WO2021120044A1

WO2021120044A1 - Coaxiality measurement method and device, system, and rotation structure

Info

Publication number: WO2021120044A1
Application number: PCT/CN2019/126225
Authority: WO
Inventors: 王文杰; 蒋毅; 张良伟; 张志远
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2021-06-24
Also published as: CN112689739A

Abstract

A coaxiality measurement method and device, a system, and a rotation structure. The rotation structure is used for carrying a load. The rotation structure comprises a driving device as well as a first load supporting structure and a second load supporting structure which are connected to each other; the driving device is configured to drive a target structure sandwiched between the first load supporting structure and the second load supporting structure to rotate. The method comprises: when obtaining a first instruction indicative of coaxiality measurement, driving, by a driving device, a target structure to make periodic reciprocating uniform rotation; obtaining output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one period of reciprocating uniform rotation; and according to the output torque of the driving device at multiple identical rotation positions in different rotation directions, determining coaxiality between a first load supporting structure and a second load supporting structure when the target structure is sandwiched.

Description

Coaxiality detection method, device, system and rotating structure

Technical field

This application relates to the field of coaxiality detection, and in particular to a coaxiality detection method, device, system and rotating structure.

Background technique

The use environment and function of some rotating structures determine the relatively high requirements for their coaxiality. If the coaxiality is poor, the resistance during the rotation of the rotating structure will increase, which will seriously affect the control accuracy of the rotating structure. And it leads to a decrease in its reliability and service life, so it is necessary to detect the coaxiality of the rotating structure. The existing detection of coaxiality adopts a manual method or uses an additional coaxiality detection device, and the detection process is relatively complicated.

Summary of the invention

The application provides a coaxiality detection method, device, system and rotation structure.

Specifically, this application is implemented through the following technical solutions:

According to the first aspect of the present application, there is provided a method for detecting coaxiality, which is applied to a rotating structure for carrying a load, wherein the rotating structure includes a driving device and a first load supporting structure connected to each other. The second load support structure, the driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the method includes:

When the first instruction for instructing the detection of coaxiality is acquired, drive the target structure to perform periodic reciprocating uniform rotation through the driving device;

Acquiring the output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation;

According to the output torques of the driving device at multiple identical rotation positions in different rotation directions, it is determined that when the target structure is clamped, the same between the first load support structure and the second load support structure is determined. Axial degree.

According to a second aspect of the present application, there is provided a coaxiality detection device, which is applied to a rotating structure for carrying a load, wherein the rotating structure includes a driving device and a first load supporting structure connected to each other. The second load support structure, the driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

When the first instruction for instructing the detection of coaxiality is obtained, the target structure is driven by the driving device to periodically reciprocate at a uniform speed;

According to a third aspect of the present application, there is provided a rotating structure for carrying a load, wherein the rotating structure includes a driving device, a first load support structure and a second load support structure that are connected to each other, and processing The driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the processor is configured to perform the following operations:

According to a fourth aspect of the present application, there is provided a method for detecting coaxiality, the method including:

Receiving the trigger instruction entered by the user;

According to the trigger instruction, a first instruction for instructing the rotating structure to perform coaxiality detection is sent to the rotating structure to trigger the rotating structure to perform coaxiality detection.

According to a fifth aspect of the present application, there is provided a coaxiality detection device, the device comprising:

Storage device for storing program instructions; and

Receiving the trigger instruction entered by the user;

According to a sixth aspect of the present application, a coaxiality detection system is provided, the coaxiality detection system includes a rotating structure and a control device communicatively connected with the rotating structure, the rotating structure is used to carry a load, wherein: The rotating structure includes a driving device and a first load support structure and a second load support structure connected to each other, and the driving device is used to drive and clamp between the first load support structure and the second load support structure The target structure of rotation;

The control device is configured to receive a trigger instruction input by a user, and according to the trigger instruction, send a first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure;

The rotation structure is used to drive the target structure to perform periodic reciprocating uniform rotation through the driving device when the first instruction for instructing the detection of coaxiality is obtained; and obtain at least one period of reciprocating uniform rotation During the process, the output torque of the driving device at multiple identical rotation positions in different rotation directions; according to the output torque of the driving device at multiple identical rotation positions in different rotation directions, it is determined that the When the target structure is used, the coaxiality between the first load supporting structure and the second load supporting structure.

According to the technical solutions provided by the embodiments of the present application, the present application can detect the coaxial relationship between the first load support structure and the second load support structure when the target structure is clamped by the change in the output of the driving device of the rotating structure itself. No need to resort to external instruments or equipment, and the detection process is simple.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

FIG. 1 is a flow chart of the method for detecting coaxiality on the side of the rotating structure in an embodiment of the present application;

FIG. 2 is a diagram of the output torque of the driving device at multiple identical rotation positions in different rotation directions in an embodiment of the present application, and it is determined between the first load support structure and the second load support structure when the target structure is clamped. Flow chart of the realization of coaxiality;

Figure 3 is an implementation of determining the coaxiality between the first load support structure and the second load support structure when the target structure is clamped according to the rotational resistance torque of the driving device at each rotation position in an embodiment of the present application Way flow chart;

Fig. 4 is a diagram showing the determination of the coaxiality between the first load support structure and the second load support structure when the target structure is clamped according to the rotation resistance torque of the driving device at each rotation position in another embodiment of the present application Realization flow chart;

5 is an example diagram of coaxial or different axis between the first load supporting structure and the second load supporting structure when clamping the target structure in an embodiment of the present application;

6 is a structural block diagram of the coaxiality detection device on the side of the rotating structure in an embodiment of the present application;

FIG. 7 is a method flowchart of the method for detecting coaxiality in an embodiment of the present application on the side of the control device of the rotating structure;

FIG. 8 is a structural block diagram of the coaxiality detection device on the side of the control device of the rotating structure in an embodiment of the present application;

Fig. 9 is a structural block diagram of a coaxiality detection system in an embodiment of the present application.

Detailed ways

The existing detection of coaxiality adopts a manual method or uses an additional coaxiality detection device, and the detection process is relatively complicated. In this regard, the present application can detect the coaxiality between the first load support structure and the second load support structure when the target structure is clamped through the change in the output of the driving device of the rotating structure itself, without the need for external instruments or Equipment, the testing process is simple.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

The coaxiality detection method of the present application is applied to a rotating structure or a control device of a rotating structure. The rotating structure includes a driving device and a first load supporting structure and a second load supporting structure connected to each other. The driving device is used to drive the clamp The target structure between the first load support structure and the second load support structure rotates. Optionally, the first load support structure and the second load support structure jointly form a U-shaped shaft arm; of course, the first load support structure and the second load support structure can also jointly form a shaft arm of other shapes.

Further, the rotating structure is used to carry a load. Optionally, the target structure includes a load, one end of the load is connected to the first load support structure, and the other end of the load is connected to the second load support structure; optionally, the target structure includes a load and a user In the carrying structure for carrying the load, one end of the carrying structure is connected to the first load supporting structure, and the other end of the carrying structure is connected to the second load supporting structure. For example, the carrying structure may be another load supporting structure in the rotating structure.

The rotating structure can be a gimbal, for example, it can be a single-axis gimbal, a dual-axis gimbal, a three-axis gimbal or other multi-axis gimbals; another example, it can be a handheld gimbal or a gimbal mounted on a movable platform , The movable platform can be a vehicle, an unmanned aerial vehicle, etc.; for another example, it can be a fixed load pan/tilt or a variable load pan/tilt. Optionally, in some embodiments, the driving device is the tilt motor of the pan/tilt, the first load support structure is the main shaft arm of the pan/tilt that rotates around the roll axis, and the second load support structure is the auxiliary arm of the pan/tilt that rotates around the roll axis. The shaft arm, the target structure includes the load. The stator of the pitch motor is connected with the main shaft arm, and the rotor of the pitch motor is connected with the load. Among them, the load may include a photographing device, or may include others. Of course, the driving device, the first load structure, the second load structure, and the target structure may also be other, which are specifically determined according to the installation positions of the first load support structure and the second load support structure in the pan/tilt.

Taking the first load support structure and the second load support structure as the roll axis arm of the pan/tilt as an example, suppose the pan/tilt is a three-axis pan/tilt, and a load is clamped between the first load support structure and the second load support structure. The first load support structure and the second load support structure are configured to rotate around the roll axis, the first position of the first load support structure is provided with a pitch motor for driving the load to rotate around the pitch axis, and the second load support structure The load is connected to the two positions to cooperate with the pitch motor to drive the load. It can be seen that when the load rotates, it can rotate around the pitch axis of the first position and the rotation axis of the second position. The difference between the first load support structure and the second load support structure Coaxiality refers to whether the pitch axis of the first position coincides with the rotation axis of the second position, or the degree of non-coincidence between the pitch axis of the first position and the rotation axis of the second position. In the embodiments of the present application, coaxial means that the degree of coaxiality deviation is within a preset deviation range, and different axes means that the degree of coaxiality deviation is outside the preset deviation range.

It should be understood that the rotating structure is not limited to the pan-tilt, and may also be other.

The control device may include a mobile terminal such as a mobile phone and a tablet computer, or a fixed terminal, and may also be a remote control or other devices capable of controlling a rotating structure.

Referring to Fig. 9, in the embodiment of the present application, the control device is communicatively connected with the rotating structure. Among them, the control device and the rotating structure may be connected in a wireless manner, or may be connected in a wired manner.

The first embodiment will describe the coaxiality detection method of this embodiment from the side of the rotating structure.

Example one

FIG. 1 is a method flow chart of a method for detecting coaxiality in an embodiment of the present application on the side of a rotating structure; the main body of execution of the method for detecting coaxiality in an embodiment of the present application is a rotating structure.

