and the pitch angle can be used. The direction of rotation of the rotors of the second shaft motor and the third shaft motor is obtained.
  • the mechanical angle of the rotor of each motor to be detected can be determined, and the absolute value of the attitude angle is For the corresponding mechanical angle of the rotor of the motor to be detected, for example, if the obtained yaw angle is a negative angle and the absolute value of the negative angle is 30°, the YAW axis, the ROLL axis, and the PITCH axis are three. The angle of view of the origin position where the axes intersect is the reference. The rotor of the first axis motor rotates counterclockwise by 30°. Similarly, the rotors of the second axis motor and the third axis motor can be rotated according to the absolute values of the roll angle and the pitch angle. Mechanical angle.
  • determining the mechanical angle at which the rotor of the motor rotates according to the absolute value of the attitude angle including:
  • the mechanical angle at which the rotor of the third-axis motor rotates is determined as
  • the current position of the rotor of each motor to be detected is determined.
  • the determination of the current position of the rotor of each motor to be detected in this step can be divided into the following two types:
  • the first case before the rotor movement of each motor to be detected, the pan/tilt is in an original state, and in the original state, the yaw angle, the roll angle of the carrier, and the mechanical angle of each rotor of the motor to be detected are zero degrees
  • the pitch angle is also zero degrees. Therefore, when calculating the angle of the rotor of the motor through the attitude of the carrier, angle compensation is not required, that is, the rotation direction and the mechanical angle of the rotor of each motor to be detected obtained according to the above method can be directly determined.
  • the second case before the rotor of each motor to be detected moves, the pan/tilt is in an original state, and one or more of the yaw angle, the roll angle and the pitch angle of the carrier in the original state have a predetermined angle, then
  • the predetermined angle needs to be compensated.
  • the compensation method is to add the predetermined angle existing and the acquired corresponding attitude angle, for example, assuming the original state.
  • the yaw angle of the lower carrier has a predetermined angle
  • the predetermined angle is minus 20°
  • the roll angle and the pitch angle of the carrier in the original state are both 0°.
  • the attitude calculation of the carrier is performed.
  • the rotors of the motors to be detected are all in the original state of the gimbal.
  • Each motor shop Corresponding positions to determine the current position of the rotor of each motor to be tested.
  • a load is fixed on the motor of the pan/tilt, and the motor is used to control the posture of the carrier.
  • the first inertial measurement unit is disposed on the carrier. First, the first inertial measurement unit acquires the motor to be detected of the pan/tilt. Corresponding to the attitude direction for adjusting the posture of the carrier, and then detecting the attitude angle of the current bearing in the posture direction, and finally calculating the current position of the rotor of the motor to be detected according to the posture angle.
  • the present application can determine the current position of the rotor of the motor to be detected simply by obtaining the attitude direction and the attitude angle of the carrier, and does not need to directly measure the current position of the rotor through the sensors on each motor, thereby avoiding the motor to the sensor.
  • the interference makes the measured angle more accurate, and the determined rotor position will be more accurate.
  • the space occupied by the physical sensor on the motor is reduced, and the production of each motor is reduced. Requirements and installation process requirements reduce the size of the motor and the pan/tilt, and further improve the assembly efficiency and pass rate of the PTZ motor and the pan/tilt.
  • the pan/tilt is fixed on the unmanned aerial vehicle, and when the posture of the unmanned aerial vehicle changes, the attitude of the gimbal changes accordingly.
  • the method includes:
  • Step 301 Acquire an attitude direction of the to-be-detected motor of the pan/tilt for adjusting a posture of the carrier;
  • step 201 of the first embodiment wherein the attitude direction includes a yaw direction, a roll direction and a pitch direction;
  • the pan/tilt can be applied to, but not limited to, a handheld photographing device, an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt can be equipped with an image acquiring device and installed in the On the human aircraft for aerial photography.