Referring to Fig. 1, on the side of the rotating structure, the coaxiality detection method may include the following steps:

Step S101: When the first instruction for instructing the detection of coaxiality is obtained, the target structure is driven by the driving device to perform periodic reciprocating uniform rotation;

The first instruction is used to instruct the rotating structure to perform coaxiality detection. The first instruction can be generated in multiple ways. For example, in some embodiments, the rotating structure includes a control unit, and the first instruction is triggered by the user. produce. The control part may include keys, buttons, knobs or a combination of the above. The control unit may include one or more.

In other embodiments, the first instruction is generated by the user operating the external device and sent by the external device. The external device may be a control device of a rotating structure.

In this step, the target structure can be driven by the driving device to make one cycle of reciprocating uniform rotation, or the driving device can be used to drive the target structure to make two or more cycles of reciprocating uniform rotation.

One cycle of reciprocating uniform rotation includes forward rotation and reverse rotation, and the direction of rotation of the forward rotation and the reverse rotation is opposite. For example, in some embodiments, one cycle of reciprocating uniform rotation includes: uniform rotation from the first rotation position to the second rotation position at a preset speed, and uniform rotation from the second rotation position to the first rotation position at the preset speed. Optionally, rotating at a constant speed from the first rotating position to the second rotating position is forward rotation, and rotating at a constant speed from the second rotating position to the first rotating position is reverse rotation; optionally, rotating at a constant speed from the first rotating position to The second rotation position is reverse rotation, and the uniform rotation from the second rotation position to the first rotation position is positive rotation. Among them, the size of the preset speed can be selected as required, and the first rotating position and the second rotating position can also be set as required. Exemplarily, one cycle of reciprocating uniform rotation includes: rotating from a position corresponding to 0 degrees to a position corresponding to 10 degrees at a speed of 1 degree/second, and rotating from a position corresponding to 10 degrees to 0 at a speed of 1 degree/second. The position corresponding to the degree.

In some other embodiments, a cycle of reciprocating uniform rotation includes: rotating at a preset speed from the third rotation position to the fourth rotation position, from the fourth rotation position to the fifth rotation position, and from the fifth rotation position Rotate to the fourth rotation position, from the fourth rotation position to the third rotation position. Among them, the size of the preset speed can be selected according to needs, and the third rotation position, the fourth rotation position, and the fifth rotation position can also be set according to needs.

The driving device can drive the target structure to rotate in different ways. For example, in some embodiments, the driving device performs periodic reciprocating uniform rotation to drive the target structure to perform synchronous periodic reciprocating uniform rotation, that is, the driving device and the target The rotation of the structure is synchronized; in other embodiments, the driving device performs periodic reciprocating uniform rotation to drive the target structure to perform non-synchronized periodic reciprocating uniform rotation, that is, the rotation of the driving device and the target structure are not synchronized.

The coaxiality detection of the rotating structure of this embodiment is performed when the rotating structure is in a preset state. Optionally, the step of detecting the coaxiality of the rotating structure is performed after it is determined that the rotating structure is in the preset state. Among them, the preset state may include a static state and/or a center of gravity balance state.

Taking the rotating structure as a gimbal as an example, during the rotation of the gimbal, the gimbal motor needs to overcome external disturbances and internal disturbances in order to achieve the smallest possible deviation between the actual posture and the target posture. That is, during the rotation of the gimbal, the total resistance T _d received by the gimbal motor is the sum of the external resistance T _out and the internal resistance T _in :

T _d = T _out + T _in (1);

When the gimbal is not subject to external disturbance, that is, when the gimbal is in a static state, it can be considered as:

T _out =0 (2);

The internal resistance includes the structural friction torque T _f , the torque T _{ub caused by the unbalance of the} pan/tilt, the rotation resistance T _uc caused by different axes, etc., namely:

T _in = T _f + T _ub + T _uc (3);

When the gimbal is trimmed, that is, when the gimbal is in the center of gravity trim state, it can be considered that:

T _ub =0 (4);

Combining the above formulas (1) to (4), it can be obtained that the total resistance of the gimbal when it is at rest and the center of gravity is balanced is:

T _d = T _f + T _uc (5);

That is, when the pan/tilt is in a static state and the center of gravity is balanced, the total resistance received is the sum of the structural friction torque T _f and the rotation resistance T _uc caused by different axes, and it will not be subject to external disturbances and unbalanced pan/tilt. influences.

Step S102: Obtain the output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation;

In this embodiment, the multiple rotation positions may be distributed evenly at intervals; of course, the multiple rotation positions may also be distributed at uneven intervals.

The reciprocating uniform speed rotation using the above one cycle includes: rotating from the position corresponding to 0 degrees to the position corresponding to 10 degrees at a speed of 1 degree/second, and rotating from the position corresponding to 10 degrees to 0 degrees at a speed of 1 degree/second In an embodiment of the position, optionally, turning from a position corresponding to 0 degrees to a position corresponding to 10 degrees is a forward rotation, and turning from a position corresponding to 10 degrees to a position corresponding to 0 degrees is a reverse rotation, which can be obtained through step S102 The output torque of the rotation position of the driving device at the rotation angles of 0 degrees, 2 degrees, 4 degrees, 6 degrees, 8 degrees and 10 degrees during the forward rotation process, and the rotation angle of the driving device is 0 during the reverse rotation process. The output torque at the rotational positions of degree, 2 degree, 4 degree, 6 degree, 8 degree and 10 degree.

Step S103: Determine the coaxiality between the first load support structure and the second load support structure when the target structure is clamped according to the output torques of the driving device at multiple identical rotation positions in different rotation directions.

FIG. 2 is a diagram of the output torque of the driving device at multiple identical rotation positions in different rotation directions in an embodiment of the present application, and it is determined between the first load support structure and the second load support structure when the target structure is clamped. The flow chart of the realization of coaxiality; please refer to Fig. 2, the realization process of step S103 may include:

Step S201: Determine the rotation resistance torque of the driving device at the corresponding rotation position according to the output torque of the driving device at multiple identical rotation positions in different rotation directions;

Following the embodiment where the above-mentioned rotating structure is the pan-tilt, when the pan-tilt rotates at a constant speed, the output torque T _{m of the} pan-tilt motor is equal to the resistance T _d received by the pan-tilt, namely:

T _m =T _d (6);

The output torque T _m of the gimbal motor and the structural friction torque T _f that the gimbal motor receives when it rotates are related to the rotation speed of the gimbal motor, and the direction is opposite to the rotation direction of the gimbal motor. The same rotation speed rotates in the forward and reverse directions. At the same rotation position, the _{sum of the output T mp of the} positive rotation and the output T _mn of the negative rotation of the motor is approximately equal to twice _{the rotation resistance T uc} caused by different shafts. ,which is:

T _mp + T _mn = 2T _uc (7);

That is, by planning the gimbal motor to perform reciprocating uniform rotation at a constant speed, the rotation resistance _{Tuc of the gimbal} motor at the corresponding rotation position due to different axes is obtained.

_{The rotation resistance T uc of the gimbal} motor at the corresponding rotation position is:

T _uc = (T _mp + T _mn )/2 (8).

Exemplarily, the reciprocating uniform rotation using the above one cycle includes: rotating from a position corresponding to 0 degrees to a position corresponding to 10 degrees at a speed of 1 degree/second, and rotating from a position corresponding to 10 degrees at a speed of 1 degree/second to a position corresponding to 10 degrees. In the embodiment of the position corresponding to 0 degree, through formula (8), the rotation resistance torque of the driving device at the rotation position of 0 degree, 2 degree, 4 degree, 6 degree, 8 degree and 10 degree can be determined.

Step S202: Determine the coaxiality between the first load support structure and the second load support structure when the target structure is clamped according to the rotation resistance torque of the driving device at each rotation position.

Figure 3 is an implementation of determining the coaxiality between the first load support structure and the second load support structure when the target structure is clamped according to the rotational resistance torque of the driving device at each rotation position in an embodiment of the present application Method flow chart; Figure 4 is another embodiment of the present application according to the rotation resistance torque of the driving device at each rotational position to determine when the target structure is clamped, the first load support structure and the second load support structure The flow chart of the implementation of coaxiality; step S202 can be implemented through steps S301 to S302 in FIG. 3, or through steps S401 to S402 in FIG. 4.

Referring to FIG. 3, a process of determining the coaxiality between the first load support structure and the second load support structure when clamping the target structure according to the rotational resistance torque of the driving device at each rotation position may include The following steps:

Step S301: Determine the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range according to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position and the preset calculation model. Wherein, the preset calculation model takes the rotation angle of the driving device at each rotation position as the independent variable, and the rotation resistance torque of the driving device at each rotation position as the dependent variable;

In this embodiment, the formula of the preset calculation model is as follows:

T _uc (i)=f(θ(i)) (9);

In formula (9), i is the serial number of the rotation position, i=1,...,L, L is the largest serial number, and L is a positive integer;

T _uc (i) is the rotational resistance torque of the driving device at the rotational position i;

θ(i) is the rotation angle of the driving device at the rotation position i.

The preset calculation model can be a function or other calculation models. Optionally, in some embodiments, the preset calculation model is a trigonometric function, such as one or a combination of at least two of a sine function, a cosine function, a tangent function, and a cotangent function.

Exemplarily, the preset calculation model is a sine function, and the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is the maximum amplitude of the sine function. Among them, the preset rotation angle range is the same as the angle range of one cycle or half cycle of the sine function. For example, when the target structure is driven by the driving device to make periodic reciprocating uniform rotation, the reciprocating uniform rotation of the driving device in one cycle corresponds to When the rotation angle range of the sine function is the same as the angle range of a cycle of the sine function, the rotation angle range corresponding to the reciprocating uniform rotation of the driving device in a cycle is also the same as the preset rotation angle range; when the target structure is driven by the driving device to do periodic When reciprocating uniform rotation, the rotation angle range corresponding to one cycle of reciprocating uniform rotation of the driving device is included in the angle range of one cycle of the sine function, and the rotation angle range corresponding to one cycle of reciprocating uniform rotation of the driving device is also included in the pre- Set the rotation angle range.

When the preset calculation model is a sine function, the obtained rotational angle θ(i) of the drive device at each rotational position i and the rotational resistance torque _Tuc (i) at each rotational position i are substituted into formula (9) _{, The maximum value A e} of the rotational resistance torque of the drive device in the preset rotation angle range caused by different axes can be estimated.

Step S302: Determine the coaxiality between the first load support structure and the second load support structure when clamping the target structure according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range.

_{When step S302 is implemented, by comparing the maximum value A e} of the rotation resistance torque of the driving device in the preset rotation angle range and the size of the preset torque threshold, it can be determined that when the target structure is clamped, the first load support structure is Coaxiality between the second load supporting structures. Optionally, when the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is less than or equal to the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are Between coaxial. Optionally, when the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range is greater than the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are not Coaxial. Among them, the size of the preset torque threshold can be set as required. The preset torque threshold can be expressed as A _{e_threshold} . When A _e ≤ A _{e_threshold} , it is determined that the first load support structure and the second load support are clamped when the target structure is clamped The structures are coaxial; when A _e > A _{e_threshold} , it is determined that when the target structure is clamped, the first load support structure and the second load support structure are not coaxial.

In addition, when step S302 is implemented, according to the maximum value of the rotation resistance torque of the drive device in the preset rotation angle range, it is determined that the coaxial relationship between the first load support structure and the second load support structure is when the target structure is clamped. Degree of deviation, that is, the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is used to indicate the coaxiality between the first load support structure and the second load support structure when the target structure is clamped The degree of deviation. In this embodiment, the greater the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the greater the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped The larger the size is, that is, when the target structure is clamped, the degree of coaxiality deviation between the first load support structure and the second load support structure is the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range Positive correlation.

The coaxiality detection method of this embodiment may further include the following steps:

(1) Determine the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range according to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position and the preset calculation model When, the line between the projection position of the first position of the first load support structure on the preset plane and the projection position of the second position of the second load support structure on the preset plane is between the first preset reference line Angle size

When the preset calculation model is a sine function, the obtained rotational angle θ(i) of the drive device at each rotational position i and the rotational resistance torque _Tuc (i) at each rotational position i are substituted into formula (9) , When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is determined, the projection position of the first position of the first load support structure on the preset plane and the second position of the second load support structure are at _{The angle θ e} between the connection line between the projection positions on the preset plane and the first preset reference line.

Optionally, the first position is a position passing through the central axis of the first load supporting structure, and the second position is a position passing through the central axis of the second load supporting structure; of course, the first position may also be on the first load supporting structure. In other positions, the second position can also be other positions on the second load support structure, and only when there is no coaxial deviation between the first load support structure and the second load support structure, the first position and the second position Just coaxial. Among them, the central axis is the axis around which the target structure can rotate when the target structure is driven by the driving device.

The preset plane may be the right-view plane of the first load structure or the left-view plane of the first load structure. Specifically, the preset plane may be selected as required. Among them, through the right-view plane or the left-view plane, the projection position of the first position and the projection position of the second position can be better used to determine the difference between the first load support structure and the second load support structure when the target structure is clamped. Without further processing the projection position of the first position and the projection position of the second position.

The first preset reference line may be a horizontal line passing through the projection position of the first load support structure on the preset plane, or may be a vertical line passing through the projection position of the first load support structure on the preset plane, and It may be a straight line passing through the projection position of the first load supporting structure on the preset plane in other directions.

(2) Determine the coaxial deviation orientation between the first load support structure and the second load support structure when clamping the target structure according to the size of the included angle.

Wherein, the coaxiality deviation direction may include the coaxiality deviation in the up-down direction, the left-right direction or the direction between the up-down direction and the left-right direction.

Exemplarily, please refer to FIG. 5, the preset plane 10 is a right view of the first load support structure, the projection position of the first position of the first load support structure on the preset plane 10 is A, and the second load support structure The projection position of the second position on the preset plane 10 is B, and the reference line 1 is a horizontal line passing through the projection position A of the first load supporting structure on the preset plane. When B and A coincide, it is considered that when clamping the target structure, the first load supporting structure and the second load supporting structure are coaxial; when B is located in area 2, but B and A do not coincide, although B and A Do not overlap, but at this time when clamping the target structure, the degree of deviation of the coaxiality between the first load support structure and the second load support structure is relatively small, so it is also considered that when the target structure is clamped, the first load support structure It is coaxial with the second load support structure; when B is located outside area 2, when clamping the target structure, the coaxiality deviation between the first load support structure and the second load support structure is relatively large, indicating that the When the target structure is clamped, the first load support structure and the second load support structure are different in axis. In the embodiment of the present application, when the target structure is clamped, the coaxiality between the first load support structure and the second load support structure in order from good to bad is: B and A coincide -> located in area 2, But B does not overlap with A -> B is located outside area 2.

As shown in Figure 5(a), A and B overlap, indicating that when clamping the target structure, the first load supporting structure and the second load supporting structure are coaxial; as shown in Figure 5(b), A and B exist in the left and right directions Coaxiality deviation indicates that when clamping the target structure, there is a coaxiality deviation between the first load support structure and the second load support structure in the left and right directions; as shown in Figure 5(c), A and B have the same coaxiality in the up and down directions. Axial deviation indicates that when clamping the target structure, there is a coaxial deviation between the first load supporting structure and the second load supporting structure in the up and down direction; as shown in Figure 5(d), A and B are in the up and down, left and right directions There is a deviation of coaxiality between the directions, which indicates that there is a deviation of coaxiality between the first load support structure and the second load support structure in the vertical direction and the left and right directions when the target structure is clamped.

At the same time, it is determined that the degree of coaxiality deviation between the first load support structure and the second load support structure and the direction of coaxiality deviation when clamping the target structure, giving users more reference information for adjustment, which is beneficial to users Quickly adjust the structural design (the structural design of the target structure and/or the first load support structure and/or the second load support structure) or the installation position between the structures (the installation position between the target structure and the first load support structure and/or Or the installation position between the target structure and the second load support structure), so that when the target structure is clamped, the first load support structure and the second load support structure are coaxial.

Please refer to Figure 4, another way to determine the coaxiality between the first load support structure and the second load support structure when clamping the target structure according to the rotational resistance torque of the drive device at each rotation position can be Including the following steps:

Step S401: Determine the standard deviation of the rotation resistance torque of multiple rotation positions according to the rotation resistance torque of the driving device at each rotation position;

_{The rotational resistance torque T uc} (i) of the driving device at each rotation position has been obtained, i is the serial number of the rotation position, i=1,...,L, L is the maximum serial number, and L is a positive integer, then the number of rotation positions The standard deviation std(T _uc ) of the rotational resistance torque is:

In formula (10),

Step S402: Determine the coaxiality between the first load support structure and the second load support structure when clamping the target structure according to the standard deviation.

The implementation process of step S402 may include: by comparing the size of the standard deviation std(T _uc ) with the preset standard deviation threshold, it is possible to determine the difference between the first load support structure and the second load support structure when the target structure is clamped. Concentricity. Optionally, when the standard deviation is less than or equal to a preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are coaxial. Optionally, when the standard deviation is greater than a preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are different in axis. Among them, the size of the preset standard deviation threshold can be set as required. The preset standard deviation threshold can be expressed as STD _threshold . When std(T _uc )≤STD _threshold , it is determined that when the target structure is clamped, the first load supporting structure It is coaxial with the second load support structure; when std(T _uc )>STD _threshold , it is determined that when the target structure is clamped, the first load support structure and the second load support structure are not coaxial.

In addition, when step S402 is implemented, the standard deviation is used to determine the degree of coaxiality deviation between the first load support structure and the second load support structure when clamping the target structure, that is, the standard deviation is used to indicate When the target structure is supported, the degree of deviation of the coaxiality between the first load support structure and the second load support structure. In this embodiment, the greater the standard deviation, the greater the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped, that is, when the target structure is clamped, the first The degree of coaxiality deviation between the first load support structure and the second load support structure is positively correlated with the standard deviation.

It is determined in step S103 that when the target structure is clamped, the coaxiality between the first load support structure and the second load support structure can be used to represent different meanings. For example, in some embodiments, when the target structure is clamped, The coaxiality between the first load support structure and the second load support structure is used to indicate the distance between the end of the first load support structure used to connect to the target structure and the end of the second load support structure used to connect to the target structure. Coaxiality; in other embodiments, when clamping the target structure, the coaxiality between the first load support structure and the second load support structure is used to indicate the target structure for connecting the first load support structure The coaxiality between one end and the end of the target structure for connecting the second load support structure; in other embodiments, when the target structure is clamped, the first load support structure and the second load support structure are The coaxiality is used to indicate the coaxiality between the end of the first load supporting structure for connecting the target structure and the end of the second load supporting structure for connecting the target structure, and it is used to indicate the coaxiality of the target structure for connecting the second The coaxiality between one end of the load supporting structure and the end of the target structure for connecting the second load supporting structure.