  • the pan/tilt can also be equipped with an image acquisition device and mounted on a handle as a handheld camera for photographing, recording, etc., and allows the user to manually operate the pan/tilt to control the angle of view of the image acquisition device.
  • Step 302 Acquire a first posture angle that represents a posture of the carrier, and acquire a second posture angle that represents a posture of the entire platform;
  • step 202 of the first embodiment wherein the first attitude angle is detected by a first inertial measurement unit disposed on the carrier, the first attitude angle including a yaw angle, a roll angle, and a pitch angle;
  • the second attitude angle is acquired by the second inertial measurement unit disposed on the connection base of the pan/tilt.
  • the second inertial measurement unit is not limited to the connection seat disposed on the pan/tilt, It can be set at other locations as long as it can detect the attitude of the entire pan/tilt head, for example, the second inertial measurement unit is placed on the unmanned aerial vehicle, in other words, the second inertial measurement unit is located on the platform of the gimbal or with the gimbal
  • the connected mechanism is used to measure the second attitude angle of the pan/tilt and the unmanned aerial vehicle currently in the attitude direction.
  • Step 303 Calculate a current position of the rotor of the to-be-detected motor according to the first posture angle and the second posture angle.
  • the first attitude angle includes a first attitude first axis angle ⁇ P1 of the carrier deflected on the first axis and/or a first attitude second axis angle ⁇ R1 deflected on the second axis and/or on the third axis
  • the second attitude angle includes a second attitude of the pan/tilt head being deflected on the first axis by a first axis angle ⁇ P2 and/or a second attitude deflected on the second axis a second axis angle ⁇ R2 and/or a second attitude third axis angle ⁇ Y2 deflected on the third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other, and the first posture angle is calculated
  • the difference of the second attitude angle includes: calculating a difference between the first attitude first axis angle ⁇ P1 and the second posture first
  • the electric machine comprises a first shaft motor and/or a second shaft motor and/or a third shaft motor.
  • the first axis motor, the second axis motor, and the third axis motor are any one of the following: a pitch axis (PITCH axis) motor, a roll axis (ROLL axis) motor, and a heading axis (YAW axis) motor.
  • the first attitude angle is detected by a first inertial measurement unit disposed on the carrier; the second attitude angle is detected by a second inertial measurement unit disposed on the platform.
  • the lens When it is a single-axis head, you can choose the lens to have a rotation degree on any one axis according to different needs. At this time, the rotation angle of the lens on the other two axes is 0. For the two-axis pan/tilt, for the same reason, with two motors, the lens has rotational freedom on two axes, which can calculate the rotor position of the two motors, and the rotation angle of the lens on the third axis is zero.
  • the difference between the first posture angle and the second posture angle is first calculated, and the calculation method is as follows:
  • angles of the load measured by the first inertial measurement unit on the three axes of PITCH, ROLL, and YAW are ⁇ P1 , ⁇ R1 , and ⁇ Y1 , respectively, and the unmanned aerial vehicle measured by the second inertial measurement unit is in PITCH, ROLL,
  • the angles of the YAW three-axis deflection are ⁇ P2 , ⁇ R2 , ⁇ Y2 , respectively.
  • the angle of deflection of the carrier relative to the UAV on the PITCH, ROLL, and YAW axes can be obtained by the following formula:
  • ⁇ P , ⁇ R and ⁇ Y in the above formula are the difference between the first attitude angle and the second attitude angle, and ⁇ P , ⁇ R and ⁇ Y are respectively the final determined carriers relative to the unmanned aerial vehicle.
  • the rotation direction of the rotor of each motor to be detected is determined, and then the mechanical angle of the rotor of each motor to be detected is determined according to the absolute value of the difference; finally, according to the rotation direction and the mechanical angle, Determine the current position of the rotor of the motor to be tested.
  • the pan/tilt can be fixed on the unmanned aerial vehicle, and the load on the motor of the pan/tilt is fixed, and the motor is used to control the posture of the loader, and firstly, the corresponding motor to be detected of the pan/tilt is used for adjustment.