Exemplarily, before performing the coaxiality test, it has been determined that the end of the target structure for connecting the first load support structure and the end of the target structure for connecting the second load support structure are coaxial, then the same In the axial degree test, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped determined in step S103 is used to indicate the end of the first load support structure for connecting the target structure and The coaxiality between the ends of the second load supporting structure used to connect the target structure.

Exemplarily, before performing the coaxiality test, it has been determined that the end of the first load support structure for connecting to the target structure is coaxial with the end of the second load support structure for connecting to the target structure. During the axis degree test, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped determined in step S103 is used to indicate the end of the target structure for connecting the first load support structure and The coaxiality between the ends of the target structure used to connect the second load supporting structure.

Exemplarily, before performing the coaxiality test, the coaxiality between the end of the first load support structure for connecting the target structure and the end of the second load support structure for connecting the target structure, and the coaxiality on the target structure The coaxiality between the end used to connect the first load support structure and the end of the target structure used to connect the second load support structure is unknown. When the coaxiality test is performed, the step S103 determines that the target structure is clamped. When, the coaxiality between the first load support structure and the second load support structure is used to indicate the end of the first load support structure for connecting the target structure and the end of the second load support structure for connecting the target structure. It is used to indicate the coaxiality between one end of the target structure connected to the first load support structure and the end of the target structure connected to the second load support structure.

The coaxiality detection method of this embodiment may further include: outputting information indicating the coaxiality between the first load support structure and the second load support structure when the target structure is clamped (herein referred to as coaxiality information) ), so as to give the user the reference information for adjustment, so that the user can adjust the structural design or the installation position between the structures according to the adjusted reference information, so that when the target structure is clamped, the first load support structure and the second load support structure Coaxial between.

Wherein, the coaxiality information may include the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped, and/or when the target structure is clamped, the first load support structure The coaxiality deviation azimuth with the second load support structure.

It is possible to output the coaxiality information in different ways, such as outputting the coaxiality information in the form of graphics, text, or a combination of graphics and text; of course, other methods can also be used to output the coaxiality information.

In some embodiments, the coaxiality information is output graphically. Exemplarily, when the coaxiality information is output in a graphical manner, the azimuth line and the second preset reference line are displayed to represent the coaxiality information. Wherein, the azimuth line is determined according to the second preset reference line and the coaxiality deviation azimuth included in the concentricity information, and the second preset reference line is the first position on the display interface according to the first position in the first load supporting structure. A characterization location is determined. From the azimuth line displayed on the display interface, the user can obtain the coaxiality deviation azimuth included in the coaxiality information.

The second preset reference line may be a horizontal line passing the first characterization position, or a vertical line passing the first characterization position, or a straight line passing the first characterization position in other directions. Optionally, the second preset reference line is parallel to the first preset reference line; optionally, the included angle between the second preset reference line and the first preset reference line is the preset included angle, and the azimuth line is based on the first preset reference line. Two preset reference lines and the coaxiality deviation azimuth included in the coaxiality information is determined, that is, after the second preset reference line passing through the first characterization position is determined, the coaxiality deviation included in the coaxiality information can be determined The angle size corresponding to the azimuth determines the included angle between the azimuth line and the second preset reference line, and then, according to the included angle, the azimuth line and the second preset reference line are displayed on the display interface. Specifically, suppose that the second preset reference line is a horizontal line on the display interface, and the angular size corresponding to the coaxiality deviation azimuth included in the concentricity information is limited to the range of -90 degrees to 90 degrees. The reference line represents 0 degrees. According to this setting and the angle corresponding to the coaxiality deviation azimuth included in the coaxiality information, the display position of the azimuth line on the display interface can be determined, so that the azimuth line can be displayed on the display interface. And the second preset baseline.

In this embodiment, the second reference line and the first reference line may or may not be parallel. The display interface may display the preset plane or the mapping of the preset plane. The second preset datum line is displayed on the display interface. It is only the mapping of the first preset datum line, but the second preset datum line and the first preset datum line are mapped. Whether a preset reference line is parallel or not depends on the position of the display plane. For example, when the rotating structure is a handheld pan/tilt, the display interface is set on the handle of the handheld pan/tilt. If the handle is tilted, the display interface will also be tilted accordingly At this time, the second preset reference line and the first preset reference line are not necessarily parallel.

Wherein, the azimuth line is used to map the line formed by the projection position of the first position of the first load supporting structure on the preset plane and the projection position of the second position of the second load supporting structure on the preset plane, and the first characterization The position is used to map the projection position of the first position of the first load support structure on the preset plane, and the center axis of the first load support structure and the center axis of the second load support structure are perpendicular to the preset plane.

Optionally, the display interface displays a preset plane, the first characterizing position of the first position in the first load supporting structure on the display interface is the projection position of the first load supporting structure on the preset plane, and the azimuth line is the first A line formed by the projection position of the first position of the load supporting structure on the preset plane and the projection position of the second position of the second load supporting structure on the preset plane.

It should be understood that the first characterizing position of the first position in the first load supporting structure on the display interface may be any position on the display interface. When determining that the first position in the first load supporting structure is on the display interface After the first characterizing position, the second preset reference line can be determined, and then the azimuth line is determined according to the second preset reference line and the coaxiality deviation azimuth included in the coaxiality information.

Wherein, the angle between the azimuth line and the second preset reference line is used to characterize the coaxiality deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped, that is, the azimuth line The included angle with the second preset reference line is the angle size corresponding to the coaxiality deviation azimuth included in the coaxiality information. The coaxiality deviation direction includes the coaxiality deviation in the up-down direction, the left-right direction or the direction between the up-down direction, and the left-right direction, which can be described with reference to the coaxiality deviation direction shown in FIG. 5.

In some embodiments, the azimuth line and the second preset reference line are displayed on the display interface; in other embodiments, the azimuth line, the second preset reference line, the first characterizing position, and the second characterizing position are displayed on the display interface. Characterizing position The second characterizing position of the second load supporting structure on the display interface. The second characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane.

The distance between the first characterization position and the second characterization position is used to characterize the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped. The distance between the characterizing positions is positively correlated with the degree of coaxiality deviation. The distance between the first characterization position and the second characterization position displayed on the display interface, the user can obtain the degree of coaxiality deviation included in the coaxiality information.

Further, the method for determining the second characterization position may include: determining the distance between the second characterization position and the first characterization position according to the degree of coaxiality deviation included in the coaxiality information; Distance, the second characterizing position is determined on the azimuth line.

In other embodiments, the coaxiality information is output in text. For example, when the coaxiality information is used to indicate that the first load support structure and the second load support structure are coaxial when the target structure is clamped, the display interface can output "good coaxiality" or similar text ; When the coaxiality information is used to indicate that when the target structure is clamped, the first load supporting structure and the second load supporting structure are different in axis, you can output "concentricity difference" or similar text on the interface, and The degree of coaxiality deviation and/or the direction of coaxiality deviation can be further output.

In addition, the coaxiality information can be output through the display interface that comes with the rotating structure, or the coaxiality information can be output through the display interface of the external device.

Exemplarily, when the coaxiality information is output through the display interface of the external device, the rotating structure sends the coaxiality information to the external device, so as to output the coaxiality information through the external device. The external device can output coaxiality information in graphics, text, or a combination of graphics and text. The external device may be a control device of the rotating structure.

Corresponding to the coaxiality detection method in the foregoing embodiment, an embodiment of the present application also provides a coaxiality detection device, which is also applied to a rotating structure. Referring to FIG. 6, the coaxiality detecting device may include a first storage device and one or more first processors.

Among them, the first storage device is used to store program instructions; one or more first processors call the program instructions stored in the first storage device, and when the program instructions are executed, the one or more first processors individually Or collectively configured to implement the following operations: when the first instruction for instructing the detection of coaxiality is obtained, the target structure is driven by the driving device to perform periodic reciprocating uniform rotation; and at least one cycle of reciprocating uniform speed is obtained During the rotation, the output torque of the drive device at multiple identical rotation positions in different rotation directions; according to the output torque of the drive device at multiple identical rotation positions in different rotation directions, it is determined that the first The coaxiality between a load supporting structure and a second load supporting structure.

The embodiment of the present application also provides a rotating structure for carrying a load, wherein the rotating structure includes a driving device, a coaxially assembled first load support structure, a second load support structure, and a first processor. The driver is electrically connected to the driving device, wherein the first processor is configured to perform the following operations: when the first instruction for instructing the detection of coaxiality is obtained, the target structure is driven by the driving device to perform periodic reciprocation Rotate at a constant speed; obtain the output torque of the drive device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation; according to the output torque of the drive device at multiple identical rotation positions in different rotation directions , Determine the coaxiality between the first load support structure and the second load support structure when clamping the target structure.

For the implementation process and working principle of the first processor, reference may be made to the description of the coaxiality detection method in the foregoing embodiment, which will not be repeated here.

In some embodiments, the first processor may be a central processing unit (CPU). The first processor may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

The second embodiment will describe the coaxiality detection method of this embodiment from the side of the control device of the rotating structure.

Example two

Fig. 7 is a method flowchart of the coaxiality detection method on the side of the control device of the rotating structure in an embodiment of the present application; the control device of the rotating structure may include mobile terminals such as mobile phones and tablet computers, or may be fixed terminals, or It may be a remote control or other device capable of controlling the rotation structure, that is, the execution subject of the coaxiality detection method in the second embodiment of the present application is a control device of the rotation structure. Exemplarily, the rotating structure is a pan-tilt, and the control device of the rotating structure is a mobile phone that controls the pan-tilt.

Referring to FIG. 7, on the side of the control device of the rotating structure, the coaxiality detection method may include the following steps:

Step S701: receiving a trigger instruction input by the user;

In this embodiment, before receiving the trigger instruction input by the user, a virtual button for generating a trigger instruction is displayed on the display interface (ie, an interactive interface) of the control device of the rotating structure, and the trigger instruction is generated by the user triggering the virtual button. It should be noted that in addition to being implemented on the display interface, the input method of the trigger instruction may also include other methods, such as voice, which is not specifically limited here.

Step S702: According to the triggering instruction, a first instruction for instructing the rotating structure to perform coaxiality detection is sent to the rotating structure to trigger the rotating structure to perform coaxiality detection.

After receiving the first instruction, the rotating structure enters the coaxiality detection program. For the implementation of the coaxiality detection program, please refer to the coaxiality detection method in the first embodiment above.

Optionally, according to the trigger instruction, after sending the first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure, the method further includes: receiving the first instruction sent by the rotating structure for instructing the first load to support when clamping the target structure The coaxiality information between the structure and the second load supporting structure; the coaxiality information is displayed through the display interface.

Optionally, displaying the coaxiality information through the display interface includes: displaying a graphic for characterizing the coaxiality information through the display interface.

Optionally, displaying a graphic for characterizing coaxiality information through a display interface includes: displaying an azimuth line and a preset reference line on the display interface to characterize coaxiality information; wherein the azimuth line is based on the preset reference line and The coaxiality deviation orientation included in the coaxiality information is determined, and the preset reference line is determined according to the first characterizing position of the first position in the first load supporting structure on the display interface.

Optionally, the azimuth line is used to map the connection line formed by the projection position of the first position of the first load supporting structure on the preset plane and the projection position of the second position of the second load supporting structure on the preset plane The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane; wherein the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the preset plane .

The first position is a position passing through the central axis of the first load supporting structure, and the second position is a position passing through the central axis of the second load supporting structure.

Optionally, the preset plane is a right-view plane or a left-view plane of the first load structure, and the preset reference line is a horizontal line passing through the first characterizing position.

Optionally, the distance between the first characterization position and the second position of the second load support structure on the display interface is used to characterize the first load support structure and the second load when the target structure is clamped. The degree of coaxiality deviation between the supporting structures, and the distance is positively correlated with the degree of coaxiality deviation; and/or, when the angle between the azimuth line and the reference line is used to characterize the clamping of the target structure, the first load supporting structure is The coaxiality deviation orientation between the second load supporting structures; the second characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane.

Optionally, the method for determining the second characterization position includes: determining the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the coaxiality information; and determining the second characterization on the azimuth line according to the distance position.

Optionally, the coaxiality deviation orientation includes the coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.

Optionally, displaying the coaxiality information through the display interface includes: displaying text used to characterize the coaxiality information through the display interface.

The implementation of output indicating coaxiality information through the display interface of the control device of the rotating structure in this embodiment is similar to the implementation manner of output indicating coaxiality information through the display interface of the rotating structure in the first embodiment. Go into details again.

Corresponding to the coaxiality detection method of the second embodiment, an embodiment of the present application also provides a coaxiality detection device, which is also applied to a control device of a rotating structure. Referring to FIG. 8, the coaxiality detecting device may include a second storage device and one or more second processors.

Among them, the second storage device is used to store program instructions; one or more second processors call the program instructions stored in the second storage device, and when the program instructions are executed, the one or more second processors individually Or collectively configured to perform the following operations: receiving a trigger instruction input by the user; according to the trigger instruction, sending a first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure to trigger the rotating structure to perform coaxiality Detection.

For the implementation process and working principle of the second processor, please refer to the description of the coaxiality detection method in the second embodiment above, which will not be repeated here.

In some embodiments, the second processor may be a central processing unit (CPU). The second processor may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

Example three

Referring to FIG. 9, the third embodiment of the present application provides a coaxiality detection system. The coaxiality detection system includes a rotating structure and a control device communicatively connected to the rotating structure. The rotating structure is used to carry a load, wherein the rotating structure It includes a driving device and a first load supporting structure and a second load supporting structure connected to each other, and the driving device is used to drive the target structure clamped between the first load supporting structure and the second load supporting structure to rotate.

Wherein, the control device is used to receive a trigger instruction input by the user, and according to the trigger instruction, send a first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure.

The rotating structure is used to drive the target structure to perform periodic reciprocating uniform rotation through the driving device when the first instruction for instructing the detection of coaxiality is acquired; and in the process of obtaining at least one cycle of reciprocating uniform rotation, the driving device is The output torques at multiple identical rotation positions in different rotation directions; according to the output torques of the drive device at multiple identical rotation positions in different rotation directions, it is determined that when clamping the target structure, the first load supporting structure and the second Coaxiality between load supporting structures.

For the realization process and working principle of the rotating structure, please refer to the description of the coaxiality detection method in the first embodiment, and the realization process and working principle of the control device can refer to the description of the coaxiality detection method in the second embodiment above. Go into details.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the coaxiality detection method in the foregoing embodiment are implemented.

The computer-readable storage medium may be an internal storage unit of the coaxiality detection device described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the coaxiality detection device, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash memory card equipped on the device. Card) and so on. Further, the computer-readable storage medium may also include both an internal storage unit of the coaxiality detection device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the coaxiality detection device, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A method for detecting coaxiality, applied to a rotating structure, characterized in that the rotating structure is used to carry a load, wherein the rotating structure includes a driving device and a first load support structure and a second load support structure connected to each other The driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the method includes:

When the first instruction for instructing the detection of coaxiality is acquired, drive the target structure to perform periodic reciprocating uniform rotation through the driving device;

Acquiring the output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation;

According to the output torques of the driving device at multiple identical rotation positions in different rotation directions, it is determined that when the target structure is clamped, the same between the first load support structure and the second load support structure is determined. Axial degree.
The method according to claim 1, characterized in that, according to the output torque of the driving device at a plurality of the same rotation positions in different rotation directions, it is determined that when the target structure is clamped, the first The coaxiality between the load support structure and the second load support structure includes:

Determining the rotation resistance torque of the driving device at the corresponding rotation position according to the output torque of the driving device at multiple identical rotation positions in different rotation directions;

According to the rotational resistance torque of the driving device at each rotational position, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
3. The method according to claim 2, wherein the first load supporting structure and the first load supporting structure are determined according to the rotational resistance torque of the driving device at each rotational position when the target structure is clamped. The coaxiality between the second load supporting structure includes:

According to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position and a preset calculation model, determine the rotation resistance torque of the driving device in the preset rotation angle range Maximum

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped degree;

Wherein, the preset calculation model uses the rotation angle of the driving device at each rotation position as an independent variable, and uses the rotation resistance torque of the driving device at each rotation position as a dependent variable.
The method according to claim 3, wherein the preset calculation model is a trigonometric function.
The method according to claim 4, wherein the preset calculation model is a sine function, and the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is the maximum amplitude of the sine function .
The method according to claim 3, wherein the first load is determined according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range when the target structure is clamped. The coaxiality between the supporting structure and the second load supporting structure includes:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is less than or equal to the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second The load supporting structures are coaxial.
The method according to claim 3, wherein the first load is determined according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range when the target structure is clamped. The coaxiality between the supporting structure and the second load supporting structure includes:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is greater than the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support Different axes between structures.
The method according to claim 3, wherein the first load is determined according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range when the target structure is clamped. The coaxiality between the supporting structure and the second load supporting structure includes:

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped Degree of deviation.
The method according to any one of claims 3 to 8, wherein the method further comprises:

Determine the rotation resistance of the driving device in the preset rotation angle range according to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position, and the preset calculation model The maximum value of the moment, between the projection position of the first position of the first load support structure on the preset plane and the projection position of the second position of the second load support structure on the preset plane The size of the angle between the connection and the first preset reference line;

Determine, according to the size of the included angle, the coaxiality deviation orientation between the first load support structure and the second load support structure when the target structure is clamped;

Wherein, the central axis of the first load support structure and the central axis of the second load support structure are perpendicular to the predetermined plane, and the first predetermined reference line passes through the first load support structure at the The projection position on the preset plane.
3. The method according to claim 2, wherein the first load supporting structure and the first load supporting structure are determined according to the rotational resistance torque of the driving device at each rotational position when the target structure is clamped. The coaxiality between the second load supporting structure includes:

Determine the standard deviation of the rotation resistance torque of a plurality of the rotation positions according to the rotation resistance torque of the driving device at each rotation position;

According to the standard deviation, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
The method according to claim 10, wherein said determining, according to said standard deviation, that when the target structure is clamped, the difference between the first load support structure and the second load support structure is equal to that between the first load support structure and the second load support structure. Axial degree, including:

When the standard deviation is less than or equal to the preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are coaxial.
The method according to claim 10, wherein said determining, according to said standard deviation, that when the target structure is clamped, the difference between the first load support structure and the second load support structure is equal to that between the first load support structure and the second load support structure. Axial degree, including:

When the standard deviation is greater than a preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are out of axis.
The method according to claim 10, wherein said determining, according to said standard deviation, that when the target structure is clamped, the difference between the first load support structure and the second load support structure is equal to that between the first load support structure and the second load support structure. Axial degree, including:

According to the standard deviation, the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped is determined.
The method according to claim 1, wherein said driving said target structure to perform periodic reciprocating uniform rotation by said driving device comprises:

The target structure is driven by the driving device to make a cycle of reciprocating uniform rotation.
The method according to claim 1 or 14, wherein one cycle of reciprocating uniform rotation includes: uniform rotation from a first rotation position to a second rotation position at a preset speed, and from the first rotation position at the preset speed The second rotation position rotates at a constant speed to the first rotation position.
The method according to claim 1, wherein a plurality of said rotating positions are evenly spaced.
The method according to claim 1, wherein the step of detecting the coaxiality of the rotating structure is performed after it is determined that the rotating structure is in a preset state.
The method according to claim 17, wherein the preset state includes a static state and/or a center of gravity balance state.
The method according to claim 1, wherein the rotating structure comprises a control unit, and the first instruction is triggered by a user to generate the control unit; or