  • the orientation of the attitude of the carrier, the first attitude angle of the current orientation of the carrier, and the second attitude angle of the UAV currently in the attitude direction, and finally the calculation according to the first attitude angle and the second attitude angle The current position of the rotor of the detection motor is stated.
  • the present application determines the current position of the rotor of the motor to be detected according to the obtained orientation direction of the carrier, the first attitude angle of the carrier, and the second attitude angle of the unmanned aerial vehicle, wherein only the installation is performed on the carrier.
  • the first inertial measurement unit can acquire the attitude direction and the attitude angle of the carrier, so that it is not necessary to directly measure the current position of the rotor through the sensors on the respective motors, compared with the direct measurement of the sensors on each motor in the prior art.
  • the current position of the rotor reduces the space for mounting the sensor, reduces the requirements for the fabrication and installation process of each control motor, reduces the size of the motor and the pan/tilt, and further improves the PTZ motor and the PTZ. Assembly efficiency and qualification rate.
  • attitude calculation process it is also considered that the UAV movement will bring errors. Therefore, a second inertial measurement unit is added to the UAV, and the measured second attitude angle is also taken into consideration. In the attitude calculation, the problem of low angular measurement accuracy due to the movement of the unmanned aerial vehicle is avoided. High precision attitude measurement acquired angle.
  • FIG. 15 it is a schematic diagram of an apparatus for detecting a rotor position of a motor according to an embodiment of the present invention.
  • a load is fixed on the motor, and the motor is used to control the posture of the carrier by driving the carrier to rotate.
  • the device 40 includes The acquisition direction module 401, the acquisition angle module 402, and the calculation module 403.
  • the obtaining direction module 401 is configured to acquire a posture direction for adjusting a posture of the carrier corresponding to the to-be-detected motor of the pan/tilt, and the posture direction includes yaw, roll, and pitch;
  • An angle module 402 is configured to detect an attitude angle of the carrier in the attitude direction, where the attitude angle includes a yaw angle, a roll angle, and a pitch angle;
  • the calculation module 403 is configured to calculate the position of the rotor of the motor to be detected according to the attitude angle.
  • the calculation module 403 includes: a first determining unit 4031, a second determining unit 4032, and a third determining unit 4033;
  • a first determining unit 4031 configured to determine a rotation direction of a rotor of the to-be-detected motor according to positive and negative attitude angles
  • a second determining unit 4032 configured to determine a mechanical angle of rotation of a rotor of the motor to be detected according to an absolute value of the attitude angle
  • the third determining unit 4033 determines the position of the rotor of the motor to be detected based on the rotational direction and the mechanical angle.
  • FIG. 16 is a schematic diagram of an apparatus for detecting a rotor position of a motor according to another embodiment of the present application.
  • the motor is mounted on a pan/tilt, and a load is fixed on the motor, and the motor is used to rotate the carrier by driving.
  • the device 40 While controlling the posture of the carrier, the device 40 includes an acquisition direction module 401, an acquisition angle module 402, and a calculation module 403.
  • the obtaining direction module 401 is configured to acquire a posture direction for adjusting a posture of the carrier corresponding to the to-be-detected motor of the pan/tilt, and the posture direction includes yaw, roll, and pitch;
  • An angle module 402 is configured to detect a first attitude angle of the carrier in the attitude direction, and a second attitude angle of the unmanned aircraft in the attitude direction, where the first attitude angle and the second attitude angle both include a yaw angle and a roll angle And pitch angle;
  • the calculating module 403 is configured to calculate a position of the rotor of the motor to be detected according to the first attitude angle and the second posture angle.
  • the calculation module 403 includes: a calculation unit 4034, a first determination unit 4031, a second determination unit 4032, and a third determination unit 4033.