The first instruction is generated by a user operating an external device and sent by the external device.
The method according to claim 1, wherein the method further comprises:

Outputting information for indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
22. The method of claim 20, wherein the information includes the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped, And/or, when clamping the target structure, the coaxiality between the first load support structure and the second load support structure deviates from the direction.
The method according to claim 20 or 21, wherein the output is used to indicate the coaxial relationship between the first load support structure and the second load support structure when the target structure is clamped. Degree information, including:

Graphically output information indicating the coaxiality between the first load support structure and the second load support structure when the target structure is clamped.
22. The method according to claim 22, wherein the graphical output is used to indicate the synchronization between the first load support structure and the second load support structure when the target structure is clamped. The axis degree information includes:

Displaying the azimuth line and the second preset reference line to characterize the information;

Wherein, the azimuth line is determined according to the second preset reference line and the coaxiality deviation azimuth included in the information, and the second preset reference line is determined according to the first load support structure in the first load support structure. The position is determined at the first characterizing position on the display interface.
The method according to claim 23, wherein the azimuth line is used to map the projection position of the first position of the first load support structure on a preset plane and the second position of the second load support structure. The line formed by the projection position of the position on the preset plane;

The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane;

Wherein, the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the predetermined plane.
The method according to claim 9 or 24, wherein the first position is a position passing through the central axis of the first load supporting structure, and the second position is a position passing through the second load supporting structure. The position of the central axis.
The method according to claim 24, wherein the predetermined plane is a right-view plane or a left-view plane of the first load structure, and the second predetermined reference line passes through the first characterizing position.
The method according to claim 24, wherein the distance between the first characterization position and the second characterization position of the second load supporting structure on the display interface is used to characterize the When clamping the target structure, the degree of coaxiality deviation between the first load support structure and the second load support structure, the distance is positively correlated with the degree of coaxiality deviation, and the second The characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane; and/or,

The included angle between the azimuth line and the reference line is used to characterize the coaxial deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped.
The method according to claim 27, wherein the method for determining the second characterizing position comprises:

Determine the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the information;

According to the distance, the second characterizing position is determined on the azimuth line.
The method according to claim 27, wherein the coaxiality deviation orientation includes a coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.
The method according to claim 20 or 21, wherein the output is used to indicate the coaxial relationship between the first load support structure and the second load support structure when the target structure is clamped. Degree information, including:

The information indicating the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is output in text.
The method according to claim 20 or 21, wherein the output is used to indicate the coaxial relationship between the first load support structure and the second load support structure when the target structure is clamped. Degree information, including:

Sending information indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped to an external device, so as to output the instruction through the external device Information about the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The method according to claim 1, wherein the rotating structure is a pan-tilt.
The method according to claim 32, wherein the driving device is a pitch motor of the pan/tilt, the first load supporting structure is a spindle arm that rotates around a roll axis in the pan/tilt, and the first The second load supporting structure is the auxiliary shaft arm around the roll axis in the pan/tilt, and the target structure includes the load;

The stator of the pitch motor is connected to the main shaft arm, and the rotor of the pitch motor is connected to the load.
The method according to claim 1, wherein when the target structure is clamped, the coaxiality between the first load support structure and the second load support structure is used to indicate the first load support structure. The coaxiality between the end of the load support structure for connecting the target structure and the end of the second load support structure for connecting the target structure, and/or

When clamping the target structure, the coaxiality between the first load support structure and the second load support structure is used to indicate the end of the target structure used to connect the first load support structure Concentricity with the end of the target structure used to connect the second load supporting structure.
A coaxiality detection device applied to a rotating structure, characterized in that the rotating structure is used to carry a load, wherein the rotating structure includes a driving device and a first load support structure and a second load support structure connected to each other The driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

When the first instruction for instructing the detection of coaxiality is acquired, drive the target structure to perform periodic reciprocating uniform rotation through the driving device;

Acquiring the output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation;

According to the output torques of the driving device at multiple identical rotation positions in different rotation directions, it is determined that when the target structure is clamped, the same between the first load support structure and the second load support structure is determined. Axial degree.
The device according to claim 35, wherein the one or more processors determine whether to clamp the target according to the output torque of the driving device at a plurality of the same rotation positions in different rotation directions. When the structure is configured, the coaxiality between the first load support structure and the second load support structure is further configured to perform the following operations separately or together:

Determining the rotation resistance torque of the driving device at the corresponding rotation position according to the output torque of the driving device at multiple identical rotation positions in different rotation directions;

According to the rotational resistance torque of the driving device at each rotational position, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
The device according to claim 36, wherein the one or more processors determine that when the target structure is clamped according to the rotation resistance torque of the driving device at each rotation position, the first When the coaxiality between a load supporting structure and the second load supporting structure is separately or collectively further configured to implement the following operations:

According to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position and a preset calculation model, determine the rotation resistance torque of the driving device in the preset rotation angle range Maximum

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped degree;

Wherein, the preset calculation model uses the rotation angle of the driving device at each rotation position as an independent variable, and uses the rotation resistance torque of the driving device at each rotation position as a dependent variable.
The device according to claim 37, wherein the preset calculation model is a trigonometric function.
The device according to claim 38, wherein the preset calculation model is a sine function, and the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is the maximum amplitude of the sine function .
The device according to claim 37, wherein the one or more processors determine whether to clamp the target structure according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range. When the coaxiality between the first load supporting structure and the second load supporting structure is, individually or collectively, it is further configured to perform the following operations:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is less than or equal to the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second The load supporting structures are coaxial.
The device according to claim 37, wherein the one or more processors determine whether to clamp the target structure according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range. When the coaxiality between the first load supporting structure and the second load supporting structure is, individually or collectively, it is further configured to perform the following operations:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is greater than the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support Different axes between structures.
The device according to claim 37, wherein the one or more processors determine whether to clamp the target structure according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range. When the coaxiality between the first load supporting structure and the second load supporting structure is, individually or collectively, it is further configured to perform the following operations:

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped Degree of deviation.
The device according to any one of claims 37 to 42, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Determine the rotation resistance of the driving device in the preset rotation angle range according to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position, and the preset calculation model The maximum value of the moment, between the projection position of the first position of the first load support structure on the preset plane and the projection position of the second position of the second load support structure on the preset plane The size of the angle between the connection and the first preset reference line;

Determine, according to the size of the included angle, the coaxiality deviation orientation between the first load support structure and the second load support structure when the target structure is clamped;

Wherein, the central axis of the first load support structure and the central axis of the second load support structure are perpendicular to the predetermined plane, and the first predetermined reference line passes through the first load support structure at the The projection position on the preset plane.
The device according to claim 36, wherein the one or more processors determine that when the target structure is clamped according to the rotational resistance torque of the driving device at each rotation position, the first When the coaxiality between a load supporting structure and the second load supporting structure is separately or collectively further configured to implement the following operations:

Determine the standard deviation of the rotation resistance torque of a plurality of the rotation positions according to the rotation resistance torque of the driving device at each rotation position;

According to the standard deviation, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
The device according to claim 44, wherein the one or more processors determine, according to the standard deviation, that when the target structure is clamped, the first load supporting structure and the second When the coaxiality between the load supporting structures, individually or collectively is further configured to implement the following operations:

When the standard deviation is less than or equal to the preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are coaxial.
The device according to claim 44, wherein the one or more processors determine, according to the standard deviation, that when the target structure is clamped, the first load supporting structure and the second When the coaxiality between the load supporting structures, individually or collectively is further configured to implement the following operations:

When the standard deviation is greater than a preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are out of axis.
The device according to claim 44, wherein the one or more processors determine, according to the standard deviation, that when the target structure is clamped, the first load supporting structure and the second When the coaxiality between the load supporting structures, individually or collectively is further configured to implement the following operations:

According to the standard deviation, the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped is determined.
The device according to claim 35, wherein when the one or more processors drive the target structure to perform periodic reciprocating uniform rotation through the driving device, they are further configured individually or collectively to Used to implement the following operations:

The target structure is driven by the driving device to make a cycle of reciprocating uniform rotation.
The device according to claim 35 or 48, wherein one cycle of reciprocating uniform rotation includes: uniform rotation from the first rotation position to the second rotation position at a preset speed, and from the first rotation position at the preset speed The second rotation position rotates at a constant speed to the first rotation position.
The device according to claim 35, wherein a plurality of said rotating positions are evenly spaced.
The device according to claim 35, wherein the step of detecting the coaxiality of the rotating structure is performed after it is determined that the rotating structure is in a preset state.
The device according to claim 51, wherein the preset state includes a static state and/or a center of gravity trim state.
The device according to claim 35, wherein the rotating structure comprises a control unit, and the first instruction is generated by the user triggering the control unit; or

The first instruction is generated by a user operating an external device and sent by the external device.
The device according to claim 35, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

Outputting information for indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The device according to claim 54, wherein the information includes the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped, And/or, when clamping the target structure, the coaxiality between the first load support structure and the second load support structure deviates from the direction.
The device according to claim 54 or 55, wherein the output of the one or more processors is used to indicate that when the target structure is clamped, the first load supporting structure and the second load When the information of the coaxiality between the supporting structures, individually or collectively, it is further configured to implement the following operations:

Graphically output information indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The device according to claim 56, wherein the one or more processors output graphically to indicate that when the target structure is clamped, the first load supporting structure and the second When the information of the coaxiality between the load supporting structures, individually or collectively, it is further configured to implement the following operations:

Displaying the azimuth line and the second preset reference line to characterize the information;

Wherein, the azimuth line is determined according to the second preset reference line and the coaxiality deviation azimuth included in the information, and the second preset reference line is determined according to the first load support structure in the first load support structure. The position is determined at the first characterizing position on the display interface.
The device according to claim 57, wherein the azimuth line is used to map the projection position of the first position of the first load support structure on a preset plane and the second position of the second load support structure. The line formed by the projection position of the position on the preset plane;

The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane;

Wherein, the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the predetermined plane.
The device according to claim 43 or 58, wherein the first position is a position passing through the central axis of the first load support structure, and the second position is a position passing through the second load support structure The position of the central axis.
The device of claim 58, wherein the predetermined plane is a right-view plane or a left-view plane of the first load structure, and the second predetermined reference line passes through the first characterizing position.
The device according to claim 58, wherein the distance between the first characterization position and the second characterization position of the second load supporting structure on the display interface is used to characterize the When clamping the target structure, the degree of coaxiality deviation between the first load support structure and the second load support structure, the distance is positively correlated with the degree of coaxiality deviation, and the second The characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane; and/or,

The included angle between the azimuth line and the reference line is used to characterize the coaxial deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped.
The device according to claim 61, wherein the one or more processors are individually or collectively configured to perform the following operations when determining the second characterization position:

Determine the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the information;

According to the distance, the second characterizing position is determined on the azimuth line.
The device according to claim 61, wherein the coaxiality deviation orientation includes a coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.
The device according to claim 54 or 55, wherein the output of the one or more processors is used to indicate that when the target structure is clamped, the first load supporting structure and the second load When the information of the coaxiality between the supporting structures, individually or collectively, it is further configured to implement the following operations:

The information indicating the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is output in text.
The device according to claim 54 or 55, wherein the output of the one or more processors is used to indicate that when the target structure is clamped, the first load supporting structure and the second load When the information of the coaxiality between the supporting structures, individually or collectively, it is further configured to implement the following operations:

Sending information indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped to an external device, so as to output the instruction through the external device Information about the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The device according to claim 35, wherein the rotating structure is a pan-tilt.
The device according to claim 66, wherein the driving device is a pitch motor of the pan/tilt, the first load supporting structure is a spindle arm that rotates around a roll axis in the pan/tilt, and the first The second load supporting structure is the auxiliary shaft arm around the roll axis in the pan/tilt, and the target structure includes the load;

The stator of the pitch motor is connected to the main shaft arm, and the rotor of the pitch motor is connected to the load.
The device according to claim 35, wherein when the target structure is clamped, the coaxiality between the first load support structure and the second load support structure is used to indicate the first The coaxiality between the end of the load support structure for connecting the target structure and the end of the second load support structure for connecting the target structure, and/or

When clamping the target structure, the coaxiality between the first load support structure and the second load support structure is used to indicate the end of the target structure used to connect the first load support structure Concentricity with the end of the target structure used to connect the second load supporting structure.
A rotating structure, characterized in that the rotating structure is used to carry a load, wherein the rotating structure includes a driving device, a first load support structure and a second load support structure connected to each other, and a processor. The device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate, and the processor is configured to perform the following operations:

When the first instruction for instructing the detection of coaxiality is acquired, drive the target structure to perform periodic reciprocating uniform rotation through the driving device;

Acquiring the output torque of the driving device at multiple identical rotation positions in different rotation directions during at least one cycle of reciprocating uniform rotation;

According to the output torques of the driving device at multiple identical rotation positions in different rotation directions, it is determined that when the target structure is clamped, the same between the first load support structure and the second load support structure is determined. Axial degree.
The rotating structure according to claim 69, wherein the processor determines that when the target structure is clamped according to the output torque of the driving device at a plurality of the same rotation positions in different rotation directions, When the coaxiality between the first load supporting structure and the second load supporting structure is further configured to perform the following operations:

Determining the rotation resistance torque of the driving device at the corresponding rotation position according to the output torque of the driving device at multiple identical rotation positions in different rotation directions;

According to the rotational resistance torque of the driving device at each rotational position, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
The rotating structure according to claim 70, wherein the processor determines that the first load supports when the target structure is clamped according to the rotation resistance torque of the driving device at each rotating position. When the coaxiality between the structure and the second load supporting structure is further configured to implement the following operations:

According to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position and a preset calculation model, determine the rotation resistance torque of the driving device in the preset rotation angle range Maximum

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped degree;

Wherein, the preset calculation model uses the rotation angle of the driving device at each rotation position as an independent variable, and uses the rotation resistance torque of the driving device at each rotation position as a dependent variable.
The rotating structure according to claim 71, wherein the preset calculation model is a trigonometric function.
The rotating structure according to claim 72, wherein the preset calculation model is a sine function, and the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is the maximum amplitude of the sine function value.
The rotating structure according to claim 71, wherein the processor determines that when the target structure is clamped according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, When the coaxiality between the first load supporting structure and the second load supporting structure is further configured to implement the following operations:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is less than or equal to the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second The load supporting structures are coaxial.
The rotating structure according to claim 71, wherein the processor determines that when the target structure is clamped according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, When the coaxiality between the first load supporting structure and the second load supporting structure is further configured to implement the following operations:

When the maximum value of the rotational resistance torque of the driving device in the preset rotation angle range is greater than the preset torque threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support Different axes between structures.
The rotating structure according to claim 71, wherein the processor determines that when the target structure is clamped according to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, When the coaxiality between the first load supporting structure and the second load supporting structure is further configured to implement the following operations:

According to the maximum value of the rotation resistance torque of the driving device in the preset rotation angle range, the coaxiality between the first load support structure and the second load support structure is determined when the target structure is clamped Degree of deviation.
The rotating structure according to any one of claims 71 to 76, wherein the processor is further configured to perform the following operations:

Determine the rotation resistance of the driving device in the preset rotation angle range according to the rotation resistance torque of the driving device at each rotation position, the rotation angle of the driving device at each rotation position, and the preset calculation model The maximum value of the moment, between the projection position of the first position of the first load support structure on the preset plane and the projection position of the second position of the second load support structure on the preset plane The size of the angle between the connection and the first preset reference line;

Determine, according to the size of the included angle, the coaxiality deviation orientation between the first load support structure and the second load support structure when the target structure is clamped;

Wherein, the central axis of the first load support structure and the central axis of the second load support structure are perpendicular to the predetermined plane, and the first predetermined reference line passes through the first load support structure at the The projection position on the preset plane.
The rotating structure according to claim 70, wherein the processor determines that the first load supports when the target structure is clamped according to the rotation resistance torque of the driving device at each rotating position. When the coaxiality between the structure and the second load supporting structure is further configured to implement the following operations:

Determine the standard deviation of the rotation resistance torque of a plurality of the rotation positions according to the rotation resistance torque of the driving device at each rotation position;

According to the standard deviation, the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is determined.
The rotating structure according to claim 78, wherein the processor determines, according to the standard deviation, that when the target structure is clamped, the first load support structure and the second load support structure When the coaxiality between, is further configured to implement the following operations:

When the standard deviation is less than or equal to the preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are coaxial.
The rotating structure according to claim 78, wherein the processor determines, according to the standard deviation, that when the target structure is clamped, the first load support structure and the second load support structure When the coaxiality between, is further configured to implement the following operations:

When the standard deviation is greater than a preset standard deviation threshold, it is determined that when the target structure is clamped, the first load support structure and the second load support structure are out of axis.
The rotating structure according to claim 78, wherein the processor determines, according to the standard deviation, that when the target structure is clamped, the first load support structure and the second load support structure When the coaxiality between, is further configured to implement the following operations:

According to the standard deviation, the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped is determined.
The rotating structure according to claim 70, wherein the processor is further configured to perform the following operations when the target structure is driven by the driving device to perform periodic reciprocating uniform rotation:

The target structure is driven by the driving device to make a cycle of reciprocating uniform rotation.
The rotating structure according to claim 69 or 82, wherein one cycle of reciprocating uniform rotation includes: rotating at a predetermined speed from the first rotating position to the second rotating position at a constant speed, and rotating at the predetermined speed from the The second rotation position rotates at a constant speed to the first rotation position.
The rotating structure according to claim 69, wherein a plurality of said rotating positions are evenly spaced.
The rotating structure according to claim 69, wherein the step of detecting the coaxiality of the rotating structure is performed after it is determined that the rotating structure is in a preset state.
The rotating structure according to claim 85, wherein the preset state includes a stationary state and/or a center of gravity balance state.
The rotating structure according to claim 69, wherein the rotating structure comprises a control part, and the first instruction is generated by the user triggering the control part; or

The first instruction is generated by a user operating an external device and sent by the external device.
The rotating structure according to claim 69, wherein the processor is further configured to perform the following operations:

Outputting information for indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The rotating structure according to claim 88, wherein the information includes the degree of coaxiality deviation between the first load support structure and the second load support structure when the target structure is clamped , And/or, when clamping the target structure, the coaxiality deviation orientation between the first load support structure and the second load support structure.
The rotating structure according to claim 88 or 89, wherein the processor output is used to indicate when the target structure is clamped, the first load support structure and the second load support structure When the coaxiality between the information, it is further configured to implement the following operations:

Graphically output information indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The rotating structure according to claim 90, wherein the processor graphically outputs for indicating when the target structure is clamped, the first load supporting structure and the second load supporting structure When the coaxiality between the information, it is further configured to implement the following operations:

Displaying the azimuth line and the second preset reference line to characterize the information;

Wherein, the azimuth line is determined according to the second preset reference line and the coaxiality deviation azimuth included in the information, and the second preset reference line is determined according to the first load support structure in the first load support structure. The position is determined at the first characterizing position on the display interface.
The rotating structure according to claim 91, wherein the azimuth line is used to map the projection position of the first position of the first load support structure on a preset plane and the first position of the second load support structure. 2. A line formed by the projection position of the position on the preset plane;

The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane;

Wherein, the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the predetermined plane.
The rotating structure according to claim 77 or 92, wherein the first position is a position passing through the central axis of the first load support structure, and the second position is a position passing through the second load support structure The position of the central axis.
The rotating structure according to claim 92, wherein the predetermined plane is a right-view plane or a left-view plane of the first load structure, and the second predetermined reference line passes through the first characterizing position .
The rotating structure according to claim 92, wherein the distance between the first characterizing position and the second characterizing position of the second load supporting structure on the display interface is used to characterize When clamping the target structure, the degree of coaxiality deviation between the first load support structure and the second load support structure, the distance is positively correlated with the degree of coaxiality deviation, and the first 2. The characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane; and/or,

The included angle between the azimuth line and the reference line is used to characterize the coaxial deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped.
The rotating structure according to claim 95, wherein the processor is configured to perform the following operations when determining the second characterizing position:

Determine the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the information;

According to the distance, the second characterizing position is determined on the azimuth line.
The rotating structure according to claim 95, wherein the coaxiality deviation direction includes a coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.
The rotating structure according to claim 88 or 89, wherein the processor output is used to indicate when the target structure is clamped, the first load support structure and the second load support structure When the information of the coaxiality between each other, it is further configured to implement the following operations:

The information indicating the coaxiality between the first load support structure and the second load support structure when the target structure is clamped is output in text.
The rotating structure according to claim 88 or 89, wherein the processor output is used to indicate when the target structure is clamped, the first load support structure and the second load support structure When the information of the coaxiality between each other, it is further configured to implement the following operations:

Sending information indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped to an external device, so as to output the instruction through the external device Information about the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped.
The rotating structure according to claim 69, wherein the rotating structure is a pan-tilt.
The rotating structure according to claim 100, wherein the driving device is a pitch motor of the pan/tilt, the first load supporting structure is a spindle arm that rotates around a roll axis in the pan/tilt, and the The second load supporting structure is an auxiliary shaft arm around the roll axis in the pan/tilt, and the target structure includes the load;

The stator of the pitch motor is connected to the main shaft arm, and the rotor of the pitch motor is connected to the load.
The rotating structure according to claim 69, wherein when the target structure is clamped, the coaxiality between the first load support structure and the second load support structure is used to indicate the first The coaxiality between one end of the load support structure for connecting the target structure and the end of the second load support structure for connecting the target structure, and/or

When clamping the target structure, the coaxiality between the first load support structure and the second load support structure is used to indicate the end of the target structure used to connect the first load support structure Concentricity with the end of the target structure used to connect the second load supporting structure.
A method for detecting coaxiality, characterized in that the method includes:

Receiving the trigger instruction entered by the user;

According to the trigger instruction, a first instruction for instructing the rotating structure to perform coaxiality detection is sent to the rotating structure to trigger the rotating structure to perform coaxiality detection.
The method according to claim 103, wherein the rotating structure is used to carry a load, wherein the rotating structure comprises a driving device and a first load supporting structure and a second load supporting structure connected to each other, and the driving The device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate;

After the first instruction for instructing the rotating structure to perform coaxiality detection according to the trigger instruction is sent to the rotating structure, the method further includes:

Receiving information sent by the rotating structure for indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped;

The information is displayed through the display interface.
The method according to claim 104, wherein said displaying said information through a display interface comprises:

The graphic used to characterize the information is displayed through the display interface.
The method according to claim 105, wherein the displaying a graphic for characterizing the information through a display interface comprises:

Displaying the azimuth line and the preset reference line through the display interface to characterize the information;

Wherein, the azimuth line is determined according to the preset reference line and the coaxiality deviation azimuth included in the information, and the preset reference line is determined according to the first position in the first load supporting structure. The first characterization position on the display interface is determined.
The method according to claim 106, wherein the azimuth line is used to map the projection position of the first position of the first load support structure on a preset plane and the second position of the second load support structure. The line formed by the projection position of the position on the preset plane;

The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane;

Wherein, the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the predetermined plane.
The method according to claim 107, wherein the first position is a position passing through the central axis of the first load supporting structure, and the second position is a position passing through the central axis of the second load supporting structure s position.
The method according to claim 107, wherein the preset plane is a right-view plane or a left-view plane of the first load structure, and the preset reference line is a horizontal line passing through the first characterizing position .
The method according to claim 107, wherein the distance between the first characterization position and the second characterization position of the second load supporting structure on the display interface is used to characterize the When clamping the target structure, the degree of coaxiality deviation between the first load support structure and the second load support structure, the distance is positively correlated with the degree of coaxiality deviation, and the second The characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane; and/or,

The included angle between the azimuth line and the reference line is used to characterize the coaxial deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped.
The method according to claim 110, wherein the method for determining the second characterizing position comprises:

Determine the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the information;

According to the distance, the second characterizing position is determined on the azimuth line.
The method according to claim 110, wherein the coaxiality deviation orientation includes a coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.
The method according to claim 104, wherein said displaying said information through a display interface comprises:

The text used to characterize the information is displayed through the display interface.
A coaxiality detection device, characterized in that the device comprises:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Receiving the trigger instruction entered by the user;

According to the trigger instruction, a first instruction for instructing the rotating structure to perform coaxiality detection is sent to the rotating structure to trigger the rotating structure to perform coaxiality detection.
The device according to claim 114, wherein the rotating structure is used to carry a load, wherein the rotating structure comprises a driving device and a first load supporting structure and a second load supporting structure connected to each other, and the driving The device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate;

After the processor sends the first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure according to the trigger instruction, it is separately or collectively further configured to perform the following operations:

Receiving information sent by the rotating structure for indicating the coaxiality between the first load supporting structure and the second load supporting structure when the target structure is clamped;

The information is displayed through the display interface.
The device according to claim 115, wherein the one or more processors are separately or collectively further configured to perform the following operations when displaying the information through a display interface:

The graphic used to characterize the information is displayed through the display interface.
The device according to claim 116, wherein the one or more processors are individually or collectively further configured to perform the following operations when displaying the graphics used to characterize the information through the display interface :

Displaying the azimuth line and the preset reference line through the display interface to characterize the information;

Wherein, the azimuth line is determined according to the preset reference line and the coaxiality deviation azimuth included in the information, and the preset reference line is determined according to the first position in the first load supporting structure. The first characterization position on the display interface is determined.
The device according to claim 117, wherein the azimuth line is used to map the projection position of the first position of the first load support structure on a preset plane and the second position of the second load support structure. The line formed by the projection position of the position on the preset plane;

The first characterizing position is used to map the projection position of the first position of the first load supporting structure on the preset plane;

Wherein, the central axis of the first load supporting structure and the central axis of the second load supporting structure are perpendicular to the predetermined plane.
The device according to claim 118, wherein the first position is a position passing through the central axis of the first load supporting structure, and the second position is a position passing through the central axis of the second load supporting structure. s position.
The device of claim 118, wherein the preset plane is a right-view plane or a left-view plane of the first load structure, and the preset reference line is a horizontal line passing through the first characterizing position .
The device according to claim 118, wherein the distance between the first characterization position and the second characterization position of the second load supporting structure on the display interface is used to characterize the When clamping the target structure, the degree of coaxiality deviation between the first load support structure and the second load support structure, the distance is positively correlated with the degree of coaxiality deviation, and the second The characterizing position is used to map the projection position of the second position of the second load supporting structure on the preset plane; and/or,

The included angle between the azimuth line and the reference line is used to characterize the coaxial deviation azimuth between the first load support structure and the second load support structure when the target structure is clamped.
The device according to claim 121, wherein the one or more processors are individually or collectively configured to perform the following operations when determining the second characterization position:

Determine the distance of the second characterization position relative to the first characterization position according to the degree of coaxiality deviation included in the information;

According to the distance, the second characterizing position is determined on the azimuth line.
The device according to claim 121, wherein the coaxiality deviation orientation includes a coaxiality deviation in the up-down direction, the left-right direction, or the direction between the up-down direction and the left-right direction.
The device according to claim 115, wherein the one or more processors are separately or collectively further configured to perform the following operations when displaying the information through a display interface:

The text used to characterize the information is displayed through the display interface.
A coaxiality detection system, characterized in that the coaxiality detection system includes a rotating structure and a control device communicatively connected with the rotating structure, the rotating structure is used for carrying a load, wherein the rotating structure includes A driving device and a first load support structure and a second load support structure connected to each other, the driving device is used to drive the target structure clamped between the first load support structure and the second load support structure to rotate;

The control device is configured to receive a trigger instruction input by a user, and according to the trigger instruction, send a first instruction for instructing the rotating structure to perform coaxiality detection to the rotating structure;

The rotation structure is used to drive the target structure to perform periodic reciprocating uniform rotation through the driving device when the first instruction for instructing the detection of coaxiality is obtained; and obtain at least one period of reciprocating uniform rotation During the process, the output torque of the driving device at multiple identical rotation positions in different rotation directions; according to the output torque of the driving device at multiple identical rotation positions in different rotation directions, it is determined that the When the target structure is used, the coaxiality between the first load supporting structure and the second load supporting structure.