  • a calculating unit 4034 configured to calculate a difference between the first posture angle and the second posture angle
  • a first determining unit 4031 configured to determine a rotation direction of a rotor of the motor to be detected according to the positive and negative of the difference
  • a second determining unit 4032 configured to determine a mechanical angle of rotation of a rotor of the motor to be detected according to an absolute value of the difference
  • the third determining unit 4033 is configured to determine the position of the rotor of the motor to be detected according to the rotation direction and the mechanical angle.
  • the electronic device 60 includes a memory 61 and at least one processor 53, and at least one processor 53 is connected to the memory 61.
  • a first inertial measurement unit 51 connected to the processor 53, and the first inertial measurement unit 51 is configured to be disposed on a carrier, wherein the carrier is fixed to a motor of the pan/tilt, and the pan/tilt a motor for controlling the attitude of the carrier;
  • a second inertial measurement unit 52 connected to the processor 53, and the second inertial measurement unit 52 is configured to be disposed on a connecting base of the pan/tilt or an unmanned aerial vehicle, wherein the connecting base of the pan/tilt and the unmanned aerial vehicle Fixed connection
  • connection of the processor 53 to the memory 61, the first inertial measurement unit 51, and the second inertial measurement unit 52, respectively, may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 61 stores instructions executable by the at least one processor 53, the instruction program being executed by the at least one processor 53 to enable the at least one processor 53 to execute: Steps 201 to 203, steps 301 to 303 in Fig. 15, modules 401 to 403 in Fig. 16, and modules 401 to 403 in Fig. 17.
  • the memory 61 is used as a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer-executable program, and a module, such as a program corresponding to the steps performed by the processor in the embodiment of the present application. Instruction/module.
  • the memory 61 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function. Further, the memory 61 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device.
  • the memory 61 can optionally include a memory remotely located relative to the processor 53 that can be connected to the air conditioner over a network.
  • networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 61, and when executed by the one or more processors 53, perform steps 201 to 203 shown in FIG. 14, step 301 to step in FIG. 303, modules 401 to 403 in FIG. 16, and modules 401 to 403 in FIG.
  • An embodiment of the present application provides a non-transitory computer readable storage medium storing computer-executable instructions that are executed by an electronic device when executed by an electronic device Steps 201 to 203 shown in Fig. 14, steps 301 to 303 in Fig. 15, modules 401 to 403 in Fig. 16, and modules 401 to 403 in Fig. 17.
  • An embodiment of the present application provides a computer program product, including a computing program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer,
  • the computer executes: steps 201 to 203 shown in Fig. 14, steps 301 to 303 in Fig. 15, modules 401 to 403 in Fig. 16, and modules 401 to 403 in Fig. 17.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the various modules in the embodiments of the present application can be implemented as separate hardware or software, and a combination of functions of the respective units can be implemented using separate hardware or software as needed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un procédé et un appareil de détection de position de rotor de moteur, et un dispositif électronique, le procédé consistant à : acquérir un angle d'attitude caractérisant un plateau porteur dans la direction d'attitude ; et, sur la base de l'angle d'attitude, calculer la position du rotor du moteur. Au moyen de la présente solution, la présente invention peut déterminer la position actuelle d'un rotor d'un moteur à détecter au moyen de l'acquisition de la direction d'attitude et de l'angle d'attitude du plateau porteur, et n'a pas besoin de mesurer directement la position actuelle du rotor au moyen d'un capteur sur le moteur, ce qui permet d'éviter l'interférence du moteur sur le capteur et de garantir que l'angle mesuré est plus précis tout en réduisant également l'espace occupé par un capteur physique sur le moteur et en réduisant les exigences de fabrication de moteur et les exigences de processus d'installation.
PCT/CN2018/105311 2017-12-22 2018-09-12 Procédé et appareil de détection de position de rotor de moteur, dispositif électronique et aéronef sans pilote WO2019119896A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711403710.9 2017-12-22
CN201711403710.9A CN107872180B (zh) 2017-12-22 2017-12-22 一种检测电机转子位置的方法、装置及电子设备

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Publication Number Publication Date
WO2019119896A1 true WO2019119896A1 (fr) 2019-06-27

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